CN104747189A - Proportional control system applied to height adjustment of coal mining machine - Google Patents
Proportional control system applied to height adjustment of coal mining machine Download PDFInfo
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- CN104747189A CN104747189A CN201410844927.3A CN201410844927A CN104747189A CN 104747189 A CN104747189 A CN 104747189A CN 201410844927 A CN201410844927 A CN 201410844927A CN 104747189 A CN104747189 A CN 104747189A
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- coal mining
- mining machine
- coal
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- rocker arm
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
Abstract
The invention belongs to the technical field of height adjustment of coal mining machines, and provides a proportional control system applied to height adjustment of a coal mining machine for improving the height adjustment precision of the coal mining machine and realizing intelligent shape cutting. The proportional control system comprises a control center, a proportional controller, a proportional valve bank, a rotary encoder and a travel sensor, wherein the rotary encoder is arranged on a rocker arm of the coal mining machine; the travel sensor is connected with a telescopic cylinder of the rocker arm of the coal mining machine; the rotary encoder and the travel sensor are connected with the control center; the proportional valve bank is connected with the telescopic cylinder of the rocker arm of the coal mining machine; the control center drives the proportional controller; and the proportional controller controls the proportional valve bank. According to the proportional control system, a proportional reversing valve and a PID (Proportion Integration Differentiation) controller substitute a switching value valve bank, and the rotary encoder substitutes a cylinder travel sensor to serve a sensing device, so that the final whole height adjustment effect meets the precision requirements of various functions of intelligent coal mining machines by simultaneously improving the precision of the controller and the sensor.
Description
Technical field
The invention belongs to the technical field that coal-winning machine is heightened, be specifically related to a kind of ratio control system applying to coal-winning machine and heighten.
Background technology
The scheme of current solution coal-winning machine height regulating function has two kinds:
The open loop height-adjusting system of A, digital output modul:
This programme be traditional coal-winning machine heighten scheme---control the performer of height adjusting oil cylinder of coal cutting machine and select switching value electro hydraulic valve, electric-control system provides the fixing signal of telecommunication, drives it to make or opens or closed action, then realizes rocking arm heighten by oil cylinder is flexible.The control objectives that this scheme does not quantize, all are as the criterion with artificial experience.
The closed loop height-adjusting system of B, digital output modul:
This programme be a kind of have a control objectives heighten scheme---the performer of height adjusting oil cylinder of coal cutting machine selects switching value electro hydraulic valve, has oil cylinder stroke sensor real-time sampling simultaneously, is calculated the actual height of rocker arm of coal mining machine by data processing.When heightening, system first given object height, then by driven by program electro hydraulic valve or to open or closed, make actual value constantly level off to setting object height, thus realize Altitude control comparatively accurately.
Wherein, A scheme heightens scheme as a kind of traditional coal-winning machine, can meet the control needs of low side coal-winning machine, but for rocking arm height being had to the situation of specific requirement, may without any what realize.
Along with coal market is to the further lifting of coal-winning machine automation, intelligent requirements---mnemonic cutting function even three machine coordinated signals functions becomes the technology trends of coal-winning machine gradually, and the realization of these two kinds of functions necessarily requires the exact level position of coal-winning machine and the information of rocking arm height.
And although B scheme accurately controls to realize rocking arm, introduce oil cylinder stroke sensor and closed-loop control system, but because control device is switching value electromagnetic valve group in current, the approaching object height of a kind of fixing speed can only be relied on, thus cause and comprise precision not and repeatedly heighten up and down around desired value, eventually cannot enter the various problems such as Metacentre Height, the control effects of its entirety is unsatisfactory, objectively makes the intelligent functions such as mnemonic cutting realize.
Summary of the invention
The precision that the present invention heightens to improve coal-winning machine, realizes Intelligent copying cutting, provides a kind of ratio control system applying to coal-winning machine and heighten.
The present invention adopts following technical scheme:
A kind of ratio control system applying to coal-winning machine and heighten, it is characterized in that this system comprises control centre, proportional controller, proportioning valve group, rotary encoder and stroke sensor, described rotary encoder is installed on the rocking arm of coal-winning machine, stroke sensor is connected with the telescopic oil cylinder of rocker arm of coal mining machine, rotary encoder is connected with control centre with stroke sensor, proportioning valve group is connected with the telescoping cylinder of rocker arm of coal mining machine, control centre's drive ratio csr controller, proportional controller control ratio valve group.
The concrete control procedure of described ratio control system is:
The instruction of described control centre exports proportional controller to, the action of proportional controller control ratio valve group, the telescopic oil cylinder that proportioning valve group controls rocker arm of coal mining machine stretches, record the actual inclination angle of rocker arm of coal mining machine by rotary encoder and recorded the actual stroke of telescopic oil cylinder by stroke sensor, the actual inclination angle of rocker arm of coal mining machine exports control centre to and forms closed-loop control system; Described control centre receive rocker arm of coal mining machine actual inclination value while, control centre according to the front rocker arm of coal mining machine inclination value once gathered, in conjunction with the artificial Offered target inclination value of generalized information system; Control centre to actual inclination value and target-angle value more afterwards by command to proportional controller, proportional controller control ratio valve group action again, proportioning valve group drives the telescopic oil cylinder of rocker arm of coal mining machine to stretch and makes the target-angle value of the unlimited approaching rocking arm of the inclination value of rocking arm; Convert according to target-angle value and rocking arm length and determine the actual height of coal mining machine roller;
The actual height scope of described coal mining machine roller is [L.sin ∠ NOG+R, L.sin (∠ NOG ± ∠/2)+R], wherein: L-rocking arm length, and R-radius roller, ∠ NOG-target-angle, ∠/2-maximum angle error.
Described control centre is DSP control system.
Described proportional controller is PID controller, and proportioning valve group is proportional reversing valve.
The present invention improves while utilizing control device and sensor accuracy, and what make final integral heightens the required precision that effect meets the various function of intelligent coal-winning machine:
Control device usage ratio reversal valve and PID controller alternative switch amount valve group, coal-winning machine output accuracy is made to have actual guarantee, proportional reversing valve is relative to original switch valve group, and the valve group that can realize different opening regulates, and heightening speed can change as required;
Senser element uses rotary encoder to substitute oil cylinder stroke sensor, avoids former methodically to compute repeatedly and valuation, ensure that the degree of accuracy to real-time rocking arm height.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is the given signal of telecommunication of PID controller, angular adjustment coordinate diagram;
Fig. 3 is angle, highly regulates schematic diagram;
In figure: R-radius roller, L-rocking arm length, (∠ COD=∠)-deadband angle, ∠ NOG-target-angle, (∠ NOA1, ∠ NOA2)-former angle, (∠ NOB1, ∠ NOB2)-bumper angle.
Detailed description of the invention
By reference to the accompanying drawings, the specific embodiment of the present invention is described further:
As shown in Figure 1 apply to the ratio control system that coal-winning machine heightens, comprise control centre, proportional controller, proportioning valve group, rotary encoder and stroke sensor, described rotary encoder is installed on the rocking arm of coal-winning machine, stroke sensor is connected with the telescopic oil cylinder of rocker arm of coal mining machine, rotary encoder is connected with control centre with stroke sensor, proportioning valve group is connected with the telescoping cylinder of rocker arm of coal mining machine, control centre's drive ratio csr controller, proportional controller control ratio valve group.
The concrete control procedure of this system is:
The instruction of described control centre (i.e. DSP control system) exports proportional controller (i.e. PID controller) to, group (i.e. proportional reversing valve) action of proportional controller control ratio valve, the telescopic oil cylinder that proportioning valve group controls rocker arm of coal mining machine stretches, record the actual inclination angle of rocker arm of coal mining machine by rotary encoder and recorded the actual stroke of telescopic oil cylinder by stroke sensor, the actual inclination angle of rocker arm of coal mining machine exports control centre to and forms closed-loop control system; Described control centre receive rocker arm of coal mining machine actual inclination value while, control centre according to the front rocker arm of coal mining machine inclination value once gathered, in conjunction with the artificial Offered target inclination value of generalized information system; Control centre to actual inclination value and target-angle value more afterwards by command to proportional controller, proportional controller control ratio valve group action again, proportioning valve group drives the telescopic oil cylinder of rocker arm of coal mining machine to stretch and makes the target-angle value of the unlimited approaching rocking arm of the inclination value of rocking arm; Then convert according to target-angle value and rocking arm length and determine the actual height of coal mining machine roller.
When coal-winning machine is heightened, it is the relative angle measuring rocker arm of coal mining machine and fuselage with high-precision rotary encoder, measured the actual stroke of radial up-down oil cylinder by stroke sensor simultaneously, the two realizes redundancy monitoring roller height, give special signal acquisition module by CAN BUS bus transfer, the data packing dsp processor issued in Surveillance center inside is carried out computing and the process further of data by data acquisition module again.Dsp processor definite calculate the accurate mining height of coal-winning machine while, coal-winning machine can carry out computing according to the geological model that history mining height data and generalized information system provided in the past under mnemonic cutting state, be used for the desired value of a setting mining height, then Bound moisture safety is contained in the data of the attitude inclination angle gyroscope record on coal-winning machine, draws the accurate roller height under the synthetic operation attitude of coal-winning machine.
Its concrete control mode is: control centre's (i.e. DSP control system) can compare actual measurement inclination value and target-angle value, draws gap and concrete stroke range; Then control centre sends instruction to PID proportional control module, closely control ratio reversal valve action, with integral adjustment electromagnetic valve aperture, drives the approaching desired value of oil cylinder.
Control the crossheading integrated control platform of DSP control system according to coal machine current location, Zhong Mei seat in the plane, enquiry of historical data storehouse is put and the left and right rocking arm height of correspondence, accept manual intervention and generalized information system guiding simultaneously, revise and regulate historical data, calculate target rocking arm height in real time, issue coal-winning machine, coal machine calculates rocking arm actual height according to rotary encoder or oil cylinder stroke, make rocking arm actual height value continuously and smoothly auto-feeding desired value by PID ratio driver, realize Intelligent copying cutting.
As shown in Figure 2,3, by maximum current (± MAX I) and the minimum current (± MIN I) of given PID controller, record former angle ∠ NOA1, ∠ NOA2, bumper angle ∠ NOB1, ∠ NOB2, and then draw angle on target ∠ NOG and deadband angle ∠ COD, finally converse the actual height scope [L.sin ∠ NOG+R, L.sin (∠ NOG ± ∠/2)+R] of coal mining machine roller, wherein, ∠=∠ COD.
Claims (4)
1. the ratio control system applying to coal-winning machine and heighten, it is characterized in that this system comprises control centre, proportional controller, proportioning valve group, rotary encoder and stroke sensor, described rotary encoder is installed on the rocking arm of coal-winning machine, stroke sensor is connected with the telescopic oil cylinder of rocker arm of coal mining machine, rotary encoder is connected with control centre with stroke sensor, proportioning valve group is connected with the telescoping cylinder of rocker arm of coal mining machine, control centre's drive ratio csr controller, proportional controller control ratio valve group.
2. the ratio control system applying to coal-winning machine and heighten according to claim 1, is characterized in that: the concrete control procedure of described ratio control system is:
The instruction of described control centre exports proportional controller to, the action of proportional controller control ratio valve group, the telescopic oil cylinder that proportioning valve group controls rocker arm of coal mining machine stretches, record the actual inclination angle of rocker arm of coal mining machine by rotary encoder and recorded the actual stroke of telescopic oil cylinder by stroke sensor, the actual inclination angle of rocker arm of coal mining machine exports control centre to and forms closed-loop control system; Described control centre receive rocker arm of coal mining machine actual inclination value while, control centre according to the front rocker arm of coal mining machine inclination value once gathered, in conjunction with the artificial Offered target inclination value of generalized information system; Control centre to actual inclination value and target-angle value more afterwards by command to proportional controller, proportional controller control ratio valve group action again, proportioning valve group drives the telescopic oil cylinder of rocker arm of coal mining machine to stretch and makes the target-angle value of the unlimited approaching rocking arm of the inclination value of rocking arm; Convert according to target-angle value and rocking arm length and determine the actual height of coal mining machine roller;
The actual height scope of described coal mining machine roller is [L.sin ∠ NOG+R, L.sin (∠ NOG ± ∠/2)+R], wherein: L-rocking arm length, and R-radius roller, ∠ NOG-target-angle, ∠/2-maximum angle error.
3. the ratio control system applying to coal-winning machine and heighten according to claim 2, is characterized in that: described control centre is DSP control system.
4. the ratio control system applying to coal-winning machine and heighten according to claim 2, it is characterized in that: described proportional controller is PID controller, proportioning valve group is proportional reversing valve.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108561132A (en) * | 2018-03-26 | 2018-09-21 | 太重煤机有限公司 | Can intelligent remote monitoring control coalcutter |
| CN108708720A (en) * | 2018-03-26 | 2018-10-26 | 太重煤机有限公司 | Coalcutter cutting height auto-adjustment control method |
| CN108748154A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of system and method for calibration mechanical arm |
| CN113175324A (en) * | 2021-04-27 | 2021-07-27 | 中铁工程装备集团有限公司 | Cascade composite PID control method for coupled motion of large arm of drill jumbo |
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| CN113175324A (en) * | 2021-04-27 | 2021-07-27 | 中铁工程装备集团有限公司 | Cascade composite PID control method for coupled motion of large arm of drill jumbo |
| CN113175324B (en) * | 2021-04-27 | 2022-03-11 | 中铁工程装备集团有限公司 | Cascade composite PID control method for coupled motion of large arm of drill jumbo |
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