CN104790948B - A kind of control method of coal mining machine roller automatic adjustment height - Google Patents
A kind of control method of coal mining machine roller automatic adjustment height Download PDFInfo
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Abstract
The present invention relates to a kind of control method of coal mining machine roller automatic adjustment height, comprise fuzzy control device, data collector, the first pressure transmitter, the 2nd pressure transmitter and electromagnetic proportional valve, first pressure transmitter is arranged on height adjusting oil cylinder of coal cutting machine rodless cavity pipe joint, 2nd pressure transmitter is arranged on height adjusting oil cylinder of coal cutting machine rod chamber pipe joint, and electromagnetic proportional valve is arranged on coalcutter and heightens on hydraulic circuit; First pressure transmitter and the 2nd pressure transmitter are all connected with described data collector, and data collector is connected with fuzzy control device, and fuzzy control device is connected with electromagnetic proportional valve. This control method adopts fuzzy control rule to carry out the control of coal mining machine roller automatic adjustment height, solve the non-linear character of heightening system of coal mining machine, not easily obtain a difficult problem for its mathematical models, this control method has advantages such as arranging simple, processing ease, and acts on obvious, reliable for effect stable.
Description
Technical field
The present invention relates to a kind of control method of coal mining machine roller automatic adjustment height, belong to mine coal-cutting equipment technical field.
Background technology
Coalcutter is one of major equipment of fully-mechanized coalface, and the automatization of coalcutter is the key link of whole working face automatization, and the automatic adjustment of roller height is the main aspect realizing coalcutter automatization. In coal mining machine roller altitude mixture control control, except the advanced coalcutter producer of domestic and international minority adopts, memory is intelligent program-controlled to be carried out except roller height control, major part is that Artificial Control is heightened, namely operate workman to observe by individual's eyesight and combine and section cut noise coal mining machine roller is in coal cutting or cuts rock to judge, to regulate the height of cylinder. But coalcutter is in coal cutting process, the generation of a large amount of coal petrography dust, makes working face visibility meter reduce, and machine noise is very big simultaneously, causes operation workman to be difficult to accurately and timely judge that cutting of coalcutter cuts state, it is very difficult to make rational operation in time. Especially at thin seam working surface, operating condition is poor, and operation space is little, workman's inconvenient walking so that operator are difficult to regulate in time the height of cylinder. In order to improve the intellectuality of coalcutter, workman is freed from severe Working environment and heavy manual work, it is necessary to coalcutter is carried out improvement its cylinder is regulated automatically.
Chinese patent literature CN103216233A discloses a kind of method of thin seam Coal-Rock Interface Recognition and horizon control, the method utilizes and cuts and install current sense device on electric motor cutting, band coalcutter cut cut electric motor first cut a cutter as demonstration cutter, the current value situation that record is respective after wherein cutting coal seam and rock stratum, this current value is as coal seam and formation current limit value; Front roll rocking arm upper pendulum automatically after coalcutter feed, coalcutter driving roll, automatically to the bottom, by detecting the fluctuation range of electric current, identifies coal rock layer, automatically adjusts mining height with the current limit that coal is different from rock stratum;The current data when coalcutter recorded in coal process of lancinating according to demonstrating cuts coal cutting rock judges as standard value. When identifying coal-rock interface, coalcutter can according to the thick automatic adjustment mining height of coal, it is to increase recovery ratio. When the method works according to demonstration cutter, the feedback of electric current signal carries out the judgement of coal petrography, judges whether to cut rock stratum, so that it is determined that coal-rock interface and automatically adjust mining height. But the method is under the operating environment of down-hole complexity, its precision automatically adjusting mining height can not realize controlling comparatively accurately.
Chinese patent literature CN102852521A discloses a kind of coal mining machine roller automatic adjustment height method based on pattern recognition, the method adopts digital camera constant duration to obtain coal mining machine roller simultaneously and cuts the rib cut, fall immediately below cylinder the image of dump on coal and scraper conveyor middle groove in the air, application image recognition technology analyzes the composition accounting of coal in the every width image of technology, using the mean value of 3 width image coal composition accountings and mean value increment as input, fuzzy control is carried out, it is achieved the automatic adjustment of coal mining machine roller height using roller height regulated quantity as work output. The method needs the auxiliary meanss such as reason digital camera, but in ore deposit borehole operation, has a large amount of dust, and Working environment is quite severe, can affect the work of digital camera, be easy to cause the inaccurate of Roller shear, and its precision cannot ensure.
Therefore, need that design a kind of is not affected by the external environment, data feedback is relatively accurate, the control method of the coal mining machine roller automatic adjustment height of induction relative sensitive badly.
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of control method of coal mining machine roller automatic adjustment height.
The technical scheme of the present invention is as follows:
A kind of control method of coal mining machine roller automatic adjustment height, this control method comprises the Controlling System being made up of fuzzy control device, data collector, the first pressure transmitter, the 2nd pressure transmitter and electromagnetic proportional valve, wherein, described first pressure transmitter is arranged on height adjusting oil cylinder of coal cutting machine rodless cavity pipe joint, described 2nd pressure transmitter is arranged on height adjusting oil cylinder of coal cutting machine rod chamber pipe joint, and described electromagnetic proportional valve is arranged on coalcutter and heightens on hydraulic circuit; Described first pressure transmitter and the 2nd pressure transmitter are all connected with described data collector, and described data collector is connected with fuzzy control device, and described fuzzy control device is connected with electromagnetic proportional valve; This control method comprises signals collecting, data processing, fuzzy operation and instruction and exports, wherein,
(1) signals collecting: described first pressure transmitter and the 2nd pressure transmitter are measured the pressure signal of adjust high cylinder rodless cavity and adjust high cylinder rod chamber respectively and pressure signal is transferred to data collector, described data collector obtains pressure raw data after pressure signal is carried out filtering process, and by pressure original data transmissions to fuzzy control device;
(2) data processing: the data processor of described fuzzy control device inside calculates load pressure and the load pressure velocity of variation of adjust high cylinder according to the pressure raw data received;
(3) fuzzy operation: the load pressure calculated in step (2) and load pressure velocity of variation are carried out Fuzzy processing by described fuzzy control device, the fuzzy subset of its correspondence is calculated the fuzzyization value being subordinate to angle value as its correspondence by membership function, then the fit of every rule conclusion is calculated respectively according to the fuzzy rule in fuzzy reasoning table: the load Pressure Fuzzy value getting under every bar fuzzy rule, the friendship operation result of load pressure velocity of variation fuzzyization value and electromagnetic proportional valve control electric current fuzzy subset membership function three is as the fit of this fuzzy rule conclusion, finally using the also operation result of all fuzzy rule conclusion fits as controller fuzzy operation result,
(4) instruction exports: described fuzzy control device utilizes center of gravity method that controller fuzzy operation result ambiguity solution is obtained the control signal of fuzzy control device output and electromagnetic proportional valve, described control signal control change electromagnetic proportional valve valve core movement direction and valve port opening are to change the flow of turnover adjust high cylinder, thus changing adjust high cylinder piston rod displacement, final realization is to the Automatic Height-Adjusting of cylinder.
Preferably, described control method also comprises indicating meter and keyboard, and described indicating meter and keyboard are all connected with fuzzy control device. The advantage of this design is, is realized the setting inputting some parameters to fuzzy control device by keyboard, and indicating meter is used for showing parameter or system operational parameters, convenient operation and the observation of input.
Preferably, in step (1), described filtering process refers to that data collector adopts the way of median average filter that the pressure signal of the first pressure transmitter and the transmission of the 2nd pressure transmitter is carried out filtering process, its detailed process comprises: the N number of data of continuous sampling, then bubbling method principle is adopted the N number of data collected to be sorted, find out the maximum value in N number of sampling data and minimum value, remove maximum value and minimum value, then calculate the arithmetical av of N-2 remaining data, N value be chosen for 3-14.
Preferably, in step (2), the data processor of described fuzzy control device inside calculates load pressure and the load pressure velocity of variation of adjust high cylinder, and its detailed process comprises:
Oil cylinder equivalent load pressure is defined as: pL=p1-p2×A2/A1(Ⅰ)
Wherein, in formula I, p1For the rodless cavity side filtered arithmetical av of oil pressure value, p2For the rod chamber side filtered arithmetical av of oil pressure value, A1For the effective active area of oil pressure rodless cavity side, A2For the effective active area of cylinder rod chamber side;
After calculating oil cylinder equivalent load pressure, adopting method of least squares to obtain pressure velocity of variation, its detailed process comprises: the data processor of fuzzy control device inside calculates a series of oil cylinder equivalent load pressure sequence (1pL), (2pL) ..., (mpL), by these data points of fitting of a straight line, it is determined that fitting a straight line equation is
P=a0+a1n(Ⅱ)
Wherein, a in formula II0、a1For real number undetermined, n=1,2 ..., m.
For a determined in formula II0And a1, can derive by the fitting of a curve theory under 2-norm measure
Solve an equation (III) a can be obtained0And a1, by the mean value of matched curve
As load pressure; The slope a of matched curve1As load pressure velocity of variation, i.e. load pressure velocity of variation
Preferably, in step (3), the design process of described fuzzy control rule, comprises the following steps,
A () cuts the difference cut medium and cut the amount of cutting according to cylinder, cut by cylinder and cut operating mode and be divided into: not exclusively coal cutting, coal cutting completely, cuts and cuts a small amount of rock, cuts and cut four kinds, more rock; Corresponding adjust high cylinder load pressure is divided into [0P1], [P1P2], [P2P3], [P3P+] four interval, wherein P+For load pressure high limit, then load pressure opinion territory is [0P+], the fuzzy subset that four intervals of load pressure division are corresponding is followed successively by { Z, PS, PM, PB};
B drum movement state, according to the size of load pressure velocity of variation, is divided into by (): rapid decrease, decline, constant, rise, rapid increase five kinds of situations, corresponding load pressure velocity of variation is divided into [DP-DP1]、[DP1DP2]、[DP2DP3]、[DP3DP4]、[DP4DP+] five interval, wherein DP-For lower limit, the DP of load pressure velocity of variation+For the upper limit of load pressure velocity of variation, then the opinion territory of load pressure velocity of variation is [DP-DP+], the fuzzy subset that five intervals of load pressure velocity of variation division are corresponding is followed successively by { NM, NS, Z, PS, PM};
C control signal that () fuzzy control device exports is the control electric current of electromagnetic proportional valve, in order to regulate the electric current by electromagnetic proportional valve ratio electro-magnet, the size of electromagnetic proportional valve control electric current and direction determine movement velocity and the direction of motion of cylinder, the control electric current of electromagnetic proportional valve is divided into [-Ib-Im], [-Im-Is], [-IsIs], [IsIm], [ImIb] five intervals, and Ib > Im > Is > 0, wherein Ib is that valve core movement is to the control electric current needed during limit position, then the opinion territory of electromagnetic proportional valve control electric current is [-IbIb], the fuzzy subset that five intervals of control electric current division are corresponding is followed successively by { NB, NS, Z, PS, PB}, corresponding control electric current is negative big respectively, negative little, zero, just little, honest,
D () to based on the working control process of cylinder, sets up fuzzy control rule by coalcutter operator, fuzzy control rule as shown in Table 1:
Table one: fuzzy control rule table
Fuzzy control device judges to cut operating mode when which kind of section front roll is according to the load pressure calculated, again according to the load pressure velocity of variation calculated judges to be in which kind of kinestate when front roll, finally, fuzzy control device is to load pressure, load pressure velocity of variation carries out Fuzzy processing and carries out fuzzy operation according to the fuzzy control rule set up and obtain electromagnetic proportional valve control electric current, and electromagnetic proportional valve is controlled the solution for the current corresponding control signal of fuzzy rear output to regulate the electric current of electromagnetic proportional valve, the hydraulic efficiency oil entering adjust high cylinder by solenoid-operated proportional valve regulation correspondingly regulates movement velocity and the direction of motion of cylinder, finally realize the automatic adjustment height of cylinder.
Preferably, in step (4), the process of described ambiguity solution comprise adopt COG center of gravity method fuzzy operation is obtained electromagnetic proportional valve control electric current carry out anti fuzzy method process, fuzzy control device export ambiguity solution beWherein y is fuzzy control device fuzzy operation result, and x is electromagnetic proportional valve control electric current fuzzy subset's value, and a, b are electromagnetic proportional valve control electric current fuzzy subset's interval endpoint value.
Preferably, described control method also comprises the process of input pre-setting parameter, before coalcutter works, undertaken by keyboard and indicating meter setting the fuzzy subset's parameter being stored in fuzzy control device internal memory, comprise cylinder difference cut cut under medium adjust high cylinder load pressure P 1, P2, P3, P+, the control electric current I s of adjust high cylinder load pressure velocity of variation DP1, DP2, DP3, DP4 and electromagnetic proportional valve, Im, Ib.
Preferably, the model that described data collector selects Yanhua Co., Ltd to produce is the data collecting card of PCI-1711U.
Preferably, the model that described first pressure transmitter and the 2nd pressure transmitter all select KISTLER instrument stock company of Switzerland to produce is the explosion-proof type pressure unit of SM20RE250-HKC.
Preferably, described electromagnetic proportional valve selects guide's 3-position 4-way proportion directional valve that what the happy company of Bosch man of great strength produced model is the not band Electrical Position Feedback of 4WRZE16E100-7X/6EG24ETK31A1M.
Preferably, the model that described fuzzy control device selects Siemens Company to produce is the PLC of S7-221, or select model in MSP430 series that company of Texas Instrument produces to be the micro-chip of MSP430F6659IZQW, or the model that the band PCI/PCIe selecting Yanhua Co., Ltd to produce expands is the built-in industrial control machine of ARK-5260, or select PC computer.
The useful effect of the present invention is as follows:
1. the control method of coal mining machine roller automatic adjustment height of the present invention, fuzzy control rule is adopted to carry out the control of coal mining machine roller automatic adjustment height, fuzzy control is applicable to not easily obtain the controlled plant of mathematical models, it is applicable to the control of non-linear system simultaneously, immunity from interference is strong, fast response time, and the change of system parameter is had stronger robustness.
2. coal mining machine roller automatic adjustment height of the present invention can improve the back production rate of coal; Reduce the content of the impurity such as the spoil in coal, ash; Improve coal mining activity efficiency; Reduce equipment attrition; Reduce maintenance of equipment amount and stop time. Simultaneously owing to vibration is less, avoid cutting rock, reduce the rock particle concentration in on-the-spot air, and realize operation personnel away from dangerous working face, safety in production and labour protection are significantly improved.
3. the control method of coal mining machine roller automatic adjustment height of the present invention, easy to install, and obviously, effect is remarkable, has good economic benefit and social benefit in effect.
Accompanying drawing explanation
Fig. 1 is the connection relation schematic diagram of Controlling System in the present invention;
Fig. 2 is load pressure membership function distribution schematic diagram of the present invention;
Fig. 3 is load pressure velocity of variation membership function distribution schematic diagram of the present invention;
Fig. 4 is electromagnetic proportional valve of the present invention control electric current membership function distribution schematic diagram;
Fig. 5 is fuzzy operation process schematic diagram in the present invention;
Fig. 6 is the schema of horizon control control method of the present invention;
Wherein: 1, coalcutter fuselage, 2, keyboard, 3, indicating meter, 4, fuzzy control device, 5, data collector, the 6, first pressure transmitter, the 7, the 2nd pressure transmitter, 8, rocking arm, 9, cylinder, 10, adjust high cylinder, 11, electromagnetic proportional valve.
Embodiment
Below by embodiment and the present invention will be further described by reference to the accompanying drawings, but be not limited to this.
Embodiment 1:
As shown in Figures 1 to 6, the control method of a kind of coal mining machine roller automatic adjustment height provided by the invention, this control method comprises the Controlling System being made up of fuzzy control device 4, data collector 5, first pressure transmitter 6, the 2nd pressure transmitter 7 and electromagnetic proportional valve 11, wherein, first pressure transmitter 6 is arranged on height adjusting oil cylinder of coal cutting machine 10 rodless cavity pipe joint, 2nd pressure transmitter 7 is arranged on height adjusting oil cylinder of coal cutting machine 10 rod chamber pipe joint, electromagnetic proportional valve 11 is arranged on coalcutter and heightens on hydraulic circuit, and electromagnetic proportional valve 11 is used for controlling the flow of hydraulic efficiency oil that enters in adjust high cylinder 10 and the flow direction, first pressure transmitter 6 and the 2nd pressure transmitter 7 are all connected with described data collector 5, data collector 5 is connected with fuzzy control device 4, fuzzy control device 4 is connected with electromagnetic proportional valve 11, the control signal that fuzzy control device 4 exports is the control electric current of electromagnetic proportional valve, it is used for regulating the electric current of the ratio electro-magnet of electromagnetic proportional valve 11, electromagnetic proportional valve control electric current can change electromagnetic proportional valve 11 valve core movement direction and valve port opening, and then change the flow of turnover adjust high cylinder 10, thus change adjust high cylinder 10 piston rod displacement, final realization is to the Automatic Height-Adjusting of cylinder 9.
Wherein, the model that data collector 5 selects Yanhua Co., Ltd to produce is the data collecting card of PCI-1711U; What the first pressure transmitter 6 and the 2nd pressure transmitter 7 all selected that KISTLER instrument stock company of Switzerland produces is the explosion-proof type pressure unit of SM20RE250-HKC by the model in the CERALINE-S series of east, Anshan city instrument factory agency; The model that electromagnetic proportional valve 11 selects the happy company of Bosch man of great strength to produce is guide's 3-position 4-way proportion directional valve of the not band Electrical Position Feedback of 4WRZE16E100-7X/6EG24ETK31A1M; PC computer selected by fuzzy control device 4.
The control method of the coal mining machine roller automatic adjustment height that the present embodiment provides, first pressure transmitter 6 and the 2nd pressure transmitter 7 are connected with data collector 5 by signal wire, data collector 5 obtains comparatively pure signal after all the sensors signal is carried out filtering process, unified to the signal after PC computer transmission processing, PC computer carries out the programming of fuzzy rule in advance, after PC computer receives pressure signal, first carry out the force value calculating the actual load of adjust high cylinder of pressure signal and heighten pressure velocity of variation, by a series of fuzzyization-fuzzy reasoning-ambiguity solution operation, last by the electric current of PC computer control inputs electromagnetic proportional valve, the flow of the hydraulic efficiency oil changing electromagnetic proportional valve with this and the flow direction, and then the movement of beam hanger in change adjust high cylinder, beam hanger band motion rocker arm is movable, the cylinder of rocking arm front end is finally made to realize the change of position, realize the automatic adjustment of roller height.This control method specifically comprises signals collecting, data processing, fuzzy operation and instruction and exports, wherein,
(1) signals collecting: the first pressure transmitter 6 and the 2nd pressure transmitter 7 are measured the pressure signal of adjust high cylinder rodless cavity and adjust high cylinder rod chamber respectively and pressure signal is transferred to data collector 5, data collector 5 obtains pressure raw data after pressure signal is carried out filtering process, and by pressure original data transmissions to fuzzy control device 4;
(2) data processing: the data processor of fuzzy control device 4 inside calculates the load pressure of adjust high cylinder according to the pressure raw data receivedWith load pressure velocity of variation
(3) fuzzy operation: fuzzy control device 4 is to the load pressure p calculated in step (2) and load pressure velocity of variationCarry out Fuzzy processing, the fuzzy subset of its correspondence is calculated the fuzzyization value being subordinate to angle value as its correspondence by membership function, then the fit of every rule conclusion is calculated respectively according to 20 fuzzy rules in fuzzy reasoning table, get the load Pressure Fuzzy value under every bar fuzzy rule, the friendship operation result of load pressure velocity of variation fuzzyization value and electromagnetic proportional valve control electric current fuzzy subset membership function three is as the fit of this fuzzy rule conclusion, finally using the also operation result of 20 fuzzy rule conclusion fits as controller fuzzy operation result,
Fuzzy operation comprises two stages, as shown in Figure 6:
1) calculate the conclusion of every bar fuzzy rule: 1. input fuzzyization, namely obtain load pressure and the load pressure velocity of variation degree of being subordinate on respective fuzzy subset; 2. calculate the logical combination of fuzzy rule condition part (i.e. IfpisZanddpisNM), fuzzy reasoning table between load pressure and load pressure velocity of variation is and relation, then carry out shipping calculation, namely get the smaller value in the degree of being subordinate to that 1. step obtain; 3. the degree of being subordinate to of fuzzy rule condition proposition logical combination and the membership function of conclusion part (i.e. TheniisPB) are shipped calculation, obtain the fit of conclusion, namely step 2. in the friendship operation result of the degree of being subordinate to that obtains and solenoid-operated proportional valve control signal membership function as the fit of this fuzzy rule conclusion.
2) being done and computing by the fit of all fuzzy rule conclusions, obtain fuzzy operation result, namely the fit of 20 fuzzy rule conclusions in fuzzy reasoning table carries out and computing, obtains fuzzy control device fuzzy operation result.
Such as, the load pressure that step (2) obtains is Px, and load pressure velocity of variation is dPx, controller obtains fuzzy operation result according to the fuzzy rule of table one, obtain solenoid-operated proportional valve control signal ik after ambiguity solution, as shown in Figure 5, have four fuzzy rules effective: The degree of being subordinate to of load pressure P x is Degree of being subordinate on other fuzzy subset is zero, and the degree of being subordinate to of load pressure velocity of variation dPx isDegree of being subordinate on other fuzzy subset is zero, and has b > d > c > a. Calculate the fit of four fuzzy rule conclusions respectively: Article 1 rule conclusion fit is:Article 2 rule conclusion fit is:Article 5 rule conclusion fit is:Article 6 rule conclusion fit is:The fit of all the other fuzzy rule conclusions is zero. Finally the fit of all 20 fuzzy rule conclusions is done and computing, obtain fuzzy operation result
(4) instruction exports: fuzzy control device 4 utilizes center of gravity method that controller fuzzy operation result ambiguity solution is obtained the control signal of fuzzy control device output and electromagnetic proportional valve 11, this control signal control electromagnetic proportional valve 11 valve core movement direction and valve port opening are to change the flow of turnover adjust high cylinder 10, thus changing adjust high cylinder piston rod displacement, final realization is to the Automatic Height-Adjusting of cylinder 9.
Wherein, in step (1), filtering process refers to that data collector 5 adopts the way of median average filter that the pressure signal of the first pressure transmitter and the transmission of the 2nd pressure transmitter is carried out filtering process, its detailed process comprises: the N number of data of continuous sampling, then bubbling method principle is adopted the N number of data collected to be sorted, find out the maximum value in N number of sampling data and minimum value, remove maximum value and minimum value, then calculate the arithmetical av of N-2 remaining data, N value be chosen for 3-14.
Wherein, in step (2), the data processor of fuzzy control device 4 inside calculates load pressure and the load pressure velocity of variation of adjust high cylinder, and its detailed process comprises:
Oil cylinder equivalent load pressure is defined as: pL=p1-p2×A2/A1(Ⅰ)
Wherein, in formula I, p1For the rodless cavity side filtered arithmetical av of oil pressure value, p2For the rod chamber side filtered arithmetical av of oil pressure value, A1For the effective active area of oil pressure rodless cavity side, A2For the effective active area of cylinder rod chamber side;
After calculating oil cylinder equivalent load pressure, adopting method of least squares to obtain load pressure velocity of variation, its detailed process comprises: the data processor of fuzzy control device inside calculates a series of oil cylinder equivalent load pressure sequence (1pL), (2pL) ..., (mpL), by these data points of fitting of a straight line, it is determined that fitting a straight line equation is
P=a0+a1n(Ⅱ)
Wherein, a in formula II0、a1For real number undetermined, n=1,2 ..., m.
For a determined in formula II0And a1, can derive by fitting of a curve (method of least squares) theory under 2-norm measure
Solve an equation (III) a can be obtained0And a1, by the mean value of matched curve
As load pressure; The slope a of matched curve1As load pressure velocity of variation, i.e. load pressure velocity of variation
Wherein, in step (3), the design process of described fuzzy control rule, comprises step as follows,
A () cuts the difference cut medium and cut the amount of cutting according to cylinder, cut by cylinder and cut operating mode and be divided into: not exclusively coal cutting, coal cutting completely, cuts and cuts a small amount of rock, cuts and cut four kinds, more rock; Corresponding adjust high cylinder load pressure is divided into [0P1], [P1P2], [P2P3], [P3P+] four interval, wherein P+For load pressure high limit, then load pressure opinion territory is [0P+], corresponding fuzzy subset is { Z, PS, PM, PB};
B drum movement state, according to the size of load pressure velocity of variation, is divided into by (): rapid decrease, decline, constant, rise, rapid increase five kinds of situations, corresponding load pressure velocity of variation is divided into [DP-DP1]、[DP1DP2]、[DP2DP3]、[DP3DP4]、[DP4DP+] five interval, wherein DP-For lower limit, the DP of load pressure velocity of variation+For the upper limit of load pressure velocity of variation, then the opinion territory of load pressure velocity of variation is [DP-DP+], corresponding fuzzy subset is { NM, NS, Z, PS, PM};
C control signal that () fuzzy control device exports is the control electric current of electromagnetic proportional valve, in order to regulate the control electric current by electromagnetic proportional valve ratio electro-magnet, the size of electromagnetic proportional valve control electric current and direction determine movement velocity and the direction of motion of cylinder, the control electric current of electromagnetic proportional valve is divided into [-Ib-Im], [-Im-Is], [-IsIs], [IsIm], [ImIb] five intervals, and Ib > Im > Is > 0, wherein Ib is that valve core movement is to the control electric current needed during limit position, then the opinion territory of electromagnetic proportional valve control electric current is [-IbIb], corresponding fuzzy subset is { NB, NS, Z, PS, PB}, corresponding control electric current is negative big respectively, negative little, zero, just little, honest,
(d) by coalcutter operator to based on the working control process of cylinder, set up fuzzy control rule, be specially: if 1. the coal cutting normal lower than cylinder of load pressure time pressure, illustrate that cylinder does not now have complete coal cutting, when load pressure velocity of variation reduces, constant or increase is less, need the control electric current increasing solenoid operated directional valve, thus make rocking arm rising, the complete coal cutting of cylinder, if load pressure velocity of variation increase is bigger, illustrating that cylinder rises very fast, now electromagnetic proportional valve needs less control electric current thus avoids cylinder rapid increase, if 2. within the range of pressure fluctuations of load pressure when the normal coal cutting of cylinder, show cylinder now coal cutting completely, when load pressure velocity of variation is zero, show that roller height is constant, then electromagnetic proportional valve control electric current is set to zero, makes cylinder remain on this height coal cutting, when load pressure velocity of variation is plus or minus, show the trend that cylinder has upwards or moves downward, then correspondingly make electromagnetic proportional valve control electric current be negative or positive, thus make cylinder avoid moving up or down, height when finally making cylinder remain on complete coal cutting, pressure when 3. if load pressure is a bit larger tham cylinder normal coal cutting, show that cylinder now cuts and cut a small amount of rock, and coalcutter coal cutting process allows cut to cut a small amount of rock, the change of load pressure velocity of variation is not negative little very much, zero or just hour, the control electric current making electromagnetic proportional valve is zero, thus avoid cylinder frequently to heighten the smooth property that simultaneously ensure that roof and floor, when load pressure velocity of variation absolute value be more greatly negative big or honest time, show that load pressure is reducing rapidly or increasing, the control electric current then correspondingly making electromagnetic proportional valve is honest or greatly negative, thus make load pressure increase or reduction, avoid cylinder rapid decrease and stay coal or rapid rise and cut more rocks, if the pressure 4. during the coal cutting normal compared with cylinder of load pressure is bigger, show that cylinder cuts and cut more rock, no matter how load pressure velocity of variation changes, and the control electric current that all should make electromagnetic proportional valve is negative, thus reduces load pressure and avoid cylinder continuation section to cut more rock,
Fuzzy control device judges to cut operating mode when which kind of section front roll is according to the load pressure calculated, again according to the load pressure velocity of variation calculated judges to be in which kind of kinestate when front roll, finally, fuzzy control device is to load pressure, load pressure velocity of variation carries out Fuzzy processing and carries out fuzzy operation and to exporting corresponding control signal after fuzzy operation result ambiguity solution to regulate the electric current of electromagnetic proportional valve according to the fuzzy rule set up, the hydraulic efficiency oil entering adjust high cylinder by solenoid-operated proportional valve regulation correspondingly regulates movement velocity and the direction of motion of cylinder, finally realize the automatic adjustment height of cylinder.
Control System Design in the present embodiment is reasonable, easy to install, for the non-linear character of heightening system of coal mining machine, not easily obtain its mathematical models, even if establishing the mathematical model of height-adjusting system, cutting due to cylinder to cut the changeable of operating mode and cut the strong jamming cutting load and also it is difficult to realize the control to cylinder. Visible traditional classical control theory and method are difficult to be applied to the control of coal mining machine roller, and fuzzy control is subordinated to the category of intelligent control, it is applicable to not easily obtain the controlled plant of mathematical models, it is applicable to the control of non-linear system simultaneously, immunity from interference is strong, fast response time, has stronger robustness to the change of system parameter, and therefore fuzzy control can be applied to the control of coal mining machine roller. In coalcutter working process, the working parameter of coalcutter is carried out acquisition and processing by sensor, the difference of cylinder can be cut the state of cutting and be identified by the fuzzy reasoning through fuzzy control device, and correspondingly controls the flexible automatic adjustment height realizing cylinder of adjust high cylinder piston rod.
Embodiment 2:
The control method of a kind of coal mining machine roller automatic adjustment height that the present embodiment provides, method steps is as described in Example 1, its difference is: the control method of coal mining machine roller automatic adjustment height also comprises indicating meter 3 and keyboard 2, and indicating meter 3 and keyboard 2 are all connected with fuzzy control device 4.Realized the setting inputting some set parameter in advance to fuzzy control device by keyboard, indicating meter is used for showing parameter or system operational parameters, convenient operation and the observation of input. Before coalcutter works, undertaken by keyboard and indicating meter setting the fuzzy subset's parameter being stored in fuzzy control device internal memory, comprise cylinder difference cut cut under medium adjust high cylinder load pressure P 1, P2, P3, P+, the control electric current I s of adjust high cylinder load pressure velocity of variation DP1, DP2, DP3, DP4 and electromagnetic proportional valve, Im, Ib.
In the present invention, the interval division of the division of load pressure range, the division in load pressure velocity of variation interval and control electric current is to, based on the working control process of cylinder, collecting endpoint parameter (i.e. P1, P2, P3, the P in the overdraft interval of each operating mode and drum movement state in the process of Artificial Control Roller shear in a large number by coalcutter operator+With DP1, DP2, DP3, DP4), and the endpoint parameter (Is, Im, Ib) of the control electric current under different operating mode and different drum movement state, that is, the setting of interval endpoint parameter carries out value according to data during manual shift cylinder.
After each fuzzy subset's interval division parameter is determined, it is necessary to input fuzzy control device fuzzy subset's parameter carry out Fuzzy processing, each input parameter virtual value from exact value its separately opinion territory be changed into fuzzy value.
Fuzzy with adjust high cylinder load pressure turns to example, illustrates that fuzzy control device is to the Fuzzy processing process of each input parameter. The incomplete coal cutting of cylinder, completely coal cutting, cut cut a small amount of rock and cut cut more rock four kinds of operating modes under obtain adjust high cylinder pressure virtual value respectively and beAnd haveThen the physics opinion territory of load pressure isAnd its fuzzy theory territory is [0, p+], first by physics opinion domain mapping to fuzzy theory territory, linearizing maps pass and isThen quantizing factorpjFor the numerical value in physics opinion territoryMap the numerical value behind fuzzy theory territory, then fuzzy theory territory is divided into four intervals, i.e. [0P1], [P1P2], [P2P3] and [P3P+], corresponding fuzzy subset is { Z, PS, PM, PB}, the data employing Z type membership function mapping that the fuzzy theory territory [0P1] that fuzzy subset Z is corresponding is interval, the data in the fuzzy theory territory [P1P2] that fuzzy subset PS and PM is corresponding and [P2P3] interval adopt trapezoidal or bell membership degree Function Mapping, the fuzzy theory territory [P3P that fuzzy subset PB is corresponding+] interval data adopt S type membership function to map, as shown in Figure 2. The control current-mode gelatinization process of oil cylinder load pressure velocity of variation mould gelatinization process and electromagnetic proportional valve is similar, and wherein, the membership function of load pressure velocity of variation mould gelatinization process maps relation, as shown in Figure 3; The membership function of the control current-mode gelatinization process of electromagnetic proportional valve maps relation, as shown in Figure 4; So far fuzzy control device is completed to load pressureLoad pressure velocity of variationThe mould gelatinization process of electric current three is controlled with electromagnetic proportional valve.
The control signal that fuzzy control device exports is electromagnetic proportional valve control electric current, it is necessary to being processed by its anti fuzzy method, adopt center of gravity method (COG) anti fuzzy method method, fuzzy control device exports ambiguity solution and isWherein y is fuzzy control device fuzzy operation result, and x is electromagnetic proportional valve control electric current fuzzy subset's value, and a, b are electromagnetic proportional valve control electric current fuzzy subset's interval endpoint value.
Embodiment 3:
The control method of a kind of coal mining machine roller automatic adjustment height provided by the invention, method steps is as described in Example 1, its difference is: fuzzy control device 4 is except selecting PC computer, the model that Siemens Company can also be selected to produce is the PLC of S7-221, or select model in MSP430 series that company of Texas Instrument produces to be the micro-chip of MSP430F6659IZQW, or the model that the band PCI/PCIe selecting Yanhua Co., Ltd to produce expands is the built-in industrial control machine of ARK-5260.
Claims (9)
1. the control method of a coal mining machine roller automatic adjustment height, it is characterized in that, this control method comprises the operation steps using the Controlling System being made up of fuzzy control device, data collector, the first pressure transmitter, the 2nd pressure transmitter and electromagnetic proportional valve, wherein, described first pressure transmitter is arranged on height adjusting oil cylinder of coal cutting machine rodless cavity pipe joint, described 2nd pressure transmitter is arranged on height adjusting oil cylinder of coal cutting machine rod chamber pipe joint, and described electromagnetic proportional valve is arranged on coalcutter and heightens on hydraulic circuit; Described first pressure transmitter and the 2nd pressure transmitter are all connected with described data collector, and described data collector is connected with fuzzy control device, and described fuzzy control device is connected with electromagnetic proportional valve; This control method comprises signals collecting, data processing, fuzzy operation and instruction and exports, wherein,
(1) signals collecting: described first pressure transmitter and the 2nd pressure transmitter are measured the pressure signal of adjust high cylinder rodless cavity and adjust high cylinder rod chamber respectively and pressure signal is transferred to data collector, described data collector obtains pressure raw data after pressure signal is carried out filtering process, and by pressure original data transmissions to fuzzy control device;
(2) data processing: the data processor of described fuzzy control device inside calculates load pressure and the load pressure velocity of variation of adjust high cylinder according to the pressure raw data received;
(3) fuzzy operation: the load pressure calculated in step (2) and load pressure velocity of variation are carried out Fuzzy processing by described fuzzy control device, the fuzzy subset of its correspondence is calculated the fuzzyization value being subordinate to angle value as its correspondence by membership function, then the fit of every rule conclusion is calculated respectively according to the fuzzy rule in fuzzy reasoning table: the load Pressure Fuzzy value getting under every bar fuzzy rule, the friendship operation result of load pressure velocity of variation fuzzyization value and electromagnetic proportional valve control electric current fuzzy subset membership function three is as the fit of this fuzzy rule conclusion, finally using the also operation result of all fuzzy rule conclusion fits as controller fuzzy operation result, the design process of described fuzzy control rule, comprises the following steps,
A () cuts the difference cut medium and cut the amount of cutting according to cylinder, cut by cylinder and cut operating mode and be divided into: not exclusively coal cutting, coal cutting completely, cuts and cuts a small amount of rock, cuts and cut four kinds, more rock; Corresponding adjust high cylinder load pressure is divided into [0P1], [P1P2], [P2P3], [P3P+] four interval, wherein P+For load pressure high limit, then load pressure opinion territory is [0P+], the fuzzy subset that four intervals of load pressure division are corresponding is followed successively by { Z, PS, PM, PB};
B drum movement state, according to the size of load pressure velocity of variation, is divided into by (): rapid decrease, decline, constant, rise, rapid increase five kinds of situations, corresponding load pressure velocity of variation is divided into [DP-DP1]、[DP1DP2]、[DP2DP3]、[DP3DP4]、[DP4DP+] five interval, wherein DP-For lower limit, the DP of load pressure velocity of variation+For the upper limit of load pressure velocity of variation, then the opinion territory of load pressure velocity of variation is [DP-DP+], the fuzzy subset that five intervals of load pressure velocity of variation division are corresponding is followed successively by { NM, NS, Z, PS, PM};
C control signal that () fuzzy control device exports is the control electric current of electromagnetic proportional valve, in order to regulate the electric current by electromagnetic proportional valve ratio electro-magnet, the size of electromagnetic proportional valve control electric current and direction determine movement velocity and the direction of motion of cylinder, the control electric current of electromagnetic proportional valve is divided into [-Ib-Im], [-Im-Is], [-IsIs], [IsIm], [ImIb] five intervals, and Ib > Im > Is > 0, wherein Ib is that valve core movement is to the control electric current needed during limit position, then the opinion territory of electromagnetic proportional valve control electric current is [-IbIb], the fuzzy subset that five intervals of control electric current division are corresponding is followed successively by { NB, NS, Z, PS, PB}, corresponding control electric current is negative big respectively, negative little, zero, just little, honest,
D () to based on the working control process of cylinder, sets up fuzzy control rule by coalcutter operator, fuzzy control rule as shown in Table 1:
Table one: fuzzy control rule table
Fuzzy control device judges to cut operating mode when which kind of section front roll is according to the load pressure calculated, again according to the load pressure velocity of variation calculated judges to be in which kind of kinestate when front roll, finally, fuzzy control device is to load pressure, load pressure velocity of variation carries out Fuzzy processing and carries out fuzzy operation according to the fuzzy control rule set up and obtain electromagnetic proportional valve control electric current, and electromagnetic proportional valve is controlled the solution for the current corresponding control signal of fuzzy rear output to regulate the electric current of electromagnetic proportional valve, the hydraulic efficiency oil entering adjust high cylinder by solenoid-operated proportional valve regulation correspondingly regulates movement velocity and the direction of motion of cylinder, finally realize the automatic adjustment height of cylinder,
(4) instruction exports: described fuzzy control device utilizes center of gravity method that controller fuzzy operation result ambiguity solution is obtained the control signal of fuzzy control device output and electromagnetic proportional valve, described control signal control change electromagnetic proportional valve valve core movement direction and valve port opening are to change the flow of turnover adjust high cylinder, thus changing adjust high cylinder piston rod displacement, final realization is to the Automatic Height-Adjusting of cylinder.
2. the control method of coal mining machine roller automatic adjustment height as claimed in claim 1, it is characterised in that, described control method also comprises indicating meter and keyboard, and described indicating meter and keyboard are all connected with fuzzy control device.
3. the control method of coal mining machine roller automatic adjustment height as claimed in claim 1 or 2, it is characterized in that, in step (1), described filtering process refers to that data collector adopts the way of median average filter that the pressure signal of the first pressure transmitter and the transmission of the 2nd pressure transmitter is carried out filtering process, its detailed process comprises: the N number of data of continuous sampling, then bubbling method principle is adopted the N number of data collected to be sorted, find out the maximum value in N number of sampling data and minimum value, remove maximum value and minimum value, then the arithmetical av of N-2 remaining data is calculated, N value be chosen for 3-14.
4. the control method of coal mining machine roller automatic adjustment height as claimed in claim 1 or 2, it is characterized in that, in step (2), the data processor of described fuzzy control device inside calculates load pressure and the load pressure velocity of variation of adjust high cylinder, and its detailed process comprises:
Oil cylinder equivalent load pressure is defined as: pL=p1-p2×A2/A1(I)
Wherein, in formula I, p1For the rodless cavity side filtered arithmetical av of oil pressure value, p2For the rod chamber side filtered arithmetical av of oil pressure value, A1For the effective active area of oil pressure rodless cavity side, A2For the effective active area of cylinder rod chamber side;
After calculating oil cylinder equivalent load pressure, adopting method of least squares to obtain pressure velocity of variation, its detailed process comprises: the data processor of fuzzy control device inside calculates a series of oil cylinder equivalent load pressure sequence (1pL), (2pL) ..., (mpL), by these data points of fitting of a straight line, it is determined that fitting a straight line equation is
p=a0+a1N(II)
Wherein, a in formula II0、a1For real number undetermined, n=1,2 ..., m.
For a determined in formula II0And a1, can derive by the fitting of a curve theory under 2-norm measure
(III)
Solve an equation (III) a can be obtained0And a1, by the mean value of matched curve
(IV)
As load pressure;The slope a of matched curve1As load pressure velocity of variation, i.e. load pressure velocity of variation
(V).
5. the control method of coal mining machine roller automatic adjustment height as claimed in claim 1 or 2, it is characterized in that, in step (4), the process of described ambiguity solution comprise adopt COG center of gravity method fuzzy operation is obtained electromagnetic proportional valve control electric current carry out anti fuzzy method process, fuzzy control device export ambiguity solution be, wherein y is fuzzy control device fuzzy operation result, and x is electromagnetic proportional valve control electric current fuzzy subset's value, and a, b are electromagnetic proportional valve control electric current fuzzy subset's interval endpoint value.
6. the control method of coal mining machine roller automatic adjustment height as claimed in claim 2, it is characterized in that, described control method also comprises the process of input pre-setting parameter, before coalcutter works, undertaken by keyboard and indicating meter setting the fuzzy subset's parameter being stored in fuzzy control device internal memory, comprise cylinder difference cut cut under medium adjust high cylinder load pressure P 1, P2, P3, P+, the control electric current I s of adjust high cylinder load pressure velocity of variation DP1, DP2, DP3, DP4 and electromagnetic proportional valve, Im, Ib.
7. the control method of coal mining machine roller automatic adjustment height as claimed in claim 1 or 2, it is characterised in that, the model that described data collector selects Yanhua Co., Ltd to produce is the data collecting card of PCI-1711U.
8. the control method of coal mining machine roller automatic adjustment height as claimed in claim 1 or 2, it is characterized in that, the model that described first pressure transmitter and the 2nd pressure transmitter all select KISTLER instrument stock company of Switzerland to produce is the explosion-proof type pressure unit of SM20RE250-HKC.
9. the control method of coal mining machine roller automatic adjustment height as claimed in claim 1 or 2, it is characterized in that, described electromagnetic proportional valve selects guide's 3-position 4-way proportion directional valve that what the happy company of Bosch man of great strength produced model is the not band Electrical Position Feedback of 4WRZE16E100-7X/6EG24ETK31A1M; The model that described fuzzy control device selects Siemens Company to produce is the PLC of S7-221, or select model in MSP430 series that company of Texas Instrument produces to be the micro-chip of MSP430F6659IZQW, or the model that the band PCI/PCIe selecting Yanhua Co., Ltd to produce expands is the built-in industrial control machine of ARK-5260, or select PC computer.
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| CN106194180B (en) * | 2016-08-08 | 2017-05-24 | 西安科技大学 | Method for predicting heightening track of coal cutter based on sliding window and gray Markov chain |
| CN111367166A (en) * | 2020-02-11 | 2020-07-03 | 邯郸钢铁集团有限责任公司 | Secondary development design method of fuzzy controller based on S7_300 |
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