CN104891133A - Control system and method of pushed and slipped motion order of scraper conveyer - Google Patents
Control system and method of pushed and slipped motion order of scraper conveyer Download PDFInfo
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- CN104891133A CN104891133A CN201510219472.0A CN201510219472A CN104891133A CN 104891133 A CN104891133 A CN 104891133A CN 201510219472 A CN201510219472 A CN 201510219472A CN 104891133 A CN104891133 A CN 104891133A
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- pushing
- sliding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
- B65G19/18—Details
- B65G19/22—Impellers, e.g. push-plates, scrapers; Guiding means therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
Abstract
The invention discloses a control system and method of a pushed and slipped motion order of a scraper conveyer. The system comprises a scraper conveyer body, hydraulic support pushing and slipping hydraulic cylinders connected with the scraper conveyer, a hydraulic support electrohydraulic control pushing and slipping displacement acquisition subsystem and a scraper conveyer motion order control subsystem. The hydraulic support electrohydraulic control pushing and slipping displacement acquisition subsystem is physically connected with the pushing and slipping hydraulic cylinders of hydraulic supports. When the hydraulic supports push and slip the scraper conveyer, according to pressure of hydraulic pumps and the limiting condition of the maximum displacement difference between middle troughs of the scraper conveyer, the pushed and slipped motion order of the scraper conveyer is reasonably arranged, the scraper conveyer gently moves, and steel impact between adjacent middle troughs of the scraper conveyer is reduced; the pushed and slipped time of the scraper conveyer is reduced, and the pushed and slipped efficiency of the scraper conveyer is improved; and the linearity of the pushed and slipped scraper conveyer is increased, and steel impact and friction between a coal mining machine and the scraper conveyer are effectively reduced.
Description
Technical field
The present invention relates to a kind of slat conveyer control system and method, specifically a kind of pushing and sliding motion sequence control system of slat conveyer and method.
Background technology
Along with country 973 plan " the unmanned digging equipment key foundation research of dangerous coal seam, deep ", " 863 " plan emphasis Funded Projects " coalcutter remote control technology and monitoring system ", carrying out of the large-scale national colliery Smart Device Projects such as National Development and Reform Committee's intelligent manufacturing equipment special project " comprehensive mechanized coal mining outfit intelligent control system project ", on fully-mechanized mining working, the Automated condtrol of weight equipment more and more comes into one's own, the requirement controlled it is also more and more higher, and with regard to current research state, for the motion control of slat conveyer, relate to the pushing and sliding control part of the electrohydraulic control system of hydraulic support, when carrying out pushing and sliding to slat conveyer, prexxure of the hydraulic pump restriction required when the two-way constraint connected due to chain between slat conveyer and pushing and sliding, in order to minimize the period of pushing and sliding, need reasonably to control the motion control order of slat conveyer, but also do not relate to the correlative study of the motion control order for slat conveyer at present.In addition, at present when slat conveyer is in pushing and sliding, can only control stage by stage, namely cannot " key control ", need operating personal according to current pushing and sliding situation, constantly upgrade control policy, the pushing and sliding hydraulic actuating cylinder of hydraulic support is utilized to go to promote slat conveyer, the repeated workload of workman is many, and labour intensity is large, is also unfavorable for the process that fully-mechanized mining working " few peopleization " develops.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of pushing and sliding motion sequence control system and method for slat conveyer, without the need to artificial real-time update control policy, realize " key control ", and can be pushed away on neat basis by hydraulic support at guarantee slat conveyer, reduce the pushing and sliding time, improve the automatization level of fully-mechanized mining working equipment.
To achieve these goals, the technical solution used in the present invention is: this slat conveyer pushing and sliding motion sequence control system, comprise slat conveyer body, and the hydraulic support pushing and sliding hydraulic actuating cylinder to be connected with slat conveyer, also comprise hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem and slat conveyer motion sequence control subsystem, the pushing and sliding hydraulic actuating cylinder of described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem and hydraulic support carries out physical connection
Described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem comprises hydraulic support electrohydraulic control system primary controller, hydraulic bracket controller and the pushing and sliding displacement pickup corresponding with each support; Described pushing and sliding displacement pickup is electrically connected with hydraulic bracket controller,
Described hydraulic support electrohydraulic control system primary controller is connected by network with the controller of each hydraulic support;
Described slat conveyer motion sequence control subsystem comprises the micro-control unit MCU for controlling and calculate, for the embedded database that data store, for carrying out with described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem the network connection interface that communicates, described micro-control unit MCU comprises pushing and sliding curve construction and segmenting unit, motion sequence controlling calculation unit and motion sequence command unit.
A control method for slat conveyer pushing and sliding motion sequence control system, comprises the following steps:
1) the hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem described in utilization, gathers each intermediate channel pushing and sliding displacement of slat conveyer, constructs whole piece pushing and sliding curve;
2) staging treating is carried out to the pushing and sliding curve built, according to the planeness of curve, curve is divided into three sections, the bending section namely in the middle part of pushing and sliding curve, and the left control section be on bending section left and right directions and right control section; The left control section range of control of described pushing and sliding curve is LCS=[0, S1], right control section range of control is RCS=[S2, N] and the bending section range of control of centre be CCS=[S1, S2], when coalcutter direction from left to right time, namely during dir=right, the scope that coalcutter section is in is MCS=[S2, S3], now S2<S3; When coalcutter direction right-to-left, namely during dir=left, MCS=[S3, S1], now S3<S1 during the scope that coalcutter is in; S1 described above, S2, S3, N are the support number of hydraulic support, and namely the horizontal coordinate of each intermediate channel on driving surface carries out measuring with the support of hydraulic support number;
3) to needing to push away neat control section and LCS and RCS carries out motion control, LCS and RCS information is first stored in embedded database by described micro-control unit MCU, then carry out iterative computation to the motion sequence that LCS and RCS carries out pre-pushing and sliding respectively, concrete calculation procedure is as follows:
A. be loaded into the coordinate data needing the segment of curve controlled, initializing system variables, solves the maxim of pushing and sliding curve, minimum value, maximum value set and minimal value set;
B. for each curve point in minimal value set, the size according to its displacement carries out ascending order arrangement, the curve point that displacement is minimum, enters the iterative computation link in step (c) at first;
C. with curve point first fixed in step (b) for benchmark, scope [the RS of setting iterative, RE], according to its displacement size, ascending order arrangement is carried out to the curve point comprised within the scope of this, the middle pan of scraper conveyor that the minimum curve point of displacement is corresponding, the pre-pushing and sliding entering described microprocessing unit MCU at first calculate, and wherein namely RE-RS is decided by the pushing and sliding pressure of Hydraulic Pump;
D. to the displacement pushing and sliding step delta d corresponding to curve point selected in step (c), the pushing and sliding displacement whether its final mean annual increment movement reaches maximum is checked;
E. if the pushing and sliding displacement then arranging current intermediate channel is maximum pushing and sliding shift value, and current iteration mark amount is set is set to false, enter calculation procedure (f), if not, then directly enter step (f);
F. judge whether reach maximum displacement difference Δ D between two adjacent supports, if, the pushing and sliding displacement then arranging current intermediate channel is least displacement and the pushing and sliding step-length sum of two adjacent intermediate channel, and the iteration mark amount arranging current intermediate channel is false, enters step (g); If not, then the pushing and sliding displacement of cumulative current intermediate channel, and the iteration mark amount arranging current intermediate channel is true, and enter step (g);
G. check the iteration mark amount of all intermediate channel, if all iteration mark amounts are all false, then go back to step (c); On the contrary, then finishing iteration calculates;
Step delta d described above is less than maximum displacement difference Δ D.
4) according to above-mentioned iterative computation, obtain the pushing and sliding limit of power that in each minimal value set, near each minimal value, Hydraulic Pump allows, when can the displacement difference of pushing and sliding reach maximum time, record the pushing and sliding displacement summation of base curve point now and current intermediate channel, so iterate, obtain pushing and sliding displacement summation collection, descending sort is carried out to this set, according to this order, motion control is orderly carried out to slat conveyer.
Further, the pushing and sliding curve in described step (1) represents with discrete point arrangement set, i.e. P={ (d
1, 1), (d
2, 2), (d
3, 3) ... (d
n, N) }, wherein N is the support number of hydraulic support.
Compared with prior art, the present invention is when hydraulic support pushing and sliding slat conveyer, according to the limited case of maximum displacement difference between the pressure of Hydraulic Pump and the middle pan of scraper conveyor, reasonable arrangement slat conveyer is by the motion sequence of pushing and sliding, slat conveyer action can be made mild, and the rigidity decreased between the adjacent intermediate channel of slat conveyer is impacted; Decrease slat conveyer by the time of pushing and sliding, improve the efficiency of slat conveyer pushing and sliding; Add slat conveyer by the linearity after pushing and sliding, effectively reduce rigidity between coalcutter and scrapper conveyor and impact and friction.The present invention without the need to artificial according to current pushing and sliding situation real-time update control policy, when scrapper conveyor pushing and sliding, achieve " key control ", solve slat conveyer and hydraulic support pushes away uneven, and the great difficult problem of pushing and sliding work capacity, effectively improve the automatization level of fully-mechanized mining working equipment, decrease pushing and sliding time and artificial labour intensity.
Accompanying drawing explanation
Fig. 1 is slat conveyer pushing and sliding motion sequence control system schematic diagram of the present invention;
Fig. 2 is the working curve diagram of slat conveyer of the present invention;
Fig. 3 is slat conveyer pushing and sliding motion sequence control principle drawing of the present invention;
Fig. 4 is slat conveyer pushing and sliding motion sequence control flow chart of the present invention;
Fig. 5 is slat conveyer pushing and sliding motion sequence control forecasting diagram of circuit of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, a kind of slat conveyer pushing and sliding of the present invention motion sequence control system, comprise slat conveyer body, hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem and slat conveyer motion sequence control subsystem three parts, described slat conveyer motion sequence control subsystem is arranged on slat conveyer, in addition, the hydraulic support pushing and sliding hydraulic actuating cylinder be connected with slat conveyer is also comprised; The pushing and sliding hydraulic actuating cylinder of described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem and hydraulic support carries out physical connection, so that hydraulic support carries out pushing and sliding to slat conveyer.
Described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem comprises hydraulic support electrohydraulic control system primary controller, hydraulic bracket controller and the pushing and sliding displacement pickup corresponding with each support; Described pushing and sliding displacement pickup is electrically connected with hydraulic bracket controller, described hydraulic support electrohydraulic control system primary controller is connected by network with the controller of each hydraulic support, for gathering the data of the pushing and sliding displacement pickup corresponding to current brackets, and then obtain the pushing and sliding displacement of each intermediate channel.
Described slat conveyer motion sequence control subsystem comprises the micro-control unit MCU for controlling and calculate, for the embedded database that data store, for carrying out with described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem the network connection interface that communicates, described micro-control unit MCU comprises pushing and sliding curve construction and segmenting unit, motion sequence controlling calculation unit and motion sequence command unit three part.
As shown in Figure 2, described micro-control unit MCU Main Function is, according to gathering each intermediate channel pushing and sliding displacement got, structure pushing and sliding curve, utilizes segmentation algorithm automatically to be identified by the bending section of its coalcutter place section and slat conveyer according to constructed pushing and sliding curve.The effect of described motion sequence controlling calculation unit is, according to the pushing and sliding curve after segmentation, provide suitable motion sequence, make to make slat conveyer action mild during hydraulic support pushing and sliding slat conveyer, the rigidity reduced between the adjacent intermediate channel of slat conveyer is impacted; Reduce slat conveyer by the time of pushing and sliding, improve the efficiency of slat conveyer pushing and sliding; Increase slat conveyer by the linearity after pushing and sliding, the rigidity reduced between coalcutter and scrapper conveyor is impacted.
As shown in Figure 3, in figure, first stage is the segment of curve that original needs control, and when carrying out motion sequence and controlling, first must find out the maxim of this virgin curve, minimum value, maxim set and minimum value set.When subordinate phase, start to carry out first time motion control, as can be seen from the figure, have two elements in minimum point set, other bands of position are respectively the position as shown in figure 1,2.By calculating, near minimal value, in the scope that prexxure of the hydraulic pump allows, institute can the maximum displacement summation of pushing and sliding, is the area of dash area, the intermediate channel of greatly i.e. which slat conveyer partly of first pushing and sliding of which area.During from subordinate phase to the phase III, then repeat the control command that above step can solve whole pushing and sliding motion sequence step by step.
As shown in Figure 4, a kind of control method of slat conveyer pushing and sliding motion sequence control system, comprises the following steps:
1) the hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem described in utilization, gathers each intermediate channel pushing and sliding displacement of slat conveyer, constructs whole piece pushing and sliding curve; Pushing and sliding curve in described step (1) represents with discrete point arrangement set, i.e. P={ (d
1, 1), (d
2, 2), (d
3, 3) ... (d
n, N) }, wherein N is the support number of hydraulic support;
2) staging treating is carried out to the pushing and sliding curve built, according to the planeness of curve, curve is divided into three sections, the bending section namely in the middle part of pushing and sliding curve, and the left control section be on bending section left and right directions and right control section; According to the direction of coalcutter motion, namely section at current coalcutter in left control section, also can be in right control section.If coalcutter service direction runs from left to right from driving surface, so coalcutter is positioned in right control section; If coalcutter service direction runs from driving surface right-to-left, so coalcutter is positioned in left control section.Be LCS=[0 through the above-mentioned left control section range of control can learning this pushing and sliding curve, S1], right control section range of control is RCS=[S2, N] and the bending section range of control of centre be CCS=[S1, S2], when coalcutter direction from left to right time, namely during dir=right, the scope that coalcutter section is in is MCS=[S2, S3], now S2<S3; When coalcutter direction right-to-left, namely during dir=left, MCS=[S3, S1], now S3<S1 during the scope that coalcutter is in; S1 described above, S2, S3, N are the support number of hydraulic support, and namely the horizontal coordinate of each intermediate channel on driving surface carries out measuring with the support of hydraulic support number;
3) to needing to push away neat control section and LCS and RCS carries out motion control, LCS and RCS information is first stored in embedded database by described micro-control unit MCU, then carries out iterative computation to the motion sequence that LCS and RCS carries out pre-pushing and sliding respectively;
4) according to above-mentioned iterative computation, can to obtain in each minimal value set near each minimal value, in the pushing and sliding limit of power that Hydraulic Pump allows, when the displacement difference of institute's energy pushing and sliding reaches maximum, record the pushing and sliding displacement summation of base curve point now and current intermediate channel.So iterate, obtain pushing and sliding displacement summation collection, descending sort is carried out to this set, according to this order, motion control is orderly carried out to slat conveyer.
As shown in Figure 5, the concrete steps of described iterative computation are as follows:
A. be loaded into the coordinate data needing the segment of curve controlled, initializing system variables, solves the maxim of pushing and sliding curve, minimum value, maximum value set and minimal value set;
B. for each curve point in minimal value set, the size according to its displacement carries out ascending order arrangement, the curve point that displacement is minimum, enters the iterative computation link in step (c) at first.
C. with curve point first fixed in step (b) for benchmark, scope [the RS of setting iterative, RE], according to its displacement size, ascending order arrangement is carried out to the curve point comprised within the scope of this, the middle pan of scraper conveyor that the minimum curve point of displacement is corresponding, the pre-pushing and sliding entering described microprocessing unit MCU at first calculate, and wherein namely RE-RS is decided by the pushing and sliding pressure of Hydraulic Pump;
D. to the displacement pushing and sliding step-length corresponding to curve point selected in step (c), the pushing and sliding displacement whether its final mean annual increment movement reaches maximum is checked;
E. if the pushing and sliding displacement then arranging current intermediate channel is maximum pushing and sliding shift value, and current iteration mark amount is set is set to false, enter calculation procedure (f), if not, then directly enter step (f).
F. judge whether reach maximum displacement difference between two adjacent supports, if, the pushing and sliding displacement then arranging current intermediate channel is least displacement and the pushing and sliding step-length sum of two adjacent intermediate channel, and the iteration mark amount arranging current intermediate channel is false, enters step (g); If not, then the pushing and sliding displacement of cumulative current intermediate channel, and the iteration mark amount arranging current intermediate channel is true, and enter step (g).
G. check the iteration mark amount of all intermediate channel, if all iteration mark amounts are all false, then go back to step (c); On the contrary, then finishing iteration calculates;
Step delta d described above is less than maximum displacement difference Δ D.
Claims (4)
1. a slat conveyer pushing and sliding motion sequence control system, comprise slat conveyer body, and the hydraulic support pushing and sliding hydraulic actuating cylinder to be connected with slat conveyer, it is characterized in that, also comprise hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem and slat conveyer motion sequence control subsystem, the pushing and sliding hydraulic actuating cylinder of described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem and hydraulic support carries out physical connection
Described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem comprises hydraulic support electrohydraulic control system primary controller, hydraulic bracket controller and the pushing and sliding displacement pickup corresponding with each support; Described pushing and sliding displacement pickup is electrically connected with hydraulic bracket controller,
Described hydraulic support electrohydraulic control system primary controller is connected by network with the controller of each hydraulic support;
Described slat conveyer motion sequence control subsystem comprises the micro-control unit MCU for controlling and calculate, for the embedded database that data store, for carrying out with described hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem the network connection interface that communicates, described micro-control unit MCU comprises pushing and sliding curve construction and segmenting unit, motion sequence controlling calculation unit and motion sequence command unit.
2. a control method for slat conveyer pushing and sliding motion sequence control system as claimed in claim 1, is characterized in that, comprise the following steps:
1) the hydraulic support electrohydraulic control pushing and sliding displacement acquisition subsystem described in utilization, gathers each intermediate channel pushing and sliding displacement of slat conveyer, constructs whole piece pushing and sliding curve;
2) staging treating is carried out to the pushing and sliding curve built, according to the planeness of curve, curve is divided into three sections, the bending section namely in the middle part of pushing and sliding curve, and the left control section be on bending section left and right directions and right control section; The left control section range of control of described pushing and sliding curve is LCS=[0, S1], right control section range of control is RCS=[S2, N] and the bending section range of control of centre be CCS=[S1, S2], when coalcutter direction from left to right time, namely during dir=right, the scope that coalcutter section is in is MCS=[S2, S3], now S2<S3; When coalcutter direction right-to-left, namely during dir=left, MCS=[S3, S1], now S3<S1 during the scope that coalcutter is in; S1 described above, S2, S3, N are the support number of hydraulic support, and namely the horizontal coordinate of each intermediate channel on driving surface carries out measuring with the support of hydraulic support number;
3) to needing to push away neat control section and LCS and RCS carries out motion control, LCS and RCS information is first stored in embedded database by described micro-control unit MCU, then carries out iterative computation to the motion sequence that LCS and RCS carries out pre-pushing and sliding respectively;
4) according to above-mentioned iterative computation, obtain the pushing and sliding limit of power that in each minimal value set, near each minimal value, Hydraulic Pump allows, when can the displacement difference of pushing and sliding reach maximum time, record the pushing and sliding displacement summation of base curve point now and current intermediate channel, so iterate, obtain pushing and sliding displacement summation collection, descending sort is carried out to this set, according to this order, motion control is orderly carried out to slat conveyer.
3. the control method of a kind of slat conveyer pushing and sliding motion sequence control system according to claim 2, it is characterized in that, described iterative computation step is as follows:
A. be loaded into the coordinate data needing the segment of curve controlled, initializing system variables, solves the maxim of pushing and sliding curve, minimum value, maximum value set and minimal value set;
B. for each curve point in minimal value set, the size according to its displacement carries out ascending order arrangement, the curve point that displacement is minimum, enters the iterative computation link in step (c) at first;
C. with curve point first fixed in step (b) for benchmark, scope [the RS of setting iterative, RE], according to its displacement size, ascending order arrangement is carried out to the curve point comprised within the scope of this, the middle pan of scraper conveyor that the minimum curve point of displacement is corresponding, the pre-pushing and sliding entering described microprocessing unit MCU at first calculate, and wherein namely RE-RS is decided by the pushing and sliding pressure of Hydraulic Pump;
D. to the displacement pushing and sliding step delta d corresponding to curve point selected in step (c), the pushing and sliding displacement whether its final mean annual increment movement reaches maximum is checked;
E. if the pushing and sliding displacement then arranging current intermediate channel is maximum pushing and sliding shift value, and current iteration mark amount is set is set to false, enter calculation procedure (f), if not, then directly enter step (f);
F. judge whether reach maximum displacement difference Δ D between two adjacent supports, if, the pushing and sliding displacement then arranging current intermediate channel is least displacement and the pushing and sliding step-length sum of two adjacent intermediate channel, and the iteration mark amount arranging current intermediate channel is false, enters step (g); If not, then the pushing and sliding displacement of cumulative current intermediate channel, and the iteration mark amount arranging current intermediate channel is true, and enter step (g);
G. check the iteration mark amount of all intermediate channel, if all iteration mark amounts are all false, then go back to step (c); On the contrary, then finishing iteration calculates;
Step delta d described above is less than maximum displacement difference Δ D.
4. the control method of a kind of slat conveyer pushing and sliding motion sequence control system according to claim 3, it is characterized in that, the pushing and sliding curve in described step (1) represents with discrete point arrangement set, i.e. P={ (d
1, 1), (d
2, 2), (d
3, 3) ... (d
n, N) }.
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