CN105863632B - A kind of control method and system of the frequency converter fluid drive of boom-type roadheader cut - Google Patents
A kind of control method and system of the frequency converter fluid drive of boom-type roadheader cut Download PDFInfo
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- CN105863632B CN105863632B CN201610413646.1A CN201610413646A CN105863632B CN 105863632 B CN105863632 B CN 105863632B CN 201610413646 A CN201610413646 A CN 201610413646A CN 105863632 B CN105863632 B CN 105863632B
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- 239000012530 fluid Substances 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 6
- 238000011161 development Methods 0.000 abstract description 8
- 239000011435 rock Substances 0.000 abstract description 8
- 230000005641 tunneling Effects 0.000 abstract description 3
- 239000003245 coal Substances 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 241000167854 Bourreria succulenta Species 0.000 description 1
- 238000007630 basic procedure Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000019693 cherries Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- XDDAORKBJWWYJS-UHFFFAOYSA-N glyphosate Chemical group OC(=O)CNCP(O)(O)=O XDDAORKBJWWYJS-UHFFFAOYSA-N 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
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- General Life Sciences & Earth Sciences (AREA)
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- Geology (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention discloses a kind of control method and system of the frequency converter fluid drive of boom-type roadheader cut, control method step includes increasing torque envelope control function for the speed closed loop control of cut frequency converter so that the output torque of cut frequency converter is the current rotating speed of cut variable-frequency motor corresponding output torque on its torque rotary speed characteristic curve；According to the electric current of cut variable-frequency motor, torque and rotating speed come the operation range for the cut frequency converter that automatically switches；Control system includes and the completely corresponding torque envelope control program unit of control method and gearshift program unit.Cut frequency converter of the present invention will not be because loading quick increase and overload trip, gear shift can be realized automatically, cut frequency converter does not report failure and and can normally and efficiently works, simplifies the operation of tunneling machine cutting frequency converter, reduce the labor intensity of operating personnel so that development machine keeps powerful rock breaking capacity and efficient operation state automatically.
Description
Technical field
The present invention relates to the cut Frequency Converter Control technology of boom-type roadheader, and in particular to a kind of boom-type roadheader is cut
Cut the control method and system of frequency converter fluid drive.
Background technology
After cantilevered coal mine development machine cut variable-frequency motor uses cut transducer drive, typically 2 speed are used（Just
Two grades）Or 3 speed（High, normal, basic third gear）To carry out cut.When cut cherry coal rock, using top grade, to reach highest cut effect
Rate；When cut hard coal rock, using middle-grade or low grade, to obtain high torque broken rock.In fact, speed stage during cut operation
Switching fully relies on operating personnel, and development machine is very big with operating personnel's relation with whether getting well, mainly the experience of operating personnel,
Operating personnel can listen on cut sound or observation control box cut variable-frequency motor load by rule of thumb to switch gear, and most of
In the case of, operating personnel always work at top gear to drive plan or be disinclined to gear shift, even if running into hard coal rock, will not also cut
Middle low speed is changed to increase moment of torsion, so until cut variable-frequency motor because moment of torsion deficiency and overcurrent tripping.
The complete manual operation of cutting speed gear of development machine at present, pass through the corresponding gear button of operating personnel's manual operation
Switch over, due to the experience difference of operating personnel, the promptness of gear shift, the driving for being more than directly influencing development machine is imitated
Rate, it is often more important that the easy overcurrent tripping of cut variable-frequency motor, and cause the electric, failure of mechanical aspects.On the other hand, due to
Development machine is in digging laneway, because of the uncertainty of geological conditions, when this section of tunnel coal petrography is harder, another section of coal petrography again compared with
It is soft, or above tunnel it is harder, lower section is softer, or even whole section coal petrography is soft or hard just has uncertainty, therefore fully relies on
Manual shift can not realize free switching well, nor preferable and efficient gear changing mode.Do not use also temporarily at present
The mode of fluid drive solves the problems, such as cut frequency converter gear shift speed governing.
The content of the invention
The technical problem to be solved in the present invention：For the above mentioned problem of prior art, there is provided a kind of cut frequency converter will not
Because loading quick increase and overload trip, gear shift can be realized automatically, cut frequency converter does not report failure and and can normally and efficiently work
Make, simplify the operation of tunneling machine cutting frequency converter, reduce the labor intensity of operating personnel so that development machine keeps powerful automatically
Rock breaking capacity and efficient operation state boom-type roadheader cut frequency converter fluid drive control method and system.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of control method of boom-type roadheader cut frequency converter fluid drive, step include：
1）For cut frequency converter speed closed loop control increase torque envelope control function so that cut frequency converter it is defeated
It is the current rotating speed of cut variable-frequency motor corresponding output torque on its torque rotary speed characteristic curve to go out torque；
2）According to the electric current of cut variable-frequency motor, torque and rotating speed come the operation range for the cut frequency converter that automatically switches.
Preferably, the step 2）Detailed step include：
2.1）Cut for each gear Initialize installation current ration, torque definite value, rated speed and downshift rotating speed, control
Cut frequency converter and be operated in acquiescence gear, acquiescence gear is the current gear of cut frequency converter；
2.2）Electric current, torque and the rotating speed of cut variable-frequency motor are detected, if the electric current of cut variable-frequency motor is less than currently
Current ration, torque are specified equal to corresponding to current gear less than torque definite value, rotating speed corresponding to current gear corresponding to gear
Three conditions of rotating speed meet simultaneously, then redirect and perform step 2.3）；If the electric current of cut variable-frequency motor increases to current gear
Corresponding current ration, torque increase to torque definite value, rotating speed corresponding to current gear and are reduced to downshift corresponding to current gear
Three conditions of rotating speed meet simultaneously, then redirect and perform step 2.4）；
2.3）Judge whether there is more high tap position on current gear, it is more high-grade if then controlling cut frequency converter to be operated in
Position, the more high tap position are the current gear of cut frequency converter；Redirect and perform step 2.2）；
2.4）Judge whether there is more low-grade location under current gear, it is more low-grade if then controlling cut frequency converter to be operated in
Position, the more low-grade location are the current gear of cut frequency converter；Redirect and perform step 2.2）.
Preferably, the step 2.1）In acquiescence gear be cut frequency converter highest gear.
The present invention also provides a kind of control system of boom-type roadheader cut frequency converter fluid drive, including：
Torque envelope control program unit, for increasing torque envelope line traffic control for the speed closed loop control of cut frequency converter
Function processed so that the output torque of cut frequency converter is that the current rotating speed of cut variable-frequency motor is right on its torque rotary speed characteristic curve
The output torque answered；
Gearshift program unit, for the electric current according to cut variable-frequency motor, torque and rotating speed come cut frequency conversion of automatically switching
The operation range of device.
Preferably, the gearshift program unit includes：
Give tacit consent to gear set submodule, for for each gear Initialize installation current ration, torque definite value, specified turn
Speed and downshift rotating speed, control cut frequency converter are operated in acquiescence gear, and acquiescence gear is the current gear of cut frequency converter；
Gear switch judge module, for detecting electric current, torque and the rotating speed of cut variable-frequency motor, if cut variable-frequency electric
The electric current of machine is less than current ration corresponding to current gear, torque is less than torque definite value corresponding to current gear, rotating speed is equal to and worked as
Three conditions of rated speed corresponding to preceding gear meet simultaneously, then call shift-up module；If the electric current of cut variable-frequency motor increases
Add to current ration corresponding to current gear, torque increases to torque definite value, rotating speed corresponding to current gear and is reduced to current shelves
Downshift three conditions of rotating speed meet simultaneously corresponding to position, then call downshift module；
Shift-up module, for judging whether there is more high tap position on current gear, if then controlling cut frequency converter work
Make in more high tap position, the more high tap position is the current gear of cut frequency converter；
Downshift module, for judging whether there is more low-grade location under current gear, if then controlling cut frequency converter work
Make in more low-grade location, the more low-grade location is the current gear of cut frequency converter.
Preferably, the acquiescence gear sets the highest gear that the acquiescence gear of submodule is cut frequency converter.
The control method tool of boom-type roadheader cut frequency converter fluid drive of the present invention has the advantage that：
1st, the present invention increases torque envelope control function for the speed closed loop control of cut frequency converter so that cut frequency conversion
The output torque of device is the current rotating speed of cut variable-frequency motor corresponding output torque, torque bag on its torque rotary speed characteristic curve
The increase of winding thread control function, cut variable-frequency motor output characteristics is softened, cut frequency converter will not because loading quick increase and
Overload trip, exactly using this function, running state real-time monitoring that can be by master controller to cut frequency converter, according to pre-
If condition realizes cut frequency converter speed stage free switching.
2nd, the present invention according to the electric current of cut variable-frequency motor, torque and rotating speed come the work shelves for the cut frequency converter that automatically switches
Position, can realize gear shift automatically, cut frequency converter does not report failure and and can normally and efficiently works, simplifies tunneling machine cutting frequency conversion
Device operates, and reduces the labor intensity of operating personnel so that development machine keeps powerful rock breaking capacity and efficient operation shape automatically
State.
Brief description of the drawings
Fig. 1 is the basic procedure schematic diagram of present invention method.
Fig. 2 is the cut frequency converter control system structural representation using present invention method.
Fig. 3 is the torque rotary speed characteristic curve of cut variable-frequency motor of the embodiment of the present invention.
Fig. 4 is step 2 of the embodiment of the present invention）Schematic flow sheet.
Embodiment
For the purpose of simplifying the description, hereafter will be by taking the cut frequency converter fluid drive high tap position and low-grade location as an example, to the present invention
The control method of boom-type roadheader cut frequency converter fluid drive illustrates.
As shown in figure 1, the step of control method of the present embodiment boom-type roadheader cut frequency converter fluid drive, includes：
1）For cut frequency converter speed closed loop control increase torque envelope control function so that cut frequency converter it is defeated
It is the current rotating speed of cut variable-frequency motor corresponding output torque on its torque rotary speed characteristic curve to go out torque；
2）According to the electric current of cut variable-frequency motor, torque and rotating speed come the operation range for the cut frequency converter that automatically switches.
Pressed automatically with manual switching as shown in Fig. 2 the present embodiment increases by one on the basis of traditional classical control system
Button, that is, on the basis of original hand shift function is retained, increase a fluid drive button, all access master controller.
Fluid drive button is pressed, then system is shown as moving certainly automatically into automatic shift mode, while on the display screen of control box
Shelves pattern.Master controller（Or PLC）Pass through CAN（Or other communication modes）Communication Control is carried out with cut frequency converter, it is real
When read and write cut frequency converter parameter；Cut Frequency Converter Control cut variable-frequency motor, and the speed of cut variable-frequency motor is taken in real time
Spend signal；Cut frequency converter working condition and important parameter are shown by display screen.It should be noted that traditional conventional control system
The cut frequency converter operation principle of the speed closed loop control function of system is：When under the constant operating condition of speed preset value, load
During increase, cut frequency converter output torque can also increase as load increases, to maintain stabilization of speed；Under same operating mode, bear
When carrying reduction, output torque can also reduce and reduce with load.Therefore, the speed closed loop control work(of traditional classical control system
The cut frequency converter of energy is no torque envelope control function.It is the speed closed loop control of cut frequency converter in the present embodiment
Increase torque envelope control function so that the output torque of cut frequency converter is the current rotating speed of cut variable-frequency motor in its torque
Corresponding output torque on rotation speed characteristic, the increase of torque envelope control function, make cut variable-frequency motor output characteristics
Soften, cut frequency converter, exactly using this function, will not can pass through master controller pair because loading quick increase and overload trip
The running state real-time monitoring of cut frequency converter, cut frequency converter speed stage free switching is realized according to preparatory condition, specifically
Show as：When cut frequency converter is operated in some speed stage, output torque is completely according to the torque of cut variable-frequency motor
Rotation speed characteristic（Referring to Fig. 3）And set, which type of speed corresponds to its corresponding output torque.It is as shown in figure 3, high-grade
1500r/min corresponds to 1265N.m, and middle-grade 1000r/min corresponds to 1900N.m, and low-grade 500r/min corresponds to 3200N.m；Therefore, i.e.,
Present load is set to become greatly, not enough also or equally torque exports motor output torque, will not increase motor turn because rotating speed declines
Square.
As shown in figure 4, step 2）Detailed step include：
2.1）Cut for each gear Initialize installation current ration, torque definite value, rated speed and downshift rotating speed, control
Cut frequency converter and be operated in acquiescence gear, acquiescence gear is the current gear of cut frequency converter；
2.2）Electric current, torque and the rotating speed of cut variable-frequency motor are detected, if the electric current of cut variable-frequency motor is less than currently
Current ration, torque are specified equal to corresponding to current gear less than torque definite value, rotating speed corresponding to current gear corresponding to gear
Three conditions of rotating speed meet simultaneously, then redirect and perform step 2.3）；If the electric current of cut variable-frequency motor increases to current gear
Corresponding current ration, torque increase to torque definite value, rotating speed corresponding to current gear and are reduced to downshift corresponding to current gear
Three conditions of rotating speed meet simultaneously, then redirect and perform step 2.4）；
2.3）Change high tap position：Judge whether there is more high tap position on current gear, if then controlling cut frequency converter work
Make in more high tap position, the more high tap position is the current gear of cut frequency converter；Redirect and perform step 2.2）；
2.4）Kickdown position：Judge whether there is more low-grade location under current gear, if then controlling cut frequency converter work
Make in more low-grade location, the more low-grade location is the current gear of cut frequency converter；Redirect and perform step 2.2）.
It should be noted that Fig. 4 is only to be illustrated by taking high tap position and low-grade location as an example, therefore cut frequency converter works
In high tap position, current gear is high tap position；When cut frequency converter is operated in low-grade location, current gear is low-grade location；In the least
Without query, the step 2）The situation of more gears can also be further expanded to.
In the present embodiment, step 2.1）In acquiescence gear be cut frequency converter highest gear（Such as 1500r/min）.
The control system of the present embodiment boom-type roadheader cut frequency converter fluid drive is the journey realized on master controller
Sequence, the control system of the present embodiment boom-type roadheader cut frequency converter fluid drive include：Torque envelope control program list
Member, for increasing torque envelope control function for the speed closed loop control of cut frequency converter so that the output of cut frequency converter
Torque is the current rotating speed of cut variable-frequency motor corresponding output torque on its torque rotary speed characteristic curve；Gearshift program unit,
For the electric current according to cut variable-frequency motor, torque and rotating speed come the operation range for the cut frequency converter that automatically switches.
In the present embodiment, gearshift program unit includes：
Give tacit consent to gear set submodule, for for each gear Initialize installation current ration, torque definite value, specified turn
Speed and downshift rotating speed, control cut frequency converter are operated in acquiescence gear, and acquiescence gear is the current gear of cut frequency converter；
Gear switch judge module, for detecting electric current, torque and the rotating speed of cut variable-frequency motor, if cut variable-frequency electric
The electric current of machine is less than current ration corresponding to current gear, torque is less than torque definite value corresponding to current gear, rotating speed is equal to and worked as
Three conditions of rated speed corresponding to preceding gear meet simultaneously, then call shift-up module；If the electric current of cut variable-frequency motor increases
Add to current ration corresponding to current gear, torque increases to torque definite value, rotating speed corresponding to current gear and is reduced to current shelves
Downshift three conditions of rotating speed meet simultaneously corresponding to position, then call downshift module；
Shift-up module, for judging whether there is more high tap position on current gear, if then controlling cut frequency converter work
Make in more high tap position, the more high tap position is the current gear of cut frequency converter；
Downshift module, for judging whether there is more low-grade location under current gear, if then controlling cut frequency converter work
Make in more low-grade location, the more low-grade location is the current gear of cut frequency converter.
Wherein, the highest gear that gear sets the acquiescence gear of submodule to be cut frequency converter is given tacit consent to.Cut frequency converter work
Acquiescence is run in high gear when making.Operationally, master controller is communicated therewith cut frequency converter by CAN, in real time prison
Survey electric current, torque, the rotating speed of cut variable-frequency motor.If the electric current of cut variable-frequency motor increases to electric current corresponding to current gear
Definite value, torque increase to torque definite value, rotating speed corresponding to current gear and are reduced to downshift three bars of rotating speed corresponding to current gear
Part meets simultaneously, then calls downshift module, to increase cutting motor output torque, strengthens rock breaking capacity；If cut variable-frequency electric
The electric current of machine is less than current ration corresponding to current gear, torque is less than torque definite value corresponding to current gear, rotating speed is equal to and worked as
Three conditions of rated speed corresponding to preceding gear meet simultaneously, then shift-up module are called, to improve the cutting efficiency of cutting motor.
It should be noted that it is only the exemplary theory carried out exemplified by high tap position and low-grade location are set in the present embodiment
Bright, certainly, in above-mentioned record, those skilled in the art can also be arranged as required to more speed thresholds, its principle and sheet
Embodiment is identical, therefore will not be repeated here.
Described above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of control method of boom-type roadheader cut frequency converter fluid drive, it is characterised in that step includes：
1）Increase torque envelope control function for the speed closed loop control of cut frequency converter so that the output of cut frequency converter turns
Square is the current rotating speed of cut variable-frequency motor corresponding output torque on its torque rotary speed characteristic curve；
2）According to the electric current of cut variable-frequency motor, torque and rotating speed come the operation range for the cut frequency converter that automatically switches；
The step 2）Detailed step include：
2.1）For each gear Initialize installation current ration, torque definite value, rated speed and downshift rotating speed, control cut becomes
Frequency device is operated in acquiescence gear, and acquiescence gear is the current gear of cut frequency converter；
2.2）Electric current, torque and the rotating speed of cut variable-frequency motor are detected, if the electric current of cut variable-frequency motor is less than current gear
Corresponding current ration, torque are equal to rated speed corresponding to current gear less than torque definite value, rotating speed corresponding to current gear
Three conditions meet simultaneously, then redirect and perform step 2.3）；It is corresponding that if the electric current of cut variable-frequency motor increases to current gear
Current ration, torque increases to torque definite value, rotating speed corresponding to current gear and is reduced to downshift rotating speed corresponding to current gear
Three conditions meet simultaneously, then redirect and perform step 2.4）；
2.3）Judge whether there is more high tap position on current gear, if then controlling cut frequency converter to be operated in more high tap position,
The more high tap position is the current gear of cut frequency converter；Redirect and perform step 2.2）；
2.4）Judge whether there is more low-grade location under current gear, if then controlling cut frequency converter to be operated in more low-grade location,
The more low-grade location is the current gear of cut frequency converter；Redirect and perform step 2.2）.
2. the control method of boom-type roadheader cut frequency converter fluid drive according to claim 1, it is characterised in that
The step 2.1）In acquiescence gear be cut frequency converter highest gear.
A kind of 3. control system of boom-type roadheader cut frequency converter fluid drive, it is characterised in that including：
Torque envelope control program unit, for increasing torque envelope line traffic control work(for the speed closed loop control of cut frequency converter
Can so that the output torque of cut frequency converter is the current rotating speed of cut variable-frequency motor corresponding on its torque rotary speed characteristic curve
Output torque；
Gearshift program unit, for the electric current according to cut variable-frequency motor, torque and rotating speed come the cut frequency converter that automatically switches
Operation range；
The gearshift program unit includes：
Give tacit consent to gear set submodule, for for each gear Initialize installation current ration, torque definite value, rated speed and
Downshift rotating speed, and control cut frequency converter is operated in acquiescence gear, and acquiescence gear is the current gear of cut frequency converter；
Gear switch judge module, for detecting electric current, torque and the rotating speed of cut variable-frequency motor, if cut variable-frequency motor
Electric current is equal to current shelves less than current ration, torque corresponding to current gear less than torque definite value, rotating speed corresponding to current gear
Three conditions of rated speed corresponding to position meet simultaneously, then call shift-up module；If the electric current of cut variable-frequency motor increases to
Current ration, torque increase to torque definite value, rotating speed corresponding to current gear and are reduced to current gear pair corresponding to current gear
Three conditions of the downshift rotating speed answered while meet, then call downshift module；
Shift-up module, for judging whether there is more high tap position on current gear, if then controlling cut frequency converter to be operated in
More high tap position, the more high tap position are the current gear of cut frequency converter；
Downshift module, for judging whether there is more low-grade location under current gear, if then controlling cut frequency converter to be operated in
More low-grade location, the more low-grade location are the current gear of cut frequency converter.
4. the control system of boom-type roadheader cut frequency converter fluid drive according to claim 3, it is characterised in that
The acquiescence gear sets the highest gear that the acquiescence gear of submodule is cut frequency converter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610413646.1A CN105863632B (en) | 2016-06-14 | 2016-06-14 | A kind of control method and system of the frequency converter fluid drive of boom-type roadheader cut |
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| CN201610413646.1A CN105863632B (en) | 2016-06-14 | 2016-06-14 | A kind of control method and system of the frequency converter fluid drive of boom-type roadheader cut |
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| CN105863632B true CN105863632B (en) | 2018-02-02 |
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| CN113236766B (en) * | 2021-05-14 | 2022-02-22 | 徐州徐工基础工程机械有限公司 | Continuous mining machine walking gear control method |
| CN113790059B (en) * | 2021-08-31 | 2024-05-14 | 厦门厦工中铁重型机械有限公司 | Automatic control method for multiple excavation systems of rectangular pipe jacking machine |
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| CN1627625A (en) * | 2003-12-11 | 2005-06-15 | 松下电器产业株式会社 | Motor driving apparatus for use in a diswasher |
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