CN106842918B - A kind of calculation method of the real-time coal amount of drag conveyor - Google Patents
A kind of calculation method of the real-time coal amount of drag conveyor Download PDFInfo
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- CN106842918B CN106842918B CN201611271965.XA CN201611271965A CN106842918B CN 106842918 B CN106842918 B CN 106842918B CN 201611271965 A CN201611271965 A CN 201611271965A CN 106842918 B CN106842918 B CN 106842918B
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract
The present invention relates to coal mining technology field, the calculation method of specifically a kind of real-time coal amount of drag conveyor.Existing method is the coal amount detected on elevating conveyor by the coal amount scanning sensor being mounted on elevating conveyor, the current coal amount being inferred on drag conveyor by this data.Although the method precision is higher, there are certain hysteresis qualitys.The present invention passes through to mining height of coal mining machine, the speed of travel, section deep, electric current, the acquisition of the data such as drag conveyor electric current, voltage, the speed of service, realize the calculating of the real-time coal amount of drag conveyor, amendment is made to calculation method in conjunction with the coal amount scanner on elevating conveyor, guarantees the accurate of real-time coal weighing method.The invention has the advantages that the calculation method of design is scientific and reasonable, the coal amount data of reaction are accurate in real time, realize the calculating to the real-time coal amount of drag conveyor, the coal amount data for grasping drag conveyor in real time, provide data basis to adjust the speed automatically in drag conveyor operational process according to coal amount.
Description
Technical field
The present invention relates to drag conveyor intelligent speed-regulating technical fields during underground coal mine Mining Transport, specifically
A kind of calculation method of the real-time coal amount of drag conveyor.
Background technique
When underground coal mine Seams are exploited, raw coal is transported work by scraper plate chain movement by drag conveyor
Face, as converter technique is widely applied on drag conveyor, so that being become according to the current coal amount intelligent speed-regulating of drag conveyor
May, just more stringent requirements are proposed for the acquisition to the real-time coal amount data of drag conveyor and calculating for this.Existing method is to pass through
The coal amount being mounted on the coal amount scanning sensor detection elevating conveyor on elevating conveyor, is inferred to drag conveyor by this coal amount
On coal amount.Although the method precision is higher, there are certain hysteresis qualitys, i.e., can only count after coal unloads and falls on elevating conveyor
Coal output is calculated, the real-time coal amount of the drag conveyor reflected has certain hysteresis quality.In order to grasp drag conveyor in real time
Coal amount and load state reach drag conveyor convenient for being adjusted the speed according to drag conveyor real time load to it and applied
Green, energy saving purpose are realized in journey, have invented a kind of calculation method of real-time coal amount of drag conveyor.
Summary of the invention
The purpose of the present invention is inventing a kind of calculation method of real-time coal amount of drag conveyor, drag conveyor is accurately perceived
Current coal amount in operational process, convenient for being applied in drag conveyor real-time speed regulating.
The technical solution adopted by the present invention is that: a kind of calculation method of the real-time coal amount of drag conveyor is adopted using coalcutter
Mining height, section depth, the speed of travel, position, electric current, direction, drag conveyor motor speed, input current, hydraulic branch during coal
Frame elapses step pitch, and the coal amount data etc. of coal amount scanner detection, in summary data calculate the real-time coal amount of drag conveyor.One
The calculation method of the kind real-time coal amount of drag conveyor, comprising the following steps:
1. coal amount data computing system 1 passes through coal mining machine control system 2, bracket electricity hydraulic control system 3, drag conveyor frequency conversion
Controller 4, coal amount scanner 5 etc. acquire mining height during coalcutter 6 is mined, cut depth, the speed of travel, position, electric current, direction,
7 speed of service of drag conveyor, input current, hydraulic support 9 elapse step pitch, 5 coal of coal amount scanner being mounted on elevating conveyor 8
The data such as data are measured, provide data basis for the calculating of coal amount data.
2. by mining height of coal mining machine, cutting the data such as depth, the speed of travel, position, electric current, direction and hydraulic support passage step pitch
Construct the mathematical model of the real-time coal weighing of drag conveyor:
K is that coalcutter is coaling coefficient in formula, Q1For the coal amount that coalcutter calculates, t0For benchmark time, t1For the time of coalingging
Point, t2For real-time time, v1The coalcutter speed of service, v2The drag conveyor speed of service, H mining height of coal mining machine, D coalcutter are cut deeply,
Lt0For t0Moment coal winning machine position.
3. calculating the coal amount on drag conveyor by drag conveyor electric current and the existing relationship of load；Scraper plate conveying
Machine load variation factor only have coal amount variation, there are also drag conveyor curvature, working face condition change etc. other because
Element, so only accounting for real-time coal amount a part according to the coal amount that curent change calculates；
Drag conveyor it is straight, without being run under conditions of objective factor when in the case that theoretically speed is certain
Electric current and real-time coal amount are linear, it may be assumed that
I2Drag conveyor electric current
Q2The real-time coal amount of drag conveyor calculated according to electric current
M coefficient
I0Drag conveyor no-load current
According to the curvature of drag conveyor in the process of running, the ratio that electric current calculates real-time coal amount is adjusted, obtains meter
Calculate the real-time coal amount of drag conveyor；
4. calculating the real-time coal amount of drag conveyor according to working face condition and each equipment operation condition:
Q=pQ1+(1-p)Q2
Q is to calculate the gained real-time coal amount of drag conveyor, Q in formula1The real-time coal amount of drag conveyor calculated by coalcutter,
Q2Drag conveyor coal amount is calculated by drag conveyor real-time current, p is the ratio that coalcutter calculates that coal amount accounts for real-time coal weighing
Weight.
5. the scraper plate that calculated drag conveyor coal amount and the coal amount scanner being mounted on elevating conveyor detect conveys
The coal amount of synchronization is compared on machine, and each parameter in calculation method is adjusted when there is larger difference for a long time, being guaranteed
The accuracy of calculated result.
Coal amount data computing system 1 acquires the real-time of coalcutter 6 from coal mining machine control system 2 by real-time data communication
Data, the information such as the speed of travel, two rocker arm height, coalcutter current location and coalcutter cutting electric current including coalcutter, meter
It calculates mining height of coal mining machine, cut the information such as deep.
Coal amount data computing system 1 and hydraulic support electricity hydraulic control system 3 acquire the passage step pitch of hydraulic support 9, according to pushing away
Walk is away from the cutting electric current and the speed of travel for cutting deeply, and passing through coalcutter for calculating coalcutter with coalcutter current location information
It is cut as auxiliary parameter verifying deep.
Coal amount data computing system 1 is defeated by the acquirement each variable-frequency motor of drag conveyor 7 of drag conveyor frequency-variable controller 4
Enter electric current, motor speed etc., the current operation speed of drag conveyor is calculated with information such as variable-frequency motor revolving speed, retarder no-load voltage ratios
Degree, the input current of variable-frequency motor is the intuitive reaction of drag conveyor load state, due to removing the outside the pale of civilization influence scraper plate of coal quantitative change
The factor of conveyer input current variation is more, so input current is only used as the auxiliary ginseng of the reaction real-time coal amount of drag conveyor
Number.
Coal amount data computing system 1 acquires the 5 coal amount data of coal amount scanner being mounted on elevating conveyor 8, as coal amount number
According to the verifying of computing system calculated result, when verification result is larger there are deviation, other acquisition data, system in integrated system
Automatic corrected parameter setting, to guarantee the accurate of calculated result.
The present invention has rational design, and it is convenient to realize, acquires each data using the existing equipment of fully-mechanized mining working, passes through computer
Technology realizes the calculating to the real-time coal amount of drag conveyor, can grasp the coal amount data of drag conveyor in real time, is that scraper plate is defeated
It send to be adjusted the speed automatically in machine operational process according to coal amount and data basis is provided.
Detailed description of the invention
Fig. 1 is system diagram of the invention.
Fig. 2 is the flow chart of the real-time coal weighing of drag conveyor.
Fig. 3 is the curve graph that the real-time coal amount of drag conveyor is calculated by coalcutter.
In figure: 1 coal amount data computing system, 2 coal mining machine control systems, 3 bracket electricity hydraulic control systems, 4 drag conveyors become
Frequency controller, 5 coal amount scanners, 6 coalcutters, 7 drag conveyors, 8 elevating conveyors, 9 hydraulic supports.
Specific embodiment
Invention is further described in detail with specific embodiment with reference to the accompanying drawing:
As shown in Figure 1, the calculation method of the real-time coal amount of a kind of drag conveyor, related equipment include coal amount data meter
Calculation system 1, coal mining machine control system 2, bracket electricity hydraulic control system 3, drag conveyor frequency-variable controller 4, coal amount scanner 5 are adopted
Coal machine 6, drag conveyor 7, elevating conveyor 8, hydraulic support 9.Coal amount data computing system 1 operates on a flame proof computer,
It is mounted at crossheading equipment train, is become by communication acquisition coal mining machine control system 2, bracket electricity hydraulic control system 3, drag conveyor
The data of frequency controller 4, coal amount scanner 5, communications protocol and interface are depending on each associate device.Coal mining machine control system 2
It acquires mining height in real time from coalcutter 6, cut the data such as depth, the speed of travel, position, electric current, direction.Bracket electricity hydraulic control system 3 is adopted
Collect the data such as passage step pitch, the supporting height of each hydraulic support 9.Drag conveyor frequency-variable controller 4 acquires each variable-frequency motor
Input current, motor speed etc..Coal amount scanner 5 is mounted on elevating conveyor 8, detects the coal amount unloaded on drag conveyor, inspection
It surveys result to be compared with last stage coal amount on drag conveyor, verifies the accuracy of calculated result.
1, coalcutter cuts deep determination
The passage step pitch of hydraulic support is theoretically that coalcutter cuts deep intuitive reflection, under actual condition, due to branch
Occasionally there are large errors deeply for the passage method and sensor error reason of frame, passage step pitch and coalcutter section.Coalcutter cuts deep
There are linear relationships with cutting current relationship:
I=aD+b
I coalcutter cutting electric current
A slope
B coalcutter zero load cutting electric current
D coalcutter cuts deep
It can determine a, b in formula according to actual condition.Formula can be according to coal mining machine roller cutting electric current to hydraulic after determining
The passage step pitch (i.e. coalcutter cuts deep) of bracket compensates.When cutting electric current is mismatched with section deeply for a long time, then according to electric current
Adjustment calculates the coalcutter used when coal amount and cuts deep numerical value.
2, according to coalcutter operating condition to the real-time coal weighing of drag conveyor
Coal amount data computing system 1 carries out real-time coal on calculating drag conveyor according to the coalcutter operation data detected
Amount.According to coalcutter operating condition, coal amount under 1 cumulative calculation coalcutter cutting of coal amount data computing system is by coalingging
Number, which calculates, adds up coal amount on drag conveyor, remove the reality that the coal amount that drag conveyor is laid down is drag conveyor on this basis
When coal amount.It calculates as follows:
1., coalcutter runs in the middle part of drag conveyor
When coalcutter is run to tail direction,
When coalcutter is run to heading,
K coalcutter is coaling coefficient
Q1The coal amount calculated for coalcutter
t0For the benchmark time
t1For time point of coalingging
t2For real-time time
v1The coalcutter speed of service
v2The drag conveyor speed of service
H mining height of coal mining machine
D coalcutter cuts deep
Lt0 t0Moment coal winning machine position
2., coalcutter run to tail after inverted running
After drag conveyor is run to tail, reversely run to head,
K coalcutter is coaling coefficient
Q1The coal amount calculated for coalcutter
t0For the benchmark time
t1For time point of coalingging
t2For real-time time
v1The coalcutter speed of service
v2The drag conveyor speed of service
H mining height of coal mining machine
D coalcutter cuts deep
Lt0 t0Moment coal winning machine position
L face length
3., coalcutter run to head after inverted running
After drag conveyor is run to head, reversely run to tail,
K coalcutter is coaling coefficient
Q1The coal amount calculated for coalcutter
t0For the benchmark time
t1For time point of coalingging
t2For real-time time
v1The coalcutter speed of service
v2The drag conveyor speed of service
H mining height of coal mining machine
D coalcutter cuts deep
Lt0 t0Moment coal winning machine position
Coal amount data computing system 1 chooses the above calculation formula based on above method, through coalcutter real time position.
T in formula0The selection at moment can be changed by the coalcutter cycle of operation, but t0It is necessarily less than t1。
3, the real-time coal weighing of drag conveyor
Drag conveyor it is straight, without being run under conditions of objective factor when in the case that theoretically speed is certain
Electric current and real-time coal amount are linear, it may be assumed that
I2Drag conveyor electric current
Q2The real-time coal amount of drag conveyor calculated according to electric current
M coefficient
I0Drag conveyor no-load current
According to the curvature of drag conveyor in the process of running, the ratio that electric current calculates real-time coal amount is adjusted, obtains meter
The real-time coal amount for calculating drag conveyor is as follows:
Q=pQ1+(1-p)Q2
Q calculates the gained real-time coal amount of drag conveyor
Q1The real-time coal amount of drag conveyor calculated by coalcutter
Q2Drag conveyor coal amount is calculated by drag conveyor real-time current
P coalcutter calculates the specific gravity that coal amount accounts for real-time coal weighing
After raw coal is discharged to elevating conveyor by drag conveyor, system is to t1When the coal amount that calculates detected with coal amount scanner 5
Coal amount be compared, when calculating coal magnitude and detected value for a long time there are when larger difference, calculated result is carried out in proportion
Amendment.
Claims (3)
1. a kind of calculation method of the real-time coal amount of drag conveyor, it is characterised in that: the following steps are included:
1. coal amount data computing system (1) is become by coal mining machine control system (2), bracket electricity hydraulic control system (3), drag conveyor
Frequency controller (4), coal amount scanner (5) etc. acquire mining height during coalcutter (6) mine, cut depth, the speed of travel, position, electricity
Stream, direction, drag conveyor (7) speed of service, input current, hydraulic support (9) elapse step pitch, are mounted on elevating conveyor (8)
The data such as coal amount scanner (5) coal amount data, provide data basis for the calculating of coal amount data；
2. by mining height of coal mining machine, cutting the data buildings such as depth, the speed of travel, position, electric current, direction and hydraulic support passage step pitch
The mathematical model of the real-time coal weighing of drag conveyor:
K is that coalcutter is coaling coefficient in formula, Q1For the coal amount that coalcutter calculates, t0For benchmark time, t1For time point of coalingging, t2For
Real-time time, v1The coalcutter speed of service, v2The drag conveyor speed of service, H mining height of coal mining machine, D coalcutter cut deep, Lt0For t0
Moment coal winning machine position；
3. calculating the coal amount on drag conveyor by drag conveyor electric current and the existing relationship of load；Drag conveyor is negative
The factor for carrying variation does not only have the variation of coal amount, and there are also the other factors such as drag conveyor curvature, the variation of working face condition, institutes
Real-time coal amount a part is only accounted for the coal amount calculated according to curent change；
Drag conveyor it is straight, without being run under conditions of objective factor when electric current in the case that theoretically speed is certain
It is linear with real-time coal amount, it may be assumed that
I2Drag conveyor electric current
Q2The real-time coal amount of drag conveyor calculated according to electric current
M coefficient
I0Drag conveyor no-load current
According to the curvature of drag conveyor in the process of running, the ratio that electric current calculates real-time coal amount is adjusted, show that calculating is scraped
The real-time coal amount of plate conveyer；
4. calculating the real-time coal amount of drag conveyor according to working face condition and each equipment operation condition:
Q=pQ1+(1-p)Q2
Q is to calculate the gained real-time coal amount of drag conveyor, Q in formula1The real-time coal amount of drag conveyor calculated by coalcutter, Q2By
Drag conveyor real-time current calculates drag conveyor coal amount, and p is the specific gravity that coalcutter calculates that coal amount accounts for real-time coal weighing；
5. on the drag conveyor that calculated drag conveyor coal amount and the coal amount scanner being mounted on elevating conveyor detect
The coal amount of synchronization is compared, and each parameter in calculation method is adjusted when there is larger difference for a long time, guarantees to calculate
As a result accuracy.
2. a kind of calculation method of the real-time coal amount of drag conveyor according to claim 1, characterized in that according to working face
The real-time coal amount Q of drag conveyor that condition and the adjustment of each equipment operation condition are calculated according to coalcutter operation1Account for real-time coal amount Q's
Specific gravity.
3. the calculation method of the real-time coal amount of a kind of drag conveyor according to claim 1, characterized in that scanned by coal amount
Instrument verifies the real-time coal weighing method of drag conveyor.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107697598A (en) * | 2017-10-12 | 2018-02-16 | 中煤张家口煤矿机械有限责任公司 | A kind of frequency conversion drag conveyor Intelligent speed-adjustable control system |
| CN108491360B (en) * | 2018-02-26 | 2022-04-01 | 北京天玛智控科技股份有限公司 | Coal mining amount calculation method |
| CN108910405B (en) * | 2018-04-13 | 2020-03-17 | 宁夏天地奔牛实业集团有限公司 | Coal seam height control device on underground mining scraper conveyor and working method thereof |
| CN110033128B (en) * | 2019-03-18 | 2023-01-31 | 西安科技大学 | Self-adaptive prediction method for scraper conveyor load based on limited Boltzmann machine |
| CN110040472A (en) * | 2019-04-25 | 2019-07-23 | 连云港天明装备有限公司 | A kind of fully-mechanized mining working frequency conversion scratch board conveyor automatic speed governing device and its method |
| CN111897376A (en) * | 2020-06-10 | 2020-11-06 | 常州联力自动化科技有限公司 | Automatic speed regulation method for conveyor and coal mining machine without coal flow sensor |
| CN111689170B (en) * | 2020-06-17 | 2021-11-30 | 青岛中加特电气股份有限公司 | Scraper conveyor and self-adaptive speed regulation method thereof |
| CN112340387A (en) * | 2020-09-30 | 2021-02-09 | 中煤科工集团上海有限公司 | Belt conveyor intelligent control system and control method based on machine vision |
| CN114988024A (en) * | 2022-06-09 | 2022-09-02 | 北京天地华泰矿业管理股份有限公司 | Fully mechanized coal mining face scraper conveying speed regulation control system and method |
| CN116916193B (en) * | 2023-09-12 | 2023-12-12 | 苏州爱雄斯通信技术有限公司 | Coal mining data transmission method for multi-platform collaborative operation |
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