CN107269275A - A kind of boom-type roadheader cutting arm slew rate adaptive control system and method - Google Patents
A kind of boom-type roadheader cutting arm slew rate adaptive control system and method Download PDFInfo
- Publication number
- CN107269275A CN107269275A CN201710452040.3A CN201710452040A CN107269275A CN 107269275 A CN107269275 A CN 107269275A CN 201710452040 A CN201710452040 A CN 201710452040A CN 107269275 A CN107269275 A CN 107269275A
- Authority
- CN
- China
- Prior art keywords
- cutting arm
- slew rate
- oil cylinder
- cut
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005520 cutting process Methods 0.000 title claims abstract description 146
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 27
- 238000011161 development Methods 0.000 claims abstract description 33
- 230000005641 tunneling Effects 0.000 claims abstract description 19
- 230000008859 change Effects 0.000 claims abstract description 18
- 239000003245 coal Substances 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000004927 fusion Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 230000010355 oscillation Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000001351 cycling effect Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000004880 explosion Methods 0.000 claims description 2
- 230000003321 amplification Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 7
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention discloses a kind of boom-type roadheader cutting arm slew rate adaptive control system and method, belongs to the comprehensive pick equipment autonomously in colliery and leads control field.The system includes sensing and detecting system；The airborne master control system of development machine；System actuator.During tunneling machine cutting rib, when coal petrography hardness changes, cutterhead load can also change, therefore the main working parameters of cutting units system also can correspondingly change.Sensing and detecting system carry out detection in real time to these running parameters and by the incoming airborne master control system of signal, airborne master control system is handled the signal received and controls executing agency to act, to reach the Self Adaptive Control effect of cutting arm slew rate and institute's coal petrography cutting hardness real-time matching, so as in coal mine roadway driving, realize the full automation of tunneling machine cutting process.
Description
Technical field
The present invention relates to a kind of boom-type roadheader cutting arm slew rate adaptive control system and method, belong to the comprehensive pick in colliery
Equipment autonomously leads control field.
Background technology
Boom-type roadheader is the nucleus equipment for realizing coal mine roadway headwork.In traditional underground passage tunneling process
In, most of development machine is the artificial operational control of the machine, and development machine operating personnel only rely on manual observation and operating experience to adjust
Cutting arm slew rate, operational stability is low, and regulation error is big, inefficiency, and there is potential safety hazard, considerably increases mine work
Make the working strength and work risk of personnel.Robotization development machine long-distance intelligent control can realize the few people of fully mechanized workface
Change or unmanned, make headwork safe efficient.During tunneling machine cutting, the drive swung due to coal petrography firmness change, constant speed
Dynamic oil cylinder can cause cut section load unstable, and cutting motor power output is unstable, easily make cutting motor and driving oil cylinder mistake
Carry, cause development machine structural member and electricity piece to damage, or easily cutting part of heading machine is in relatively low operating efficiency for a long time.
Publication No. " ZL200520090353.1 " patent name is " intelligent control system for tunneller cutting ", patent examination
Current Transformer of desiring to make money or profit detects cut electric current, and as basis for estimation, when cut electric current becomes it is big when, control magnetic valve so as to
Reduce cutting arm slew rate.
Publication No. " CN205078272U " patent name is " a kind of cutting arm of tunneling machine automatic speed regulation system ".The patent
Current sensor detection cutting motor electric current is attempted to, and as basis for estimation, when the change of cut electric current is big, is controlled electro-hydraulic
Proportioning valve adjusts flow, so as to reduce cutting arm slew rate, plays the protective effect to structural member and electricity piece.
Above-mentioned 2 kinds of methods have much in common, that is, detect that cut electric current controls hydraulic valve as criterion, and work as cut
Cutting arm slew rate regulation is carried out when motor load is excessive.But all there are many limitations in this 2 kinds of methods：
(1) criterion for carrying out the control of cutting arm slew rate is too single, can only roughly judge cutting arm loading condition, and do not have
Standby human-computer interaction function.
(2) it can not directly show or reflect cutting arm slew rate size, and control process is simpler, it is impossible to ensure that cutting arm is put
Fast control accuracy, control effect can not reach most preferably.
(3) only consider the situation that cutting arm load excessive causes vexed car or structural member, electricity piece to damage, cutting arm is not considered
Load is too small to cause cutting efficiency low, and the situation of development machine actuation redundancy, intelligence degree can not reach most preferably.
The content of the invention
Technical problem：It is a primary object of the present invention to for current coal mine roadway fully mechanized workface actual conditions and pick
Enter many disadvantages of cutting arm slew rate adjusting method in machine cutting course, propose a kind of cutting arm of tunneling machine slew rate Self Adaptive Control
System and method, mainly including cutting arm slew rate Self Adaptive Control Hardware Design, cutting arm slew rate ADAPTIVE CONTROL,
Cutting arm slew rate self-adaptation control method.Aim at the regulation of cutting arm of tunneling machine slew rate intelligent, tunneling machine cutting process machine
Device peopleization, the few peopleization or unmanned of fully mechanized workface.
Technical scheme：The object of the present invention is achieved like this：The system includes：Sensing and detecting system, detect cut
Portion's system operational parameters are simultaneously real-time transmitted to the airborne master control system of development machine；The airborne master control system of development machine, processing is from sensing
With the signal of detecting system, produce and transmission of control signals；System actuator, performs the control letter from airborne master control system
Number, acted accordingly.
Described boom-type roadheader cutting arm slew rate adaptive control system, it is characterized in that：Described development machine is airborne
Master control system includes programmable computer controller, intelligent industrial-control panel, scaling circuit plate；Wherein, programmable calculator
Controller is encapsulated in development machine electric cabinet with scaling circuit plate, and programmable computer controller leads to intelligent industrial-control panel
Cross communication interface to be connected, and realize that real time bidirectional communicates；Programmable computer controller, which must possess, to occupy little space, is easy to pull out
Insert, software supervision with electrical contact the features such as, the industrial protection grade of intelligent industrial-control panel surface is at least IP65, violent
In vibration can safe and reliable operation, panel operation pattern is touch-screen type, and memory capacity is expansible.
Described boom-type roadheader cutting arm slew rate adaptive control system, it is characterized in that：Described sensing and detection
System includes 2 oil cylinder displacement transducers, is separately mounted to inside revolution driving oil cylinder and lifting is driven inside oil cylinder；2 oil
Cylinder pressure transducer, respectively detect revolution driving oil cylinder working-pressure with lifting driving oil cylinder working-pressure, two oil cylinders oil-out with
4 measuring points are arranged altogether between balanced valve, between oil inlet and balanced valve；3 current transducers, detect the three of cutting motor respectively
Electric current, and be converted into voltage signal and be delivered continuously to computer and average to be compared with rated current；2 vibrations accelerate
Spend sensor, cutting arm vibration signal of the collection close to the different directions of cutterhead position；All sensings and detection means are equal
For mine anti-explosion or intrinsically safe equipment, all sensing and detection means by interface circuit or amplifying circuit with it is airborne
Programmable computer controller in master control system is connected, and realizes real-time Communication for Power.
Described boom-type roadheader cutting arm slew rate adaptive control system, it is characterized in that：Described executing agency's bag
2 groups of electrohydraulic proportional directional valves are included, specially load-sensitive formula proportional multi-path reversing valve, in development machine control box；Cut
Arm swing mechanism；Cutting motor.
Described boom-type roadheader cutting arm slew rate self-adaptation control method, it is characterized in that：
(1) cutting arm of tunneling machine carries out cut, sensing and the corresponding cut of detecting system detection to give tacit consent to slew rate under normality
Portion's system operational parameters, are real-time transmitted to airborne master control system by signal and are handled, and in the way of the data of real-time update
Shown on intelligent industrial-control panel.
(2) the oil cylinder displacement data that oil cylinder displacement transducer is measured is transferred in programmable computer controller, according to oil
Cylinder displacement data calculates locus and the cutting arm slew rate of cutterhead；Above-mentioned result of calculation is final on intelligent industrial-control panel
Shown in the way of the data and image of real-time update.
(3) when coal petrography hardness changes, cutterhead load also can correspondingly change.According to cutting arm slew rate,
Mathematical relationship between cut electric current and coal petrography hardness, cut electric current can correspondingly be changed with positive correlation；According to cut
The mathematical relationship between a load and driving oil cylinder working-pressure is cut, driving oil cylinder working-pressure can correspondingly be become with positive correlation
Change；According to correlative study, the cutting arm vibration acceleration at cutterhead can correspondingly be changed with positive correlation.Structure
Strategy of data fusion is built, by cut electric current, three variables of driving oil cylinder working-pressure and cutting arm vibration acceleration carry out data fusion
A best initial weights are obtained, the criterion judged as coal petrography firmness change；By specified cut electric current, oil cylinder nominal operation pressure is driven
Power and cutting arm vibration acceleration empirical value carry out the calibration value that data fusion obtains above-mentioned best initial weights.
(4) PID control method is used, best initial weights are compared with its calibration value, control load-sensitive formula ratio is more
Way reversing valve is acted, and is changed driving oil cylinder change in displacement rate by changing fluid flow, is adjusted cutting arm slew rate.Once
After the completion of control instruction is performed, the best initial weights after renewal are compared with its calibration value, if deviation is in established standardses scope
Interior, cutting arm carries out cut with slew rate now；If deviation exceeds established standardses scope, above-mentioned control process is continued cycling through,
Until deviation is reduced in the range of established standardses, cutting arm carries out cut with slew rate now.
(5) no matter cutting arm of tunneling machine is horizontal hunting cut or vertical oscillation cut, cutting arm slew rate control method
It is above-mentioned control method and process with process, cutting arm slew rate is adapted with coal petrography hardness all the time, so as to realize that development machine is cut
Arm slew rate Self Adaptive Control is cut, makes development machine and cut work is carried out with peak efficiency all the time.
Boom-type roadheader cutting arm slew rate adaptive control system and method for the present invention are adjusted with existing cutting arm slew rate
Method is contrasted, with clear advantage and beneficial effect.By above-mentioned technical proposal, the boom-type roadheader that the present invention is provided is cut
Cut arm slew rate adaptive control system and method can reach suitable technological progress and practicality, and with extensive in industry
Value, it at least has following advantages：
(1) present invention is using its sensing and detecting system, and cutting arm is born during being accurately judged to tunneling machine cutting
Load situation, and the data that can be detected according to sensor, accurately calculate locus and the cutting arm slew rate of cutterhead.
(2) present invention utilizes its airborne master control system, can not only realize that cutting arm slew rate adjusts intellectually and automatically, and
And human-computer interaction function can be realized, facilitate technical staff to carry out manually controlling development machine when being necessary.
(3) boom-type roadheader cutting arm slew rate self-adaptation control method of the present invention, passes through Multi-parameter data fused controlling
Strategy and feedback cycle control process, ensure that the high accuracy and high efficiency of cutting arm of tunneling machine slew rate control.
(4) boom-type roadheader cutting arm slew rate adaptive control system and method for the present invention, can not only realize cut
During cutting arm load excessive when the control of cutting arm slew rate reduction of speed, realize and the protection of development machine structural member and electricity piece made
With, and cutting arm slew rate rising film condensation when cutting arm load is too small can be realized, it is ensured that cutting motor and driving oil cylinder are expired
Constant power output is loaded, makes development machine and cut is carried out with peak efficiency all the time.
In summary, boom-type roadheader cutting arm slew rate adaptive control system and method for the present invention, can be achieved driving
During the full automation that adjusts of cutting arm of tunneling machine slew rate, be development machine paves the way from the realization of leading control, subtracts significantly
The light working strength and operating pressure of development machine operator, or even the danger that development machine operator is worked from tunnelling
Freed in danger.The system is applied to the larger fully mechanized workface of coal petrography firmness change, for technology people of the same trade now
Many saving graces are respectively provided with for member, and there is innovative and technological progress really.Not only there is very high economic value,
And with good social value.
It is the basic conception of the present invention as described above.But, in the technical field of the present invention, as long as possessing most basic
Other exercisable embodiments of the present invention can be improved by knowledge.Substantial technical scheme is proposed in the present invention
Patent protection request, its protection domain should include all variation patterns with above-mentioned technical characterstic.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent variations and the modification made to above example, in the range of still falling within technical solution of the present invention.
Brief description of the drawings
In figure：
Fig. 1 is structure composition schematic diagram of the present invention
Fig. 2 is present system figure
Fig. 3 is airborne master control system installation site figure
Fig. 4 is each sensing and detection means installation site figure
Fig. 5 is the two-dimentional sketch of cutting arm cutting course mechanism
Fig. 6 is cutting arm slew rate control program figure
1：Airborne master control system 2：Sensing and detecting system
3：Executing agency 4：Intelligent industrial-control panel
5：Programmable computer controller 6：Scaling circuit plate
7：Current transducer 8：Current transducer
9：Current transducer 10：Oil cylinder displacement transducer
11：Oil cylinder displacement transducer 12：Oil cylinder working-pressure sensor
13：Oil cylinder working-pressure sensor 14：Vibration acceleration sensor
15：Vibration acceleration sensor
16：Load-sensitive formula proportional multi-path reversing valve
17：Load-sensitive formula proportional multi-path reversing valve
18：Revolution driving oil cylinder 19：Lifting driving oil cylinder
20：Development machine electric cabinet 21：Development machine control box
22：Cutting motor
Embodiment
Further to illustrate the present invention to reach the technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Accompanying drawing and preferred embodiment, to according to boom-type roadheader cutting arm slew rate adaptive control system proposed by the present invention and its side
Embodiment, structure, feature and its effect of method, are described in detail as after.
For the present invention foregoing and other technology contents, feature and effect, in the following preferable reality coordinated with reference to schema
Applying in the detailed description of example to clearly appear from.By the explanation of embodiment, when predetermined mesh can be reached to the present invention
The technological means taken and effect be able to more deeply and it is specific understand, but institute's accompanying drawings are only to provide with reference to saying
It is bright to be used, not for being any limitation as to the present invention.
The boom-type roadheader cutting arm slew rate adaptive control system and its method of present pre-ferred embodiments, such as Fig. 2
It is shown, it is made up of airborne master control system 1, sensing with detecting system 2, system actuator 3；Wherein, airborne master control system includes
Intelligent industrial-control panel 4, programmable computer controller 5, scaling circuit plate 6；Sensing includes electric current pick-up with detecting system
Device (7,8,9), oil cylinder displacement transducer (10,11), oil cylinder working-pressure sensor (12,13), vibration acceleration sensor (14,
15)；System actuator includes load-sensitive formula proportional multi-path reversing valve (16,17), revolution driving oil cylinder 18, lifting driving oil
Cylinder 19.
As shown in figure 3, intelligent industrial-control panel 4 is arranged on development machine operating portion, and it is convenient to carry out man-machine interaction, it may be programmed and calculate
Machine controller 5 is encapsulated in development machine electric cabinet 20 with scaling circuit plate 6, load-sensitive formula proportional multi-path reversing valve (16,
17) it is arranged in development machine control box 21；Programmable computer controller 5 can realize that real time bidirectional leads to intelligent industrial-control panel 4
Letter, load-sensitive formula proportional multi-path reversing valve (16,17) is connected with scaling circuit plate 6 by interface circuit.
As shown in Fig. 4 (a), oil cylinder displacement transducer 10 is arranged on inside revolution driving oil cylinder 18, oil cylinder working-pressure sensor
12 are arranged on outside the cylinder barrel of revolution driving oil cylinder 18, and between oil inlet and balanced valve, 2 are arranged between oil-out and balanced valve
Measuring point；As shown in Fig. 4 (b), oil cylinder displacement transducer 11 is arranged on inside lifting driving oil cylinder 19, and oil cylinder working-pressure sensor 13 is pacified
Outside the lifting driving cylinder barrel of oil cylinder 19,2 surveys of arrangement between oil inlet and balanced valve, between oil-out and balanced valve
Point；As shown in Fig. 4 (c), current transducer (7,8,9) is arranged on cutting motor 22, and vibration acceleration sensor 14 is arranged on
On cutting arm left side plan at cutterhead, vibration acceleration sensor 15 is arranged close to flat on the downside of cutting arm at cutterhead
On face；Above-mentioned all the sensors can realize real-time Communication for Power with programmable computer controller 5.
As shown in Fig. 5 (a), when cutting arm of tunneling machine is vertical and cuts into designed drift section, with cut now
Cephalic par summit is origin with rib contact point O, sets up plane right-angle coordinate, development machine is a drift section cut cycle
In, cutterhead does plane motion in coordinate system XOY, the locus of cutterhead can with cut cephalic par apex coordinate O ' (x,
Y) represent.
As shown in Fig. 5 (b), the panoramic table centre of gyration is o；Right side cylinder rod is A, cylinder tube and sheet with panoramic table pin joint
Body frame pin joint is B；Left side cylinder tube is C with body frame pin joint, and cylinder rod is D with panoramic table pin joint.When cutting arm hangs down
Directly when designed drift section, revolution driving length of oil cylinder is L1, the panoramic table centre of gyration to cylinder tube and body frame are cut with scissors
The distance of contact is OB=OC=L2, panoramic table radius of gyration OA=OD=r, the panoramic table centre of gyration to cut cephalic par summit
Apart from oO '=Lx.Assuming that in cutting course, the displacement of the detection revolution driving oil cylinder of oil cylinder displacement transducer 10 is l1, cutting arm
Horizontal pivot angle is γ, now, and cylinder rod is D ' with panoramic table pin joint.
As shown in Fig. 5 (c), cutting arm is o ' with panoramic table pin joint, and cylinder tube is E, cylinder rod with panoramic table pin joint
It is F with cutting arm pin joint；When cutting arm is perpendicular to designed drift section, lifting driving length of oil cylinder is EF=L3,
Cutting arm is o ' E=L with panoramic table pin joint to cylinder tube and panoramic table pin joint distance4, cutting arm and panoramic table pin joint
It is o ' F=L to cylinder rod and cutting arm pin joint distance5, cutting arm and panoramic table pin joint to cut cephalic par summit away from
From o ' O '=Ly；Assuming that in cutting course, the displacement of the detection lifting driving oil cylinder of oil cylinder displacement transducer 11 is l2, cutting arm hang down
Straight inclination angle is λ, now, and cylinder rod is projected as F ' with cutting arm pin joint on perpendicular.
Fig. 5 (b) is with each angle in Fig. 5 (c)：
Abscissa of the cutterhead in coordinate system XOY be：
Ordinate of the cutterhead in coordinate system XOY be：
To sum up, coordinate of the cutterhead in coordinate system XOY is：
The sampling period of oil cylinder displacement transducer (10,11) is Δ T, within a sampling period, revolution driving oil cylinder 18
Displacement is Δ l1, lifting driving oil cylinder 19 displacement is Δ l2, the horizontal pivot angle of cutting arm is Δ γ, and vertical dip angle is Δ λ, then cut
The angular speed of arm horizontal hunting is：
The angular speed of cutting arm vertical oscillation is：
The spatial positional information and cutting arm slew rate information of cutterhead are in the way of the data and image of real-time update in intelligence
It can be shown on industry control panel.
The rated current of cutting motor is I0, equal is asked to the cutting motor three-phase current that current transducer (7,8,9) is measured
Value, as cut electric current are I；The rated operating pressure of revolution driving oil cylinder is P01, the oil cylinder that oil cylinder working-pressure sensor 12 is measured
Pressure is P1；The rated operating pressure of lifting driving oil cylinder is P02, the oil cylinder working-pressure that oil cylinder working-pressure sensor 13 is measured is P2；Shake
The cutting arm vibration acceleration that dynamic acceleration transducer 14 is measured is Acc1, empirical value is Acc01；Vibration acceleration sensor 15
The cutting arm vibration acceleration measured is Acc2, empirical value is Acc02。
Strategy of data fusion is built, to I, P1, Acc1Data fusion is carried out, best initial weights W is obtained1(I, P1, Acc1)；To I,
P2, Acc2Data fusion is carried out, best initial weights W is obtained2(I, P2, Acc2)；To I0, P01, Acc01Data fusion is carried out, is obtained most
Excellent weights calibration value W01(I0, P01, Acc01)；To I0, P02, Acc02Data fusion is carried out, best initial weights calibration value W is obtained02(I0,
P02, Acc02).Data fusion method is as follows：
Wherein, k1, m1, n1Respectively cutting arm horizontal hunting cut when cut electric current, revolution driving oil cylinder working-pressure, cut
Cut the fusion influence coefficient of arm vibration acceleration；k2, m2, n2Respectively cutting arm vertical oscillation cut when cut electric current, lifting
Drive oil cylinder working-pressure, the fusion influence coefficient of cutting arm vibration acceleration.
Using PID control method, during cutting arm horizontal hunting cut, by best initial weights W1(I, P1, Acc1) hard as coal petrography
The criterion that degree change judges, with its standard value W01(I0, P01, Acc01) be compared, by its deviation e1It is used as the defeated of PID control
Enter；During cutting arm vertical oscillation cut, by best initial weights W2(I, P2, Acc2) as the criterion of coal petrography firmness change judgement, with it
Standard value W02(I0, P02, Acc02) be compared, by its deviation e2It is used as the input of PID control.
Wherein, e1=W1(I, P1, Acc1)-W01(I0, P01, Acc01)
e2=W2(I, P2, Acc2)-W02(I0, P02, Acc02)
The implementation steps of boom-type roadheader cutting arm slew rate adaptive control system and method are：
(1) cutting arm of tunneling machine carries out cut, sensing and the corresponding cut of detecting system detection to give tacit consent to slew rate under normality
Portion's system operational parameters, are real-time transmitted to airborne master control system by signal and are handled, and in the way of the data of real-time update
Shown on intelligent industrial-control panel.
(2) the revolution driving oil cylinder and lifting driving oil cylinder displacement data measured according to oil cylinder displacement transducer (10,11),
Using above-mentioned computational methods, the locus O ' (x, y) and cutting arm swing speed ω of cutterhead are calculated1, ω2, and in intelligence
Shown on industry control panel in the way of the data and image of real-time update.
(3) as shown in fig. 6, by taking cutting arm horizontal hunting cut as an example, real-time judge compares W1/W01Value, if 0.9≤
W1/W01≤ 1, then cutting arm swing at full speed；If W1/W01＜ 0.9, then start pid control module, improves cutting arm slew rate；If W1/
W01＞ 1, then start pid control module, reduces cutting arm slew rate.Similarly, during cutting arm vertical oscillation cut, control program is also
So.All control commands are provided by programmable computer controller, and execution machine is transferred to by scaling circuit plate
Structure, control load-sensitive formula proportional multi-path reversing valve is acted, and cutting arm is adjusted by way of changing oil cylinder fluid flow
Swing speed.
(4) by taking cutting arm horizontal hunting cut as an example, after the completion of a control instruction execution, continue judgement and compare after renewal
W1/W01Value, if 0.9≤W1/W01≤ 1, then cutting arm is with slew rate progress cut now；If W1/W01＜ 0.9 or W1/W01
＞ 1, then continue cycling through the control process in (3), until reaching 0.9≤W1/W01≤ 1, cutting arm is cut with slew rate now
Cut.Similarly, cutting arm vertical oscillation cut is also such.
(5) no matter cutting arm of tunneling machine is horizontal hunting cut or vertical oscillation cut, cutting arm slew rate control method
It is above-mentioned control method and process with process, cutting arm slew rate is adapted with coal petrography hardness all the time, so as to realize that development machine is cut
Arm slew rate Self Adaptive Control is cut, makes development machine and cut work is carried out with peak efficiency all the time.
Boom-type roadheader cutting arm slew rate adaptive control system of the present invention that above-mentioned such structure is constituted and method
Technological innovation, is respectively provided with many saving graces for the technical staff in same domain now, and has technological progress really
Property.
It is the basic conception of the present invention as described above.But, in the technical field of the present invention, as long as possessing most basic
Other exercisable embodiments of the present invention can be improved by knowledge.Substantial technical scheme is proposed in the present invention
Patent protection request, its protection domain should include all variation patterns with above-mentioned technical characterstic.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent variations and the modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (5)
1. a kind of boom-type roadheader cutting arm slew rate adaptive control system, it is characterized in that：The system includes：Sensing and detection
System, detects cutting units system operational parameters and is real-time transmitted to the airborne master control system of development machine；The airborne master control system of development machine,
The signal from sensing with detecting system is handled, is produced and transmission of control signals；System actuator, performs and comes from airborne master control
The control signal of system, is acted accordingly.
2. boom-type roadheader cutting arm slew rate adaptive control system according to claim 1, it is characterized in that：Described
The airborne master control system of development machine includes programmable computer controller, intelligent industrial-control panel, scaling circuit plate；Wherein, may be used
Program calculation machine controller is encapsulated in development machine electric cabinet with scaling circuit plate, programmable computer controller and intelligence
Industry control panel is connected by communication interface, and realizes that real time bidirectional communicates；It is empty that programmable computer controller must possess occupancy
Between it is small, the features such as be easy to plug, software supervision with electrical contact, the industrial protection grade of intelligent industrial-control panel surface is at least
IP65, in high vibration can safe and reliable operation, panel operation pattern is touch-screen type, and memory capacity is expansible.
3. boom-type roadheader cutting arm slew rate adaptive control system according to claim 1, it is characterized in that：Described
Sensing includes 2 oil cylinder displacement transducers with detecting system, is separately mounted to inside revolution driving oil cylinder and lifting driving oil cylinder
It is internal；2 oil cylinder working-pressure sensors, detect revolution driving oil cylinder working-pressure and lifting driving oil cylinder working-pressure, in two oil cylinders respectively
Oil-out and balanced valve between, between oil inlet and balanced valve arrange 4 measuring points altogether；3 current transducers, respectively detection is cut
Three electric currents of motor are cut, and are converted into voltage signal and are delivered continuously to computer and average to be compared with rated current；2
Individual vibration acceleration sensor, cutting arm vibration signal of the collection close to the different directions of cutterhead position；All sensing with
Detection means is mine anti-explosion or intrinsically safe equipment, and all sensings pass through interface circuit or amplification with detection means
Circuit is connected with the programmable computer controller in airborne master control system, and realizes real-time Communication for Power.
4. boom-type roadheader cutting arm slew rate adaptive control system according to claim 1, it is characterized in that：Described
System actuator includes 2 groups of electrohydraulic proportional directional valves, specially load-sensitive formula proportional multi-path reversing valve, installed in development machine
In control box；Cutting arm swing mechanism；Cutting motor.
5. a kind of boom-type roadheader of the boom-type roadheader cutting arm slew rate adaptive control system described in use claim 1
Cutting arm slew rate self-adaptation control method, it is characterized in that：
(1) cutting arm of tunneling machine carries out cut to give tacit consent to slew rate under normality, senses cutting units system corresponding with detecting system detection
System running parameter, is real-time transmitted to airborne master control system by signal and is handled, and in intelligence in the way of the data of real-time update
It can be shown on industry control panel.
(2) the oil cylinder displacement data that oil cylinder displacement transducer is measured is transferred in programmable computer controller, according to oil cylinder position
Move locus and cutting arm slew rate that data calculate cutterhead；Above-mentioned result of calculation is finally with reality on intelligent industrial-control panel
Shi Gengxin data and the mode of image are shown.
(3) when coal petrography hardness changes, cutterhead load also can correspondingly change.According to cutting arm slew rate, cut
Mathematical relationship between electric current and coal petrography hardness, cut electric current can correspondingly be changed with positive correlation；According to cutterhead
Mathematical relationship between load and driving oil cylinder working-pressure, driving oil cylinder working-pressure can correspondingly be changed with positive correlation；Root
According to correlative study, the cutting arm vibration acceleration at cutterhead can correspondingly be changed with positive correlation.Build number
According to convergence strategy, by cut electric current, three variables of driving oil cylinder working-pressure and cutting arm vibration acceleration carry out data fusion and obtained
One best initial weights, the criterion judged as coal petrography firmness change；By specified cut electric current, driving oil cylinder rated operating pressure and
Cutting arm vibration acceleration empirical value carries out the calibration value that data fusion obtains above-mentioned best initial weights.
(4) PID control method is used, best initial weights are compared with its calibration value, control load-sensitive formula proportional multi-path is changed
Acted to valve, change driving oil cylinder change in displacement rate by changing oil cylinder fluid flow, adjust cutting arm slew rate；Once
After the completion of control instruction is performed, the best initial weights after renewal are compared with its calibration value, if deviation is in established standardses scope
Interior, cutting arm carries out cut with slew rate now；If deviation exceeds established standardses scope, above-mentioned control process is continued cycling through,
Until deviation is reduced in the range of established standardses, cutting arm carries out cut with slew rate now.
(5) no matter cutting arm of tunneling machine is horizontal hunting cut or vertical oscillation cut, cutting arm slew rate control method and mistake
The above-mentioned control methods of Cheng Junwei and process, cutting arm slew rate are adapted with coal petrography hardness all the time, so as to realize cutting arm of tunneling machine
Slew rate Self Adaptive Control, makes development machine and carries out cut work all the time with peak efficiency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710452040.3A CN107269275B (en) | 2017-06-15 | 2017-06-15 | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710452040.3A CN107269275B (en) | 2017-06-15 | 2017-06-15 | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107269275A true CN107269275A (en) | 2017-10-20 |
| CN107269275B CN107269275B (en) | 2019-02-12 |
Family
ID=60066299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710452040.3A Active CN107269275B (en) | 2017-06-15 | 2017-06-15 | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107269275B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109653761A (en) * | 2019-02-19 | 2019-04-19 | 辽宁工程技术大学 | A kind of double cutting units control systems of the anchor combined unit of pick branch and method |
| CN109812267A (en) * | 2019-03-29 | 2019-05-28 | 无锡华瀚能源装备科技有限公司 | A kind of development machine perceives intelligent cutting control system and control method more |
| CN110821509A (en) * | 2019-12-11 | 2020-02-21 | 辽宁工程技术大学 | Independently supplementary cut tunnelling analogue test device of excitation formula |
| CN111380522A (en) * | 2020-04-07 | 2020-07-07 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning and automatic cutting method of cantilever type tunneling machine |
| CN111885825A (en) * | 2019-09-25 | 2020-11-03 | 中铁工程装备集团技术服务有限公司 | Circuit board for heading machine guide system control box and control box |
| CN111911180A (en) * | 2020-08-06 | 2020-11-10 | 黑龙江科技大学 | Cutting mechanism of boom-type heading machine and control system thereof |
| CN111946340A (en) * | 2020-08-06 | 2020-11-17 | 西安科技大学 | Coal mine cantilever type heading machine cutting control method and system based on visual navigation |
| CN112454356A (en) * | 2020-11-12 | 2021-03-09 | 中国煤炭科工集团太原研究院有限公司 | Automatic control method and device for movement track of cantilever of heading machine |
| CN113062736A (en) * | 2021-03-29 | 2021-07-02 | 中国矿业大学 | Heading machine self-adaptive cutting system and method based on machine vision |
| CN114183158A (en) * | 2021-11-15 | 2022-03-15 | 中铁工程装备集团隧道设备制造有限公司 | Motor protection control system and method for cantilever excavator |
| CN114233312A (en) * | 2021-11-17 | 2022-03-25 | 中铁工程装备集团隧道设备制造有限公司 | Free section cutting control system and control method for cantilever excavator |
| CN115788477A (en) * | 2023-02-06 | 2023-03-14 | 太原理工大学 | Self-adaptive cutting control system and method for heading machine |
| CN116427923A (en) * | 2023-06-13 | 2023-07-14 | 三一重型装备有限公司 | Self-adaptive cutting method, system, heading machine, electronic equipment, medium and chip |
| CN117967342A (en) * | 2024-03-29 | 2024-05-03 | 三一重型装备有限公司 | Method and device for controlling cutting part of transverse shaft heading machine and transverse shaft heading machine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2133063A (en) * | 1982-12-31 | 1984-07-18 | Voest Alpine Ag | Protecting device for partial-cut cutting machines |
| CN2821631Y (en) * | 2005-04-18 | 2006-09-27 | 三一重型装备有限公司 | Intelligent control system for tunneller cutting |
| CN101215966A (en) * | 2007-01-05 | 2008-07-09 | 三一重型装备有限公司 | Tunneling machine cutting feed volume automatic control mode |
| CN201148868Y (en) * | 2007-12-26 | 2008-11-12 | 三一重型装备有限公司 | Development machine cutting portion |
| CN101713975A (en) * | 2008-10-08 | 2010-05-26 | 石家庄煤矿机械有限责任公司 | Intelligent control system for automatic cutting formation of tunneling |
| CN104500059A (en) * | 2014-12-01 | 2015-04-08 | 辽宁通用煤机装备制造股份有限公司 | Heading machine cutting part with high-strength telescoping mechanism |
| CN104929638A (en) * | 2015-07-03 | 2015-09-23 | 神华集团有限责任公司 | Underground auxiliary cutting system for heading machine |
| CN205078272U (en) * | 2015-10-26 | 2016-03-09 | 内蒙古北方重工业集团有限公司 | Entry driving machine cut arm automatic speed adjustment system |
-
2017
- 2017-06-15 CN CN201710452040.3A patent/CN107269275B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2133063A (en) * | 1982-12-31 | 1984-07-18 | Voest Alpine Ag | Protecting device for partial-cut cutting machines |
| CN2821631Y (en) * | 2005-04-18 | 2006-09-27 | 三一重型装备有限公司 | Intelligent control system for tunneller cutting |
| CN101215966A (en) * | 2007-01-05 | 2008-07-09 | 三一重型装备有限公司 | Tunneling machine cutting feed volume automatic control mode |
| CN201148868Y (en) * | 2007-12-26 | 2008-11-12 | 三一重型装备有限公司 | Development machine cutting portion |
| CN101713975A (en) * | 2008-10-08 | 2010-05-26 | 石家庄煤矿机械有限责任公司 | Intelligent control system for automatic cutting formation of tunneling |
| CN104500059A (en) * | 2014-12-01 | 2015-04-08 | 辽宁通用煤机装备制造股份有限公司 | Heading machine cutting part with high-strength telescoping mechanism |
| CN104929638A (en) * | 2015-07-03 | 2015-09-23 | 神华集团有限责任公司 | Underground auxiliary cutting system for heading machine |
| CN205078272U (en) * | 2015-10-26 | 2016-03-09 | 内蒙古北方重工业集团有限公司 | Entry driving machine cut arm automatic speed adjustment system |
Non-Patent Citations (2)
| Title |
|---|
| 王苏彧等: "基于PCC 的纵轴式掘进机自主截割控制系统研究", 《煤炭工程》 * |
| 高峰等: "掘进机截割臂摆速自动控制方法研究", 《掘进机截割臂摆速自动控制方法研究》 * |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109653761A (en) * | 2019-02-19 | 2019-04-19 | 辽宁工程技术大学 | A kind of double cutting units control systems of the anchor combined unit of pick branch and method |
| CN109653761B (en) * | 2019-02-19 | 2023-10-27 | 辽宁工程技术大学 | Double-cutting-part control system and method for excavating, supporting and anchoring combined unit |
| CN109812267B (en) * | 2019-03-29 | 2023-11-21 | 无锡华瀚能源装备科技有限公司 | Multi-perception intelligent cutting control system and control method for heading machine |
| CN109812267A (en) * | 2019-03-29 | 2019-05-28 | 无锡华瀚能源装备科技有限公司 | A kind of development machine perceives intelligent cutting control system and control method more |
| CN111885825A (en) * | 2019-09-25 | 2020-11-03 | 中铁工程装备集团技术服务有限公司 | Circuit board for heading machine guide system control box and control box |
| CN110821509A (en) * | 2019-12-11 | 2020-02-21 | 辽宁工程技术大学 | Independently supplementary cut tunnelling analogue test device of excitation formula |
| CN111380522A (en) * | 2020-04-07 | 2020-07-07 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning and automatic cutting method of cantilever type tunneling machine |
| CN111380522B (en) * | 2020-04-07 | 2022-06-28 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning and automatic cutting method of cantilever type tunneling machine |
| CN111946340A (en) * | 2020-08-06 | 2020-11-17 | 西安科技大学 | Coal mine cantilever type heading machine cutting control method and system based on visual navigation |
| CN111911180A (en) * | 2020-08-06 | 2020-11-10 | 黑龙江科技大学 | Cutting mechanism of boom-type heading machine and control system thereof |
| CN111946340B (en) * | 2020-08-06 | 2022-05-03 | 西安科技大学 | Coal mine cantilever type heading machine cutting control method and system based on visual navigation |
| CN112454356A (en) * | 2020-11-12 | 2021-03-09 | 中国煤炭科工集团太原研究院有限公司 | Automatic control method and device for movement track of cantilever of heading machine |
| CN113062736A (en) * | 2021-03-29 | 2021-07-02 | 中国矿业大学 | Heading machine self-adaptive cutting system and method based on machine vision |
| CN114183158B (en) * | 2021-11-15 | 2023-09-01 | 中铁工程装备集团隧道设备制造有限公司 | Cantilever development machine motor protection control system and method |
| CN114183158A (en) * | 2021-11-15 | 2022-03-15 | 中铁工程装备集团隧道设备制造有限公司 | Motor protection control system and method for cantilever excavator |
| CN114233312A (en) * | 2021-11-17 | 2022-03-25 | 中铁工程装备集团隧道设备制造有限公司 | Free section cutting control system and control method for cantilever excavator |
| CN114233312B (en) * | 2021-11-17 | 2024-03-22 | 中铁工程装备集团隧道设备制造有限公司 | Free section cutting control system and control method of cantilever heading machine |
| CN115788477A (en) * | 2023-02-06 | 2023-03-14 | 太原理工大学 | Self-adaptive cutting control system and method for heading machine |
| CN116427923A (en) * | 2023-06-13 | 2023-07-14 | 三一重型装备有限公司 | Self-adaptive cutting method, system, heading machine, electronic equipment, medium and chip |
| CN116427923B (en) * | 2023-06-13 | 2023-09-05 | 三一重型装备有限公司 | Self-adaptive cutting method, system, heading machine, electronic equipment, medium and chip |
| CN117967342A (en) * | 2024-03-29 | 2024-05-03 | 三一重型装备有限公司 | Method and device for controlling cutting part of transverse shaft heading machine and transverse shaft heading machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107269275B (en) | 2019-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107269275B (en) | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method | |
| CN102797462B (en) | Automatic cutting control system and automatic cutting control method for coal cutter | |
| CN102701077A (en) | System and method for controlling position of lifting hook of crane, as well as crane | |
| CN202731919U (en) | Automatic cutting control system of coal mining machine | |
| CN204938803U (en) | A kind of hydraulic crawler crane supporting leg leveling device | |
| CN108706479A (en) | A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight | |
| CN114955448B (en) | Intelligent control system and method for self-moving tail of tunneling working face | |
| WO2023087618A1 (en) | Method for monitoring and controlling supporting posture of supporting-type hydraulic support on basis of dense point group | |
| CN106625629B (en) | The many arm supports in tunnel, the end arm support posture multi-mode automaton of multi-joint implement and method | |
| CN105643627A (en) | Gain adjustment device and method for robot motion control | |
| CN104295543A (en) | Hybrid power engineering machine composite motion control method | |
| CN103967474B (en) | Automatic positioning system of underground mining drill carriage | |
| CN105329613A (en) | Leveling control device for suspended telescopic belt | |
| CN106062384A (en) | Operation device | |
| CN205276244U (en) | Ram quick -witted automatic control system by force | |
| CN104481567B (en) | Senseless hydraulic support electric-hydraulic control system and senseless hydraulic support electric-hydraulic control method | |
| CN104044999B (en) | Tower crane jacking mechanism operation control method, device and system and tower crane | |
| CN109209418A (en) | Development machine and its control method | |
| CN206805303U (en) | Formwork elevation measuring adjusting means | |
| CN205602723U (en) | Appearance location and collision avoidance system are decided to stacker -reclaimer | |
| CN105134276B (en) | Severe inclined thick coal seam shortwall top-coal caving face puts coal control system | |
| Zhang et al. | Automatic drill pipe emission control system based on machine vision | |
| CN206721648U (en) | It is a kind of can adjust automatically tunnel hydraulic pressure trestle lateral shift device | |
| CN106835939B (en) | It is a kind of can adjust automatically tunnel hydraulic pressure trestle lateral shift device and its control method | |
| Wang et al. | Design of transverse boom-type roadheader remote control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |