CN107609297A - A kind of coal winning machine position load three-dimensional spectrum shows analysis method - Google Patents
A kind of coal winning machine position load three-dimensional spectrum shows analysis method Download PDFInfo
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- CN107609297A CN107609297A CN201710879727.5A CN201710879727A CN107609297A CN 107609297 A CN107609297 A CN 107609297A CN 201710879727 A CN201710879727 A CN 201710879727A CN 107609297 A CN107609297 A CN 107609297A
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Abstract
A kind of coal winning machine position load three-dimensional spectrum shows analysis method, including functional unit：Pitch curve unit, rate curve unit, loading spectrum analytic unit and analytical conclusions unit, pitch curve, it is coal-winning machine from working face head to tail in one coal cutting cycle time, mechanical engagement curve between road wheel and pin row, i.e., engagement curve of the path of contact that road wheel and pin row room machine coordinate in coal-winning machine walking process in direction of travel, rate curve, it is coal-winning machine from working face head to tail in one coal cutting cycle time, shearer haulage rate curve during diverse location, pitch curve unit, realize that the pitch curve that coal-winning machine is currently moved towards to location point is loaded onto in three-dimensional spectrum；Rate curve unit, realize that the rate curve that coal-winning machine is currently moved towards to location point is loaded onto in three-dimensional spectrum.
Description
Technical field
The invention belongs to coal-winning machine technical field, more particularly to a kind of coal winning machine position load three-dimensional spectrum displaying analysis side
Method.
Background technology
The applicant Publication No. CN106682308A in preceding application, disclose a kind of " coal-winning machine load situation
Loading analysis method, including step：
S1：Gather the current location data and load data of a target coal-winning machine；
S2：Three-dimensional spectrum is formed according to the current location data and the load data and passes through a human-computer interaction terminal
Shown；
S3：Trailer system position load spectrum analysis and cut are carried out to the target coal-winning machine according to the three-dimensional spectrum
System position load spectrum analysis, obtain analysis result；
S4：The analysis result is applied in the automatic cut control of the target coal-winning machine.”
This is " displaying coal-winning machine actual condition situation, to be easy to user quickly to judge that coal-winning machine works in the purpose of preceding application
State, there is the advantages of precision is high, simple operation and Consumer's Experience are good ".
Practice analysis are found, different by analyzing on the premise of known hauling speed and running part mechanical engagement information
Load current data during position, and the data and coal winning machine position coordinate are subjected to Conjoint Analysis, coal-winning machine can be gone out with interpretation
Coal-winning machine posture, cutting units roller in correspondence position load geological information and winning machine cutting part, traction in the position
Portion's work state information.And these information pass through processing, you can it is directly used in coal-winning machine automatic cutting control system, can be effective
Improve the automatic cut control accuracy of coal-winning machine.But in existing technical scheme, for coal winning machine position, posture and load information
Processing it is excessively simple, be not easy to operator and analyze judge can not solve to improve coal-winning machine automatic cut control accuracy very well
Problem.
The content of the invention
An object of the present invention is to provide a kind of coal winning machine position load three-dimensional spectrum displaying analysis method, to solve to carry
The problem of high coal-winning machine automatic cut control accuracy.
A kind of coal winning machine position load three-dimensional spectrum shows analysis method, including step：
Step S101, obtain coal winning machine position, loaded-up condition data；
Step S102, coal winning machine position, load are shown with three-dimensional spectrum；
Step S103, load spectrum analysis are carried out to traction system of coal cutter；
Step S104, load spectrum analysis are carried out to coal-winning machine cut system；
Step S105, analysis result is applied in the automatic cut control of coal-winning machine,
Wherein, in step S102, using three-dimensional position, load Waterfall plot exhibition method, coal-winning machine work is shown to user
During position load information and historical information：
For three-dimensional position, the graphics of load Waterfall plot, the wherein X of graphics, Y-coordinate are positional information, and Z coordinate is
Load information, Z axis value is motor current value of the coal-winning machine in correspondence position coordinate points in graphics,
Positional information includes：Coal-winning machine moves towards the position coordinates in direction, wherein coal-winning machine row in direction of travel and working face
Walk direction and be also referred to as inclined to direction；
Load information includes：The left cutting motor electric current of coal-winning machine, right cutting motor electric current, left traction motor current and the right side are led
Draw current of electric,
Different loads value is made a distinction using chromatic graph matrix in graphics, specific method is：Obtain into Z in graph region
Axial coordinate value maximum and minimum value, the maximin is the amplitude span as chromatic graph matrix, by chromatic graph matrix value
In the range of Z axis coordinate value be segmented value according to identical spacing, each value section correspond to different colors, will be in Z axis coordinate respectively
The numerical value of individual coordinate points is corresponding with the color in chromatic graph matrix so that position load three-dimensional spectrum is finally with the shape of three-dimensional Waterfall plot
Formula displaying,
In three-dimensional position, load Waterfall plot, in addition to functional unit：Pitch curve unit, rate curve unit, loading spectrum
Analytic unit and analytical conclusions unit,
Pitch curve, be coal-winning machine from working face head to tail in one coal cutting cycle time, between road wheel and pin row
Mechanical engagement curve, i.e. the path of contact that road wheel and pin row room machine coordinate in coal-winning machine walking process is in direction of travel
Engagement curve,
Rate curve, be coal-winning machine from working face head to tail in one coal cutting cycle time, adopting during diverse location
Coal machine travel rate curve,
Pitch curve unit, realize that the pitch curve that coal-winning machine is currently moved towards to location point is loaded onto in three-dimensional spectrum；Speed
Curved unit is spent, realizes that the rate curve that coal-winning machine is currently moved towards to location point is loaded onto in three-dimensional spectrum,
Analytical conclusions unit, for the analytical conclusions of the coal-winning machine load condition in the present analysis cycle to be shown,
For the limiting condition for reminding user's coal-winning machine to be likely to occur, and feasible suggestion and measure is provided,
Loading spectrum analytic unit, after selection determines, display interface will enter loading spectrum analytical model, pass through selection function
Button, display interface show corresponding to right cut, left cut, it is left traction and right trailer system loading spectrum analysis two dimensionization position
Put load spectrogram and analysis result.
Further, the data message of the three-dimensional position, load Waterfall plot is showed by the form of X-Y scheme, i.e., two
Tie up position load spectrogram, when analyze for loading spectrum various condition curves superposition shows, user can be carried out at the interface compared with
Judge for deep coal-winning machine state analysis,
Specifically include：Coal-winning machine direction of travel (tendency direction) is used as transverse axis coordinate, moves towards direction as ordinate of orthogonal axes, sits
Punctuate value is load amplitude, and the size of coordinate points load value is represented by color, i.e. the deep point load of color is big, color
Shallow, the point load is small,
The functional unit of two-dimensional position load spectrogram includes right cut, left cut, left traction and right traction analytic function list
Member, for allowing user's selection to need the target location analyzed,
Wherein, right cut unit is analyzed for right cut system load, and left cut unit is analyzed for left cut system load, left
Traction unit is left trailer system loading analysis, and right traction unit is analyzed for right trailer system loading spectrum,
After analysis position corresponding to coal-winning machine, the load spectrogram of correspondence position is showed in the form of two dimensionization, simultaneously will
The curve of load in the present analysis cycle is individually shown as figure in the top of two dimensionization load spectrogram, by the present analysis cycle
Rate curve, pitch curve are superimposed upon on the load spectrogram of the left and right trailer system after two dimensionization；By in the present analysis cycle
On the load spectrogram of the left and right cut system of rate curve, operating mode tendency curve combining after two dimensionization, meanwhile, by corresponding positions
The load spectrum analysis result put is illustrated in the interface dialog box of display interface.
In step s 103, include for traction system of coal cutter position load spectrum analysis specific steps：
Step A1, road wheel pitch curve, the separation of hauling speed curve are normalized, the road wheel pitch curve, i.e.,
The path of contact that road wheel coordinates with pin row room machine in coal-winning machine walking process is in the position of direction of travel-engagement curve
Figure, wherein
Position-the speed of service curve map of hauling speed curve, i.e. trailer system in analytical cycle；
The separation normalization, calculating is each normalized by each element at its in physical extent；
Normalization for load spectrogram, i.e., traction system of coal cutter position load spectrogram two dimensionization is shown, two dimensionization
Figure after display still includes all information of three-dimensional spectrum, and wherein load value is changed to real load to load motor volume by absolute value
Determine the percentage of current value, finally showed in a manner of hauled load curve,
Normalization for pitch curve, i.e., the pitch curve nondimensionalization processing in a walking cycle, and to width
Be worth standardization, i.e., amplitude maximum in periodic regime as 1, other values for actual value and the value ratios,
Normalization for rate curve, i.e., it is in a walking cycle that rate curve amplitude is specified to coal-winning machine most
Big speed carries out standardization processing：The amplitude of present speed absolute value and the ratio of rated maximum, as current location speed
The coordinate of value,
After road wheel pitch curve, hauling speed curve separation normalization operation, to the load in a work period
Spectrum curve Flm(tn) with normalization after pitch curve Fgm(tn) it is compared processing in frequency domain；
Step A2, calculate the dominant frequency f of pitch curve after normalizationgAnd its 3,5,7 frequency multiplication fg3、fg5、fg7, by Fourier
Amplitude and the amplitude of matched curve response frequency point in load spectrogram after conversion at the frequency multiplication of respective frequencies point fg and its 3,5,7
It is weighted and compares processing,
That is, by the amplitude of respective frequencies point in load spectrogram compared with the pitch curve corresponding points after weighting, then
Compared result carries out inversefouriertransform, load spectrogram in a certain knife coal cutting work period that the mechanical engagement that is eliminated influences
Curve Flmc(tn),
The load spectrum curve F of engagement influence will be eliminatedlmc(tn) with the rate curve F after normalization in same periodvm
(tn) processing is compared in time domain scale；
Step A3, by the load spectrum curve F after processinglmc(tn) with weighting after α Fvm(t) it is compared, the cycle
In the range of operating mode trend linearity curve Foc(tn),
Time-Frequency Analysis further is carried out to the result after comparison, obtains shearer hauled-part each coordinate points within the cycle
Work state information.
Include in step S104 for coal-winning machine cut system position load spectrum analysis, specific steps：
Step B1, hauling speed curve and geology operating mode tendency, which are described, carries out composite normalization comparison, wherein traction speed
Line of writing music is shearer hauled-part rate curve Fvm(tn),
Described geology operating mode tendency description, is operating mode trend linearity curve Foc(tn),
The composite normalization compares, that is, eliminates trend term, by operating mode trend linearity curve FocAnd rate curve F (tn)vm
(tn) after, being combined computing, one group of data and curves, i.e. trend term curve F are obtainedtr(tn)；
Step B2, spectrum curve F is loaded to cut of the coal-winning machine within the work period of the knife coal cutting of cut onelm(tn) carry out
Trend term operation is eliminated, and obtains sheer loads curve Fabs_lm(tn), complete once-combined normalization and compare operation；
Step B3, cutting units load behavior is judged, its determination methods is, for cutting in some duty cycle range
Cut load spectrum curve Flm(tn) the sheer loads F obtained after elimination trend term, is carried out to itlm(tn) curve, line frequency is entered to it
Spectrum analysis, with reference to cut system stressing conditions feature, obtains cutting units load behavior situation of the cut system in diverse location.
In step S105, analysis result is applied in the control of automatic cut, and analysis result includes：Operating mode trend linearity curve Foc
(tn), tractive unit work state information data, cutting units sheer loads curve Fabs_lm(tn)；The ground obtained by spectrum analysis
Matter work information；Pass through the shearer hauled-part that Time-Frequency Analysis obtains and scrapper conveyor engagement information；Shearer hauled-part
And cutting units load current, hauling speed data.
Further, travel track of the coal-winning machine in working face is intuitively shown using coal winning machine position time plot, it is bent
The transverse axis of line chart represents the working face position residing for coal-winning machine, and unit is frame number, i.e. working face continuously arranged liquid from left to right
Press the numbering of support；The longitudinal axis is the time, and the time incrementally represents from top to bottom, and current time is located above the longitudinal axis, is at the point of the longitudinal axis 0
The earliest historical time that curve map can be shown.
Further, when showing coal-winning machine using position power scatter diagram and passing through same working face position each time,
The power of motor consumed,
Position power scatter diagram represents the relation between 3 physical quantitys with coloured 2 dimension scatter diagrams：
Transverse axis represents the working face position residing for coal-winning machine, and unit is frame number, i.e. working face is continuously arranged from left to right
The numbering of hydraulic support,
What the longitudinal axis represented is direction of travel, and is alternately to change, every a line of the longitudinal axis, is all the water of multiple different colours
The continuous dot of flat raft row is formed, and represents running orbit of the coal-winning machine in this direct of travel, which frame to run to the from
Several framves, this line represent coal machine and travelled to the left, and it is certain with to right travel, the terminal frame number of this line that next line just represents coal machine
The starting point frame number of a line is consistent, is said from the time, newest point appears in the most lastrow of the longitudinal axis, row more on the lower, and the time gets over
It is early,
The color of scatterplot represents the 3rd physical quantity --- coal acc power, the color point in the power scatter diagram of position, then
Represent average power consumption when coal machine passes through the coal machine position range residing for the point.
The beneficial effect of the embodiment of the present invention is：The embodiment of the present invention according to the coal winning machine position load information of acquisition, with
The form at three-dimensional spectrum interface is shown, and is easy to be used to quickly judge coal-winning machine working condition, is improved Consumer's Experience.And it is based on
The traction system of coal cutter of three-dimensional spectrum and the analysis method of cut system mode, it can complete to sentence coal-winning machine complete machine working condition
It is disconnected, the judged result is used in the automatic cut control of coal-winning machine, coal mining machine roller traction when can be controlled as automatic cut
The auxiliary judgment foundation that speed, cut depth and rocking arm highly control.
Brief description of the drawings
Detailed description below, above-mentioned and other mesh of exemplary embodiment of the invention are read by reference to accompanying drawing
, feature and advantage will become prone to understand.In the accompanying drawings, if showing the present invention's by way of example, and not by way of limitation
Dry embodiment, wherein：
Fig. 1 is coal winning machine position loading analysis method flow diagram in the prior art；
Fig. 2 is one embodiment user interface of coal winning machine position load spectrogram display interface；
Fig. 3 is one embodiment user interface at coal winning machine position load spectrum analysis interface；
Fig. 4 is one embodiment flow chart of trailer system load spectral analysis method of the present invention；
One embodiment flow chart of Fig. 5 cut system load spectral analysis methods of the present invention.
Fig. 6 is coal winning machine position time plot exemplary plot in the present invention.
Fig. 7 is coal winning machine position power scatter diagram exemplary plot in the present invention.
Embodiment
In existing coal-winning machine application technology, load information is respectively in different showing interfaces, and coal-winning machine loads number
It is used according to executing agency's protection is only used as.As shown in figure 1, being a coal winning machine position loading analysis method flow diagram (to step
Before rapid flow-interpret explanation, first arrange the analytical cycle concept of the present embodiment, in the present embodiment, coal-winning machine is cut into a knife
The run time of coal is as a work period, the analysing content being described, when being related to analytical cycle content, all referring to this
One analytical cycle of agreement), including：
Step S101：Obtain coal winning machine position, loaded-up condition data；
All kinds of sensing equipments installed using coal-winning machine fuselage, coal-winning machine current location and load information are obtained in real time.This
A little sensing equipments include：Shearer position transducer, coal-winning machine cutting motor current sensor, traction motor for coal mining machine electric current pass
Collecting sensor signal unit included in sensor, coal-winning machine control system etc..
Step S102：Coal winning machine position, load three-dimensional spectrum are shown；
Coal winning machine position information is shown in the form of three-dimensional spectrum with load information, and passes through dedicated human interface
Information exchange is carried out with user.Dedicated human interface mentioned here includes：Coal-winning machine remote controller key, termination station button, machine
Body button, figure shows and display interface of analysis result etc. can be shown.
Three-dimensional spectrum displaying includes two kinds of implementations described in the embodiment of the present invention：
As shown in Fig. 2 it is the first implementation 201.Waterfall plot comprising position and load information under three-dimensional coordinate
Form is shown.Here positional information, is referred specifically to：Coal-winning machine moves towards the position coordinates in direction in direction of travel and working face,
Wherein coal-winning machine direction of travel is also referred to as inclined to direction；Load information, specifically include：The left cutting motor electric current of coal-winning machine, the right side are cut
Cut current of electric, left traction motor current and right traction motor current.
In the first three-dimensional spectrum implementation, specific implementation is：The X of graphics, Y-coordinate are positional information, Z
Coordinate is load information；Z axis value is motor current value of the coal-winning machine in correspondence position coordinate points in graphics.
In the first three-dimensional spectrum into figure mode, coal-winning machine working condition is quickly judged for ease of user, in Three Dimensional Spectrum
Different loads value is made a distinction using chromatic graph matrix in figure.Specific implementation method is：Obtain into graph region Z axis coordinate value most
Big and minimum value, the maximin is the amplitude span as chromatic graph matrix, by the Z axis in chromatic graph matrix span
Coordinate value is segmented value according to identical spacing, and each value section corresponds to different colors, by the number of each coordinate points in Z axis coordinate
Value is corresponding with the color in chromatic graph matrix so that position load three-dimensional spectrum is finally shown in the form of three-dimensional Waterfall plot.
Second of implementation 302, all data messages in the first graphics are showed by the form of X-Y scheme, had
Body includes：Coal-winning machine direction of travel (tendency direction) is used as transverse axis coordinate, moves towards direction as ordinate of orthogonal axes, coordinate point value is load
Lotus amplitude, due to expressing three-dimensional information using two dimensional surface, so the size of coordinate points load value is represented by color,
That is, deep point load of color is big, and of light color, the point load is small.
The first implementation 201, i.e. three dimensional stress position load Waterfall plot exhibition method, be mainly used in showing to user
Position load information and historical information in the coal-winning machine course of work.
When the first implementation 201 is shown, corresponding and interface also includes functional unit：Pitch curve
202nd, rate curve 203, loading spectrum analysis 204 and analytical conclusions 205.
Pitch curve 202, be coal-winning machine from working face head to tail in one coal cutting cycle time, road wheel and pin row
Between mechanical engagement curve, i.e. the path of contact that road wheel and pin row room machine coordinate in coal-winning machine walking process is in direction of travel
Engagement curve.
Rate curve 203, be coal-winning machine from working face head to tail in one coal cutting cycle time, during diverse location
Shearer haulage rate curve.
Functional unit 202, realize that the pitch curve that coal-winning machine is currently moved towards to location point is loaded onto in three-dimensional spectrum 201；
Functional unit 203, realize that the rate curve that coal-winning machine is currently moved towards to location point is loaded onto in three-dimensional spectrum 201.
Functional unit 205, for the analytical conclusions of the coal-winning machine load condition in the present analysis cycle to be shown, use
In the limiting condition for reminding user's coal-winning machine to be likely to occur, and provide feasible suggestion and measure.
Functional unit 204, after selection determines, display interface will enter loading spectrum analytical model, be pressed by selection function
Button 301,304,305 and 306, display interface show corresponding to right cut, left cut, it is left traction and right trailer system loading spectrum
Two dimensionization position loading spectrum Figure 30 2 and analysis result 303 of analysis.
Second of implementation 302, i.e. the position load spectrogram of two dimensionization, be mainly used in various when loading spectrum is analyzed
Condition curve superposition displaying, user can carry out more deep coal-winning machine state analysis at the interface and judge.
Functional unit 301,304,305 and 306 is functional analysis selecting unit, for the mesh for allowing user to select needs to analyze
Cursor position.Wherein functional unit 301 is analyzed for right cut system load, and functional unit 304 is analyzed for left cut system load, work(
Energy unit 305 is left trailer system loading analysis, and functional unit 306 is that right trailer system loading spectrum is analyzed.
After by analysis position corresponding to the selection of functional unit 301,304,305 and 306, functional unit 302 will be corresponding
The load spectrogram of position is showed in the form of two dimensionization, while the curve of load in the present analysis cycle is individually shown as into figure and existed
The top of two dimensionization load spectrogram.
Under loading spectrum analytical model, the rate curve in the present analysis cycle, pitch curve can be superimposed upon two automatically
On the load spectrogram of left and right trailer system after dimensionization；Rate curve in the present analysis cycle, operating mode trend linearity curve are folded
It is added on the load spectrogram of the left and right cut system after two dimensionization.
Functional unit 303, the interface for the load spectrum analysis result of relevant position to be illustrated in display interface are talked with
In frame.
Step S103：Tractive unit load spectrum analysis；
The three-dimensional spectrum coal-winning machine relevant state data associated with three-dimensional spectrum is combined analysis, realized to mining
Machine travel system, the analysis of trend of cut system and geology operating mode and judgement.
For traction system of coal cutter position load spectrum analysis：By in some work period for being shown in three-dimensional spectrum
Data, obtain a load curve, the pitch curve of its operation with road wheel and rate curve carried out separating normalization ratio
Compared with for judging that working condition and geology operating mode tendency of the trailer system in diverse location are described.For the present embodiment, tool
Body step includes：
Functional unit 401, road wheel pitch curve, the separation normalization of hauling speed curve.Road wheel described in 401 engages
Curve, i.e. road wheel and the path of contact that pin row room machine coordinates are in the position of direction of travel-engage in coal-winning machine walking process
State diagram；Hauling speed curve, i.e. position-speed of service curve map of the trailer system in analytical cycle.
Normalization is separated described in functional unit 401, it is characterised in that each carry out each element in physical extent at its
Normalization calculates.
Normalization for load spectrogram, i.e. show traction system of coal cutter position load spectrogram two dimensionization, two dimensionization
Figure after display still includes all information of three-dimensional spectrum, and wherein load value is changed to real load to load motor volume by absolute value
Determine the percentage of current value, finally showed in a manner of hauled load curve 404.
Normalization for pitch curve, i.e. the pitch curve nondimensionalization processing in a walking cycle, and to width
It is worth standardization.For amplitude maximum i.e. in periodic regime as 1, other values are the ratio of actual value and the value.
Normalization for rate curve, i.e. in a walking cycle that rate curve amplitude is specified to coal-winning machine
Maximal rate carries out standardization processing：The amplitude of present speed absolute value and the ratio of rated maximum, as current location speed
The coordinate of angle value.
After functional unit 401 is to road wheel pitch curve, hauling speed curve separation normalization operation, to a work week
Load spectrum curve F in phaselm(tn) with normalization after pitch curve Fgm(tn) it is compared processing in frequency domain.That is function
Unit 403：Calculate the dominant frequency f of pitch curve after normalizinggAnd its 3,5,7 frequency multiplication fg3、fg5、fg7, after Fourier transformation
Amplitude and the amplitude of matched curve response frequency point in load spectrogram at the frequency multiplication of respective frequencies point fg and its 3,5,7 are weighted
Compare processing.That is, the amplitude of respective frequencies point in spectrogram will be loaded compared with the pitch curve corresponding points after weighting, i.e. work(
Energy unit 405, then compared result progress inversefouriertransform, a certain knife coal cutting that the mechanical engagement that is eliminated influences work
Load spectrum curve F in cyclelmc(tn)。
The load spectrum curve F of engagement influence will be eliminatedlmc(tn) with functional unit 402, i.e.,：Same period after normalization
Interior rate curve Fvm(tn) processing is compared in time domain scale.
By the load spectrum curve F after processinglmc(tn) with weighting after α Fvm(t) it is compared, obtains functional unit
406, i.e. the operating mode trend linearity curve F in the periodic regimeoc(tn).Further, time-frequency domain point is carried out to the result after comparison
Analysis, obtains the work state information 408 of shearer hauled-part each coordinate points within the cycle.
Step S104：Cutting units load spectrum analysis；
For coal-winning machine cut system position load spectrum analysis, specifically include：System is according to showing in three-dimensional spectrum
Load data in some work period, a load curve is obtained, itself and rate curve and geology operating mode tendency are retouched
Paint and carry out composite normalization comparison, for judging working condition of the cut system in diverse location.For the present embodiment, specifically
Step includes：
Functional unit 501, hauling speed curve and geology operating mode tendency, which are described, carries out composite normalization comparison, wherein leading
It is identical with 401 medium velocity curves to draw rate curve, is shearer hauled-part rate curve Fvm(tn)。
Operating mode tendency description described in functional unit 501, it is to separate to normalize and compared via functional unit 401
The curve 406 obtained more afterwards, i.e. operating mode trend linearity curve Foc(tn)。
The composite normalization compares, that is, eliminates trend term function 502, it is characterised in that by operating mode trend linearity curve Foc
And rate curve F (tn)vm(tn) after, being combined computing, one group of data and curves 502 is obtained, i.e. trend term curve Ftr(tn)；
To cut load spectrum curve F of the coal-winning machine within the work period of the knife coal cutting of cut onelm(tn) carry out eliminating trend term operation
505, and obtain 505 sheer loads curve Fabs_lm(tn), just complete once-combined normalization by these operations and compare behaviour
Make.
Functional module 509：Cutting units load behavior judges that its determination methods is, for some duty cycle range
Interior cut load spectrum curve Flm(tn) the 507 sheer loads F obtained after elimination trend term, are carried out to itlm(tn) curve,
Spectrum analysis 508 is carried out to it, with reference to the feature of cut system stressing conditions 506, obtains cut system cutting in diverse location
Cut section load operating mode situation.
Step S105：Analysis result is applied in the control of automatic cut；
Key input data and auxiliary judgment foundation when analysis result can control as automatic cut, for cutting automatically
Cut in control.These analysis results include：Operating mode trend linearity curve Foc(tn), tractive unit work state information data, cutting units
Sheer loads curve Fabs_lm(tn)；The geology work information obtained by spectrum analysis；The coal mining obtained by Time-Frequency Analysis
Machine travel portion and scrapper conveyor engagement information；Shearer hauled-part and cutting units load current, hauling speed data etc.
Also note that a key criterion of the information of input only as the control of automatic cut, but it is not unique；Automatically
Cut control operation is influenceed by this criterion, but is not controlled by it.
As shown in fig. 6, the example of the position time graph of the coal-winning machine of the present invention.Transverse axis represents the work residing for coal-winning machine
Face position, unit are framves number, i.e. the numbering of working face continuously arranged hydraulic support from left to right, support numbering at general 0 point
And 0, from left to right incrementally represent, be also not excluded for some working faces Base Serial Number be more than 0, or support numbering be from a left side to
The right side is successively decreased arrangement；The longitudinal axis is the time, and the time incrementally represents from top to bottom, and current time is located above the longitudinal axis, is bent at the point of the longitudinal axis 0
The earliest historical time that line chart can be shown.
Current existing position time diagram, is the transverse axis time, from left to right incrementally represents, longitudinal axis positions, pass from top to bottom
Increase and represent.
The present invention swaps transverse and longitudinal axle, and maximum benefit is directly perceived, and user sees this figure, can be directly linked to coal mining
Machine does not have the sensation that this is a mathematics curve map in the actual travel track of working face, it is seen that be exactly going through for coal-winning machine
History running orbit.
Because, width is generally higher than height in display screen physically, interface display traditionally, it is more
During individual curve map, often several curve maps are shown side by side up and down, and so, the actual size of the transverse axis of single chart can be much big
In the longitudinal axis.Using the method for transverse axis display location, the length of whole working face can be more effectively widened, preferably each position
Detailed information show, be advantageous to user observe identification.
In fact, coal-winning machine is walked one in working face often wants one or several hours back and forth, it is most useful to user
Information be exactly often nearest one or two back and forth, the method for transverse axis display location, make the more identical actual coal machine of curve of generation
The proportionate relationship of geometric locus.And original transverse axis time representation, the curve of drafting are more like a cycle narrow week more
Phase sine wave curve, people can not be allowed to be connected with coal-winning machine running orbit.
As shown in fig. 7, the example of the position power scatter diagram of the present invention.3 physics are represented with coloured 2 dimension scatter diagrams
Relation between amount.Transverse axis represents the working face position residing for coal-winning machine, and unit is frame number, i.e., working face is continuously arranged from left to right
The numbering of the hydraulic support of row, support numbering and 0, from left to right incrementally represents, is also not excluded for some working faces at general 0 point
Base Serial Number be more than 0, or support numbering be arrangement of successively decreasing from left to right.Coal-winning machine is back and forth walked at working face two, and
It is not simply from left end to right end again from right end to left end, in the process of walking, sometimes because a variety of causes
Reversely walk one section, return original direction and move in (heavy duty is counter to lead, and cuts Triangle Coal, disorderly closedown etc.) original place.This figure
The longitudinal axis represent be direction of travel, and be alternately change, every a line of the longitudinal axis, be all multiple different colours horizontal row
The continuous dot of row is formed, and is represented running orbit of the coal-winning machine in this direct of travel, which frame which frame is run to from,
This line represents coal machine and travelled to the left, and next line just represents coal machine to right travel, and the terminal frame number of this line is certain and next line
Starting point frame number it is consistent.Said from the time, newest point appears in the most lastrow of the longitudinal axis, row more on the lower, and the time is more early.Dissipate
The color of point represents the 3rd physical quantity, coal acc power.There is a small figure beside master map, it is corresponding to designate different capacity value
Different colours.Color point in master map, then represent mean power when coal machine passes through the coal machine position range residing for the point and disappear
Consumption.
By this design, when what can be apparent from shows coal-winning machine and passes through same working face position each time, institute
The power of motor of consumption.User can both observe the power difference with working face diverse location in once walking, and can also observe
The power difference repeatedly walked when arriving same position.
In actual use, the maximum effect of this figure is to aid in the original temporal power curve None- identified of user's identification
Dependent failure.For example, the power consumption during the personnel's coal cutting of certain ore deposit in discovery figure near some position have than adjacent locations it is bright
Aobvious increase, and according to live industrial and mineral, the seam hardness near the position is consistent with periphery, is not substantially hardened, and at this
The walking gradient of suddenly change is also not present in working face, and in other words, the industrial and mineral condition and adjacent locations at this are completely the same.This
Kind situation indicates that the walking mechanism of coal-winning machine engages inconsistent feelings with supporting the transporter track of coal-winning machine to have in this place
Condition, or the situation of holding are present, it is necessary to check the transporter track at this.History curve is carefully seen again, finds this position
It is not fixed, has the skew of left and right, through being linked up with support operative employee, when being the discovery that push-and-pull support, curvature is excessive at this, makes
It is the rear distance for improving push-and-pull support caused by producing holding herein to be advanced into coal-winning machine, makes overall curvature change nearby at this
Slow, the high power consumption at this disappears.
A kind of coal-winning machine position load Three Dimensional Spectrum analysis provided above the embodiment of the present invention and its display methods
It is described in detail.Specific case used herein is set forth to the principle and embodiment of the embodiment of the present invention,
The explanation of above example is served only for helping the method and its core concept for understanding the embodiment of the present invention；Simultaneously for this area one
As technical staff, according to the embodiment of the present invention thought, there will be changes, comprehensive in specific embodiments and applications
Upper described, this specification content should not be construed as limiting the invention.
Claims (7)
1. a kind of coal winning machine position load three-dimensional spectrum shows analysis method, including step：
Step S101, obtain coal winning machine position, loaded-up condition data；
Step S102, coal winning machine position, load are shown with three-dimensional spectrum；
Step S103, load spectrum analysis are carried out to traction system of coal cutter；
Step S104, load spectrum analysis are carried out to coal-winning machine cut system；
Step S105, analysis result is applied in the automatic cut control of coal-winning machine,
Wherein, in step S102, using three-dimensional position, load Waterfall plot exhibition method, the coal-winning machine course of work is shown to user
In position load information and historical information：
For three-dimensional position, the graphics of load Waterfall plot, the wherein X of graphics, Y-coordinate are positional information, and Z coordinate is load
Information, Z axis value is motor current value of the coal-winning machine in correspondence position coordinate points in graphics,
Positional information includes：Coal-winning machine moves towards the position coordinates in direction, wherein coal-winning machine walking side in direction of travel and working face
To also referred to as tendency direction；
Load information includes：The left cutting motor electric current of coal-winning machine, right cutting motor electric current, left traction motor current and right traction electricity
Electromechanics stream,
Different loads value is made a distinction using chromatic graph matrix in graphics, specific method is：Z axis in graph region is obtained into sit
Scale value maximum and minimum value, the maximin is the amplitude span as chromatic graph matrix, by chromatic graph matrix span
Interior Z axis coordinate value is segmented value according to identical spacing, and each value section corresponds to different colors, by each seat in Z axis coordinate
The numerical value of punctuate is corresponding with the color in chromatic graph matrix so that the finally exhibition in the form of three-dimensional Waterfall plot of position load three-dimensional spectrum
Show,
In three-dimensional position, load Waterfall plot, in addition to functional unit：Pitch curve unit, rate curve unit, loading spectrum analysis
Unit and analytical conclusions unit,
Pitch curve, be coal-winning machine from working face head to tail in one coal cutting cycle time, the machine between road wheel and pin row
Tool pitch curve, i.e. in coal-winning machine walking process road wheel with the path of contact that pin row room machine coordinates engaging in direction of travel
Condition curve,
Rate curve, be coal-winning machine from working face head to tail in one coal cutting cycle time, coal-winning machine during diverse location
Hauling speed curve,
Pitch curve unit, realize that the pitch curve that coal-winning machine is currently moved towards to location point is loaded onto in three-dimensional spectrum；Speed is bent
Line unit, realize that the rate curve that coal-winning machine is currently moved towards to location point is loaded onto in three-dimensional spectrum,
Analytical conclusions unit, for the analytical conclusions of the coal-winning machine load condition in the present analysis cycle to be shown, it is used for
The limiting condition for reminding user's coal-winning machine to be likely to occur, and feasible suggestion and measure is provided,
Loading spectrum analytic unit, after selection determines, display interface will enter loading spectrum analytical model, be pressed by selection function
Button, display interface show corresponding to right cut, left cut, it is left traction and right trailer system loading spectrum analysis two dimensionization position
Load spectrogram and analysis result.
2. coal winning machine position load three-dimensional spectrum as claimed in claim 1 shows analysis method, it is characterised in that
The data message of the three-dimensional position, load Waterfall plot is showed by the form of X-Y scheme, i.e. two-dimensional position loading spectrum
Figure, various condition curves superposition displaying when being analyzed for loading spectrum, user can carry out more deep coal mining at the interface
The judgement of machine state analysis,
Specifically include：Coal-winning machine direction of travel (tendency direction) is used as transverse axis coordinate, moves towards direction as ordinate of orthogonal axes, coordinate points
It is worth for load amplitude, the size of coordinate points load value is represented by color, i.e. the deep point load of color is big, of light color, should
Point load is small,
The functional unit of two-dimensional position load spectrogram includes right cut, left cut, left traction and right traction analytic function unit, uses
In allowing user to select to need the target location analyzed,
Wherein, right cut unit is analyzed for right cut system load, and left cut unit is analyzed for left cut system load, left traction
Unit is left trailer system loading analysis, and right traction unit is analyzed for right trailer system loading spectrum,
After analysis position corresponding to coal-winning machine, the load spectrogram of correspondence position is showed in the form of two dimensionization, while will be current
The curve of load in analytical cycle is individually shown as figure in the top of two dimensionization load spectrogram, by the speed in the present analysis cycle
Curve, pitch curve are superimposed upon on the load spectrogram of the left and right trailer system after two dimensionization；By the speed in the present analysis cycle
On the load spectrogram of the left and right cut system of curve, operating mode tendency curve combining after two dimensionization, meanwhile, by relevant position
Load spectrum analysis result is illustrated in the interface dialog box of display interface.
3. coal winning machine position load three-dimensional spectrum as claimed in claim 2 shows analysis method, it is characterised in that in step
In S103, include for traction system of coal cutter position load spectrum analysis specific steps：
Step A1, to road wheel pitch curve, the separation normalization of hauling speed curve, the road wheel pitch curve, that is, mine
The path of contact that road wheel and pin row room machine coordinate in machine walking process in the position of direction of travel-engagement curve map, its
In
Position-the speed of service curve map of hauling speed curve, i.e. trailer system in analytical cycle；
The separation normalization, calculating is each normalized by each element at its in physical extent；
Normalization for load spectrogram, i.e., traction system of coal cutter position load spectrogram two dimensionization is shown, two dimensionization display
Figure afterwards still includes all information of three-dimensional spectrum, and wherein load value is changed to real load to the specified electricity of load motor by absolute value
The percentage of flow valuve, finally showed in a manner of hauled load curve,
Normalization for pitch curve, i.e., the pitch curve nondimensionalization processing in a walking cycle, and to amplitude mark
Youngestization, i.e., amplitude maximum in periodic regime as 1, other values for actual value and the value ratios,
Normalization for rate curve, i.e., it is in a walking cycle that the rate curve amplitude maximum specified to coal-winning machine is fast
Degree carries out standardization processing：The amplitude of present speed absolute value and the ratio of rated maximum, as current location velocity amplitude
Coordinate,
After road wheel pitch curve, hauling speed curve separation normalization operation, to the load spectrogram in a work period
Curve Flm(tn) with normalization after pitch curve Fgm(tn) it is compared processing in frequency domain；
Step A2, calculate the dominant frequency f of pitch curve after normalizationgAnd its 3,5,7 frequency multiplication fg3、fg5、fg7, after Fourier transformation
Load spectrogram in amplitude at the frequency multiplication of respective frequencies point fg and its 3,5,7 and the amplitude of matched curve response frequency point added
Power compares processing,
That is, then the amplitude for loading respective frequencies point in spectrogram is contrasted compared with the pitch curve corresponding points after weighting
Relatively result carries out inversefouriertransform, load spectrum curve in a certain knife coal cutting work period that the mechanical engagement that is eliminated influences
Flmc(tn),
The load spectrum curve F of engagement influence will be eliminatedlmc(tn) with the rate curve F after normalization in same periodvm(tn) exist
Processing is compared in time domain scale；
Step A3, by the load spectrum curve F after processinglmc(tn) with weighting after α Fvm(t) it is compared, the periodic regime
Interior operating mode trend linearity curve Foc(tn),
Time-Frequency Analysis further is carried out to the result after comparison, obtains the work of shearer hauled-part each coordinate points within the cycle
Make status information.
4. coal winning machine position load three-dimensional spectrum as claimed in claim 3 shows analysis method, it is characterised in that
Include in step S104 for coal-winning machine cut system position load spectrum analysis, specific steps：
Step B1, hauling speed curve and geology operating mode tendency, which are described, carries out composite normalization comparison, and wherein hauling speed is bent
Line is shearer hauled-part rate curve Fvm(tn),
Described geology operating mode tendency description, is operating mode trend linearity curve Foc(tn),
The composite normalization compares, that is, eliminates trend term, by operating mode trend linearity curve FocAnd rate curve F (tn)vm(tn), enter
After row combinatorial operation, one group of data and curves, i.e. trend term curve F are obtainedtr(tn)；
Step B2, spectrum curve F is loaded to cut of the coal-winning machine within the work period of the knife coal cutting of cut onelm(tn) eliminated
Trend term operates, and obtains sheer loads curve Fabs_lm(tn), complete once-combined normalization and compare operation；
Step B3, its determination methods, which is born for the cut in some duty cycle range, to be judged to cutting units load behavior
Carry spectrum curve Flm(tn) the sheer loads F obtained after elimination trend term, is carried out to itlm(tn) curve, frequency spectrum point is carried out to it
Analysis, with reference to cut system stressing conditions feature, obtain cutting units load behavior situation of the cut system in diverse location.
5. coal winning machine position load three-dimensional spectrum as claimed in claim 4 shows analysis method, it is characterised in that
In step S105, analysis result is applied in the control of automatic cut, and analysis result includes：Operating mode trend linearity curve Foc
(tn), tractive unit work state information data, cutting units sheer loads curve Fabs_lm(tn)；The ground obtained by spectrum analysis
Matter work information；Pass through the shearer hauled-part that Time-Frequency Analysis obtains and scrapper conveyor engagement information；Shearer hauled-part
And cutting units load current, hauling speed data.
6. coal winning machine position load three-dimensional spectrum as claimed in claim 1 shows analysis method, it is characterised in that using coal mining
Seat in the plane puts time plot and intuitively shows travel track of the coal-winning machine in working face, and the transverse axis of curve map is represented residing for coal-winning machine
Working face position, unit are framves number, i.e. the numbering of working face continuously arranged hydraulic support from left to right；The longitudinal axis is the time, when
Between incrementally represent from top to bottom, current time is located above the longitudinal axis, when being the earliest history that curve map can be shown at the point of the longitudinal axis 0
Between.
7. coal winning machine position load three-dimensional spectrum as claimed in claim 1 shows analysis method, it is characterised in that using coal mining
When seat in the plane puts power scatter diagram and shows coal-winning machine and pass through same working face position each time, the power of motor that is consumed,
Position power scatter diagram represents the relation between 3 physical quantitys with coloured 2 dimension scatter diagrams：
Transverse axis represents the working face position residing for coal-winning machine, and unit is frame number, i.e. working face continuously arranged hydraulic pressure from left to right
The numbering of support,
What the longitudinal axis represented is direction of travel, and is alternately to change, every a line of the longitudinal axis, is all the horizontal row of multiple different colours
The continuous dot of row is formed, and is represented running orbit of the coal-winning machine in this direct of travel, which frame which frame is run to from,
This line represents coal machine and travelled to the left, and next line just represents coal machine to right travel, and the terminal frame number of this line is certain and next line
Starting point frame number it is consistent, said from the time, newest point appears in the most lastrow of the longitudinal axis, and row more on the lower, the time is more early,
The color of scatterplot represents the 3rd physical quantity --- coal acc power, the color point in the power scatter diagram of position, then represents
Coal machine passes through the average power consumption during coal machine position range residing for the point.
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