CN111689170B - Scraper conveyor and self-adaptive speed regulation method thereof - Google Patents
Scraper conveyor and self-adaptive speed regulation method thereof Download PDFInfo
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- CN111689170B CN111689170B CN202010553995.XA CN202010553995A CN111689170B CN 111689170 B CN111689170 B CN 111689170B CN 202010553995 A CN202010553995 A CN 202010553995A CN 111689170 B CN111689170 B CN 111689170B
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- scraper conveyor
- speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
Abstract
The invention provides a scraper conveyor and a self-adaptive speed regulation method thereof, which are used for acquiring a real-time position value of the scraper conveyor when a coal mining machine runs; reading and recording an operation torque value of a frequency converter of the scraper conveyor, and obtaining a no-load torque value and a full-load torque value of the scraper conveyor through data analysis; simulating the current coal conveying amount of the scraper conveyor by the related operation of the torque, the speed and the position of the coal mining machine of the frequency converter; adjusting the given speed of the scraper conveyor according to the calculated coal conveying amount; the whole speed regulation process does not need any auxiliary sensor, and the reliability is higher.
Description
Technical Field
The invention belongs to the technical field of speed regulation control of scraper conveyors, and particularly relates to a scraper conveyor and a self-adaptive speed regulation method thereof.
Background
In the fully mechanized coal mining face of a coal mine, a scraper conveyor is the first transportation equipment for coal mined by a coal mining machine. The device is widely applied to coal mining, and is required to be used for each fully mechanized coal face.
The scraper conveyer generally adopts multi-drive, at least one drive motor is respectively arranged at the head and the tail of the scraper conveyer, the total power is different according to different working surface conditions, the small total power is 500kW, and the total power of the scraper conveyer with larger power reaches 4800 kW.
With the development of frequency conversion technology, most scraper conveyors adopt frequency conversion driving at present. The variable frequency drive prolongs the starting acceleration process, and eliminates the electric impact and the mechanical impact during starting. Have received many user approvals. Although the variable frequency driving of the scraper conveyor is popularized, the automatic speed regulation operation of the scraper conveyor is not a mature and reliable application scheme, and a coal cutter is arranged on the scraper conveyor to walk back and forth, so that a sensor is not convenient to be additionally arranged to detect the coal conveying amount.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a scraper conveyor self-adaptive speed regulation method based on the position of a coal mining machine and variable frequency load torque.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a self-adaptive speed regulation method of a scraper conveyor comprises the following steps:
acquiring the position of the coal mining machine on the scraper conveyor, and quantizing the position of the coal mining machine into a numerical value X according to the real-time position of the coal mining machine and the length of the scraper conveyor, wherein the X is larger than 0;
determining an idle torque value Tk and a full torque value Tm when the scraper conveyor runs through the running data of the scraper conveyor;
acquiring an actual load Ts of the scraper conveyor, and calculating a load quantitative value F = ((Ts-Tk)/X) × 100 of the scraper conveyor;
calculating an actual coal conveying quantity quantized value Y = (F x 100)/(Tm-Tk) according to the load quantized value F, the idle torque value Tk and the full torque value Tm of the scraper conveyor;
and regulating the speed of the scraper conveyor by taking the transport capacity quantized value Y as a speed regulation basis.
The self-adaptive speed regulation method of the scraper conveyor takes the quantized value Y of the transportation quantity as a speed regulation basis, and the speed regulation method of the scraper conveyor comprises the following steps:
dividing 100% of the actual coal transportation quantitative value Y into n segments;
determining a maximum speed Smax and a minimum speed Smin of the scraper conveyor, dividing the speed between Smax and Smin into n speeds, wherein the number of sections of Y corresponds to the number of speeds;
and regulating the speed according to the Y to obtain the section where the Y is positioned, and controlling the output speed of the scraper conveyor to be the corresponding speed of the section where the Y is positioned.
The method for self-adaptive speed regulation of the scraper conveyor takes the quantized value Y of the carrying capacity as a speed regulation basis, and the method for speed regulation of the scraper conveyor comprises the following steps:
the maximum speed Smax and the minimum speed Smin of the scraper conveyor are determined, and the set speed of the scraper conveyor is Sx = yx (Smax-Smin)/100 + Smin.
In the adaptive speed regulation method for the scraper conveyor, the position of the coal mining machine is quantized to a value X, wherein X = A + Ws X (100-A)/Wm, A is a set value, 0< A <100, Ws is an actual position value of the coal mining machine, and Wm is the length of the scraper conveyor.
The adaptive speed regulation method of the scraper conveyor, wherein Ws = Wm and X =100 when Ws is positioned at the tail; ws =0 and X = a when Ws is located at the head.
In the adaptive speed control method for the scraper conveyor, the idling torque value Tk and the full torque value Tm are torque values of average single-unit driving or total torque values.
In the adaptive speed regulation method of the scraper conveyor, when the scraper conveyor is in the speed increasing process and the Y reaches the lower limit value of a certain section, the output speed of the scraper conveyor is set as the corresponding speed of the section.
In the self-adaptive speed regulation method of the scraper conveyor, when the scraper conveyor is in the speed reduction process, after the Y reaches the lower limit value-M of a certain section, the next speed is switched.
A scraper conveyor comprises a frequency converter for driving the scraper conveyor, a controller and a coal mining machine positioned on the scraper conveyor, wherein the controller controls the output speed of the frequency converter according to the control method.
Compared with the prior art, the invention has the advantages and positive effects that: the method comprises the steps of obtaining a real-time position value of a scraper conveyor when a coal mining machine runs; reading and recording an operation torque value of a frequency converter of the scraper conveyor, and obtaining a no-load torque value and a full-load torque value of the scraper conveyor through data analysis; simulating the current coal conveying amount of the scraper conveyor by the related operation of the torque, the speed and the position of the coal mining machine of the frequency converter; adjusting the given speed of the scraper conveyor according to the calculated coal conveying amount; the whole speed regulation process does not need any auxiliary sensor, and the reliability is higher.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flowchart of a control method according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram of a control device according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
The variable frequency driving mode of the scraper conveyor mainly comprises a frequency converter, a variable frequency motor and a variable frequency integrated motor. The speed regulating method is suitable for the two variable frequency driving modes.
Example 1
As shown in fig. 1, the present embodiment proposes an adaptive speed regulation method for a scraper conveyor, which is specifically described as follows:
s1, determining the position of the coal mining machine:
and acquiring the real-time position of the coal mining machine on the scraper conveyor, and acquiring the length Wm of the scraper conveyor, wherein the length Wm of the scraper conveyor is a known value.
The position of the shearer is quantized to a value X between A-100, where X is greater than 0, based on the real-time position of the shearer and the length of the face conveyor.
Specifically, the method for quantizing the position of the shearer into a value X is that X = a + Ws × (100-a)/Wm, where a is a set value and 0< a < 100. And Ws is an actual position value of the coal mining machine and can be obtained through a positioning module of the coal mining machine or through communication of a third party. Wm is the scraper conveyor length.
Ws = Wm, X =100 when Ws is located at the tail; ws =0 and X = a when Ws is located at the head.
The significance of the value A is to eliminate the influence of the length of the coal mining machine, ensure that X is greater than 0 and can be used as a divisor in the subsequent steps.
S2, determination of the idling torque value Tk and the full torque value Tm:
the minimum value and the maximum value of the scraper conveyor during operation are determined by the operation data of the scraper conveyor, and respectively correspond to the no-load torque value Tk and the full-load torque value Tm.
The idling torque value Tk and the full torque value Tm may be the torque value of the average single drive or the total torque value, and do not affect the calculation result.
S3, calculating a load quantification value F of the scraper conveyor:
and acquiring the actual load Ts of the scraper conveyor, wherein the Ts can be directly acquired through a frequency converter. The load quantization value F = ((Ts-Tk)/X) × 100 of the scraper conveyor is calculated, taking into account the position factor of the shearer and the actual load Ts of the scraper conveyor.
Where Ts and Tk are both torque values of the average individual drive, or Ts and Tk are both total torque values.
S4, calculating the actual coal transportation quantity quantized value Y:
and calculating an actual coal conveying quantity quantized value Y = (F x 100)/(Tm-Tk) according to the load quantized value F, the no-load torque value Tk and the full-load torque value Tm after the position influence of the coal mining machine.
S5, based on Y, realizing the automatic speed regulation operation of the scraper conveyer:
the embodiment adopts a segmented speed regulation mode, and the speed regulation process comprises the following steps:
(1) dividing 100% of the actual coal transportation quantitative value Y into n segments; the 1 st segment is 100% - ((100% - (100/n)%), the 2 nd segment is ((100% - (100/n)%) - ((100% -2 × (100/n)%), and so on.
For example, when n =4, the first segment is 100% to 75%; the 2 nd subsection is 75% -50%; the 3 rd section is 50% -25%, and the fourth section is 25% -0.
Of course, each segment may not be equally divided. For example, the device can be divided into (0-20), (20-50), (50-80) and (80-100) four segments.
(2) The method comprises the steps of determining the maximum speed Smax and the minimum speed Smin output by a scraper conveyor frequency converter according to actual conditions on site, dividing the speed between Smax and Smin into n speeds, wherein the number of the Y sections corresponds to the number of the speeds. For example, the lower speed limit is 1000 and the upper limit is 1500; divided into four parts, then 1000, 1166, 1333, 1500, or 1000, 1200, 1300, 1500.
(3) And regulating the speed according to the Y to obtain the section where the Y is positioned, and controlling the output speed of the scraper conveyor to be the corresponding speed of the section where the Y is positioned.
When the speed of the scraper conveyor is increased and Y reaches the lower limit value of a certain section, the output speed of the scraper conveyor is set to be the corresponding speed of the section.
When the scraper conveyor is in the speed reduction process, Y reaches the lower limit value-M of a certain section, and then the next speed is switched. The present embodiment can prevent the fluctuation of the set speed due to the fluctuation of Y after a certain time delay.
Although the general trend of the scraper conveyor can be calculated during operation, the instantaneous torque during operation is constantly changed, the operation amount is directly used as negative feedback adjustment speed to realize stepless speed regulation, and the speed is constantly changed actually, so that the operation stability is poor. The embodiment adopts a segmented speed regulation method which is a reasonable speed regulation method, and the transport capacity Y corresponds to a certain fixed speed in one stage.
The embodiment can realize automatic speed regulation of the scraper conveyor, reduce the invalid electric energy loss of equipment and the loss of the equipment, and realize the energy-saving and consumption-reducing requirements of equipment operation; the ineffective wear of more than 20 percent can be reduced, the service life of the equipment is prolonged, and in addition, the consumption is reduced, and the use cost of the equipment is greatly reduced; the variable frequency speed regulation operation of the equipment can be really realized, and the popularization of variable frequency driving is facilitated.
The embodiment also provides a scraper conveyor, as shown in fig. 2, which comprises a frequency converter for driving the scraper conveyor, a controller and a coal mining machine positioned on the scraper conveyor, wherein the controller controls the output speed of the frequency converter according to the control method.
Example 2
The difference between this embodiment and embodiment 1 is that the embodiment is based on Y, and the embodiment is different from the manner of implementing automatic speed regulation operation of the scraper conveyor, and the embodiment is a linear speed regulation manner:
Y=（F*100）/（Tm-Tk），（0≤Y≤100）。
the maximum speed Smax and the minimum speed Smin of the scraper conveyor are determined, and the set speed of the scraper conveyor is Sx = Y × (Smax-Smin)/100 + Smin.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.
Claims (8)
1. A self-adaptive speed regulation method of a scraper conveyor is characterized by comprising the following steps:
acquiring the position of a coal mining machine on the scraper conveyor, and quantizing the position of the coal mining machine into a numerical value X according to the real-time position of the coal mining machine and the length of the scraper conveyor, wherein the X is larger than 0; the method for quantizing the position of the coal mining machine into a numerical value X is that X = A + Ws X (100-A)/Wm, wherein A is a set value, 0< A <100, Ws is an actual position value of the coal mining machine, and Wm is the length of a scraper conveyor;
determining an idle torque value Tk and a full torque value Tm when the scraper conveyor runs through the running data of the scraper conveyor;
acquiring an actual load Ts of the scraper conveyor, and calculating a load quantitative value F = ((Ts-Tk)/X) × 100 of the scraper conveyor;
calculating an actual transport quantity quantized value Y = (F × 100)/(Tm-Tk) from a load quantized value F, an idle torque value Tk, and a full torque value Tm of the scraper conveyor;
and regulating the speed of the scraper conveyor by taking the transport capacity quantized value Y as a speed regulation basis.
2. The self-adaptive speed regulation method of the scraper conveyor as claimed in claim 1, wherein the quantized value Y of the transportation quantity is taken as a speed regulation basis, and the speed regulation method of the scraper conveyor is as follows:
dividing 100% of the actual traffic quantized value Y into n segments;
determining a maximum speed Smax and a minimum speed Smin of the scraper conveyor, dividing the speed between Smax and Smin into n speeds, wherein the number of sections of Y corresponds to the number of speeds;
and regulating the speed according to the Y to obtain the section where the Y is positioned, and controlling the output speed of the scraper conveyor to be the corresponding speed of the section where the Y is positioned.
3. The self-adaptive speed regulation method of the scraper conveyor as claimed in claim 1, wherein the quantized value Y of the transportation quantity is taken as a speed regulation basis, and the speed regulation method of the scraper conveyor is as follows:
the maximum speed Smax and the minimum speed Smin of the scraper conveyor are determined, and the set speed of the scraper conveyor is Sx = yx (Smax-Smin)/100 + Smin.
4. The adaptive speed adjustment method for a scraper conveyor as claimed in claim 1, wherein Ws = Wm and X =100 when Ws is located at the tail; ws =0 and X = a when Ws is located at the head.
5. The adaptive speed adjustment method of a scraper conveyor as claimed in claim 1, characterized in that the no-load torque value Tk and the full-load torque value Tm are torque values of an average individual drive or total torque values.
6. The adaptive speed control method for a scraper conveyor as claimed in claim 2, characterized in that when the Y reaches a lower limit value of a certain section while the scraper conveyor is in the process of increasing speed, the output speed of the scraper conveyor is set to a corresponding speed of the section.
7. The adaptive speed regulation method of the scraper conveyor as claimed in claim 2, characterized in that when the scraper conveyor is in the speed reduction process, after Y reaches a lower limit value-M of a certain segment, the scraper conveyor is switched to the next speed.
8. A scraper conveyor, characterized by comprising a frequency converter for driving the scraper conveyor, a controller and a shearer located on the scraper conveyor, wherein the controller controls the output speed of the frequency converter according to the speed regulation method of any one of claims 1 to 7.
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| CN113620024B (en) * | 2021-06-21 | 2022-10-25 | 国网浙江省电力有限公司湖州供电公司 | Data-driven multi-drive conveyor torque control method and device |
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