CN111897376A - Automatic speed regulation method for conveyor and coal mining machine without coal flow sensor - Google Patents
Automatic speed regulation method for conveyor and coal mining machine without coal flow sensor Download PDFInfo
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- CN111897376A CN111897376A CN202010525091.6A CN202010525091A CN111897376A CN 111897376 A CN111897376 A CN 111897376A CN 202010525091 A CN202010525091 A CN 202010525091A CN 111897376 A CN111897376 A CN 111897376A
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- 239000003245 coal Substances 0.000 title claims abstract description 120
- 238000005065 mining Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000013528 artificial neural network Methods 0.000 claims description 16
- 230000001276 controlling effect Effects 0.000 claims description 16
- 238000005520 cutting process Methods 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 239000000498 cooling water Substances 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 230000001050 lubricating effect Effects 0.000 claims description 4
- 238000005299 abrasion Methods 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- 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
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- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention relates to a conveyor without a coal flow sensor and an automatic speed regulation method of a coal mining machine, belonging to the field of coal mining automation. The conveyor without the coal flow sensor and the automatic speed regulation method of the coal mining machine can realize the automatic speed regulation of the coal mining machine and the conveyor without the coal flow sensor, and have low cost, high reliability and strong anti-interference capability. The frequency conversion and energy saving functions of the frequency converter can be exerted; the electric energy of the conveyer is saved, and the abrasion of the conveyer is reduced.
Description
Technical Field
The invention relates to a conveyor without a coal flow sensor and an automatic speed regulation method of a coal mining machine, belonging to the field of coal mining automation.
Background
At present, a high-power frequency converter is popularized and applied in a coal mine, a conveyor is widely driven by a variable frequency motor, and the speed regulation foundation is provided. The common speed regulation method of the conveyor needs to use a coal flow sensor to measure the coal flow on the conveyor, and then carry out closed-loop control to regulate the speed of the conveyor. However, the coal flow sensor has low reliability, is easy to interfere and has high cost, so that the coal flow sensor can not be popularized and applied all the time, the speed of a conveyor using a large number of frequency converters can not be regulated, and the frequency converters only play the role of soft starters, thereby causing equipment waste; meanwhile, because the speed cannot be adjusted, in order to ensure normal production, the conveyor always runs at the highest speed, so that the waste of electric energy and the excessive abrasion of equipment are caused. On the other hand, if the coal mining machine and the conveyor are not matched reasonably, the coal cutting and coal dropping are possibly too fast, so that the conveyor is overloaded, crushed and the like, and the production is seriously influenced. Therefore, a stable and reliable automatic speed regulation method for a conveyor and a coal mining machine is urgently needed for coal mines.
In view of the above-mentioned defects, the present designer is actively making research and innovation to create an automatic speed regulating method for a conveyor and a coal mining machine without a coal flow sensor, so that the method has industrial utilization value.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an automatic speed regulating method for a conveyor and a coal mining machine without a coal flow sensor. During the production of an underground coal mine, a coal mining machine cuts a coal bed, loads the coal into a conveyor, and transports the coal away by the conveyor. The shearer thus determines the amount of coal on the conveyor, and in general, the farther the shearer is from the nose, the greater the shearer cutting current, the faster the haulage speed, the more coal on the conveyor, and vice versa, the less coal. Based on the principle, the invention provides the following technical scheme:
the invention relates to an automatic speed regulating method for a conveyor and a coal mining machine without a coal flow sensor, which comprises the following specific speed regulating steps:
(1) collecting state data information of the coal mining machine;
(2) collecting state data information of a conveyor;
(3) according to the collected state data information, carrying out a neural network algorithm and establishing a model;
(4) and controlling the automatic speed regulation of the conveyor and the coal mining machine according to the model established by the neural network algorithm.
Further, the information of the state data of the coal mining machine collected in the step (1) includes speed information of the coal mining machine, position information of the coal mining machine, cutting current information of the coal mining machine, process step information of the coal mining machine, and cutting height information of the coal mining machine.
Further, the collected state data information of the conveyor in the step (2) includes speed information of the conveyor, current information of the conveyor, temperature information of the conveyor, cooling water flow information of the conveyor, and lubrication condition information of the conveyor.
Further, the specific steps of the neural network algorithm and establishing the model in the step (3) are as follows:
(1) establishing a three-layer neural network, wherein an input layer comprises 4 units, a hidden layer comprises 8 units, and an output layer comprises 2 units;
(2) controlling the speed regulation of the three machines by manpower, recording the speed information of the coal mining machine, the position information of the coal mining machine, the cutting current information of the coal mining machine, the working step information of the coal mining machine and the cutting height information of the coal mining machine in real time in the control process, and recording the speed information of a corresponding conveyor, the current information of the conveyor, the temperature information of the conveyor, the cooling water flow information of the conveyor and the lubricating condition information of the conveyor at the moment, and forming a historical data set by the recorded data;
(3) training a neural network by using a historical data set to obtain a model;
(4) and controlling the automatic speed regulation of the conveyor and the coal mining machine by using the trained model.
Further, the content of controlling the automatic speed regulation of the conveyor and the coal mining machine by using the trained model in the step (4) is as follows:
(1) estimating coal flow by using a neural network algorithm according to the collected state data information of the coal mining machine, and adjusting and controlling the speed of the conveyor to enable the coal flow on the conveyor to be in a set interval range;
(2) judging the load condition of the conveyor according to the acquired state data information of the conveyor, and controlling the deceleration of the coal mining machine when the load of the conveyor exceeds a set load interval to prevent the conveyor from being overloaded and dead-pressed;
(3) when the conveyor breaks down, the coal mining machine is controlled to stop immediately, so that coal piling is prevented;
(4) when the load of the conveyor is lower than the set load interval, the coal mining machine is controlled to accelerate, and the production efficiency is improved.
Furthermore, the method for estimating the coal flow can also be a fuzzy algorithm and an automatic separation algorithm.
By the scheme, the invention at least has the following advantages:
(1) the conveyor without the coal flow sensor and the automatic speed regulation method of the coal mining machine can realize the automatic speed regulation of the coal mining machine and the conveyor without the coal flow sensor, and have low cost, high reliability and strong anti-interference capability.
(2) The automatic speed regulating method of the conveyor and the coal mining machine without the coal flow sensor plays a role in frequency conversion and energy conservation of the frequency converter;
(3) the automatic speed regulating method of the conveyor and the coal mining machine without the coal flow sensor saves the electric energy of the conveyor and reduces the abrasion of the conveyor.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate a certain embodiment of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a functional block diagram of the present invention of an automatic speed adjustment method for a conveyor and shearer without a coal flow sensor;
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1, in a preferred embodiment of the present invention, an automatic speed regulation method for a conveyor and a coal mining machine without a coal flow sensor includes the following specific speed regulation steps:
(1) collecting state data information of the coal mining machine; the method comprises the steps of obtaining speed information of a coal mining machine, obtaining position information of the coal mining machine, obtaining cutting current information of the coal mining machine, obtaining work step information of the coal mining machine and obtaining cutting height information of the coal mining machine.
(2) Collecting state data information of a conveyor; the method comprises the steps of obtaining speed information of a conveyor, current information of the conveyor, temperature information of the conveyor, cooling water flow information of the conveyor and lubrication condition information of the conveyor.
(3) According to the collected state data information, a neural network algorithm is carried out and a model is established, and the method specifically comprises the following steps:
a. establishing a three-layer neural network, wherein an input layer comprises 4 units, a hidden layer comprises 8 units, and an output layer comprises 2 units;
b. controlling the speed regulation of the three machines by manpower, recording the speed information of the coal mining machine, the position information of the coal mining machine, the cutting current information of the coal mining machine, the working step information of the coal mining machine and the cutting height information of the coal mining machine in real time in the control process, and recording the speed information of a corresponding conveyor, the current information of the conveyor, the temperature information of the conveyor, the cooling water flow information of the conveyor and the lubricating condition information of the conveyor at the moment, and forming a historical data set by the recorded data;
c. training a neural network by using a historical data set to obtain a model;
d. the trained model is used for controlling the automatic speed regulation of the conveyor and the coal mining machine, and the method specifically comprises the following steps:
(1) estimating coal flow by using a neural network algorithm according to the collected state data information of the coal mining machine, and adjusting and controlling the speed of the conveyor to enable the coal flow on the conveyor to be in a set interval range;
(2) judging the load condition of the conveyor according to the acquired state data information of the conveyor, and controlling the deceleration of the coal mining machine when the load of the conveyor exceeds a set load interval to prevent the conveyor from being overloaded and dead-pressed;
(3) when the conveyor breaks down, the coal mining machine is controlled to stop immediately, so that coal piling is prevented;
(4) when the load of the conveyor is lower than the set load interval, the coal mining machine is controlled to accelerate, and the production efficiency is improved.
In addition, the method for estimating the coal flow can also be a fuzzy algorithm and an automatic separation algorithm.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. An automatic speed regulating method for a conveyor and a coal mining machine without a coal flow sensor is characterized by comprising the following specific speed regulating steps:
(1) collecting state data information of the coal mining machine;
(2) collecting state data information of a conveyor;
(3) according to the collected state data information, carrying out a neural network algorithm and establishing a model;
(4) and controlling the automatic speed regulation of the conveyor and the coal mining machine according to the model established by the neural network algorithm.
2. The method for automatically adjusting the speed of a conveyor and a shearer without a coal flow sensor according to claim 1, wherein the method comprises the following steps:
the state data information of the coal mining machine collected in the step (1) comprises speed information of the coal mining machine, position information of the coal mining machine, cutting current information of the coal mining machine, process step information of the coal mining machine and cutting height information of the coal mining machine.
3. The method for automatically adjusting the speed of a conveyor and a shearer without a coal flow sensor according to claim 1, wherein the method comprises the following steps:
and (3) acquiring the state data information of the conveyor in the step (2), wherein the state data information of the conveyor comprises speed information of the conveyor, current information of the conveyor, temperature information of the conveyor, cooling water flow information of the conveyor and lubricating condition information of the conveyor.
4. The method for automatically adjusting the speed of a conveyor and a shearer without a coal flow sensor according to claim 1, wherein the method comprises the following steps:
the neural network algorithm and the model building in the step (3) specifically comprise the following steps:
(1) establishing a three-layer neural network, wherein an input layer comprises 4 units, a hidden layer comprises 8 units, and an output layer comprises 2 units;
(2) controlling the speed regulation of the three machines by manpower, recording the speed information of the coal mining machine, the position information of the coal mining machine, the cutting current information of the coal mining machine, the working step information of the coal mining machine and the cutting height information of the coal mining machine in real time in the control process, and recording the speed information of a corresponding conveyor, the current information of the conveyor, the temperature information of the conveyor, the cooling water flow information of the conveyor and the lubricating condition information of the conveyor at the moment, and forming a historical data set by the recorded data;
(3) training a neural network by using a historical data set to obtain a model;
(4) and controlling the automatic speed regulation of the conveyor and the coal mining machine by using the trained model.
5. The method for automatically adjusting the speed of a conveyor and a shearer without a coal flow sensor according to claim 4, wherein the method comprises the following steps:
the content of controlling the automatic speed regulation of the conveyor and the coal mining machine by using the trained model in the step (4) is as follows:
(1) estimating coal flow by using a neural network algorithm according to the collected state data information of the coal mining machine, and adjusting and controlling the speed of the conveyor to enable the coal flow on the conveyor to be in a set interval range;
(2) judging the load condition of the conveyor according to the acquired state data information of the conveyor, and controlling the deceleration of the coal mining machine when the load of the conveyor exceeds a set load interval to prevent the conveyor from being overloaded and dead-pressed;
(3) when the conveyor breaks down, the coal mining machine is controlled to stop immediately, so that coal piling is prevented;
(4) when the load of the conveyor is lower than the set load interval, the coal mining machine is controlled to accelerate, and the production efficiency is improved.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010525091.6A CN111897376A (en) | 2020-06-10 | 2020-06-10 | Automatic speed regulation method for conveyor and coal mining machine without coal flow sensor |
| AU2021203532A AU2021203532A1 (en) | 2020-06-10 | 2021-05-31 | An automatic speed control method for armoured face conveyor and shearer without coal flow rate sensors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010525091.6A CN111897376A (en) | 2020-06-10 | 2020-06-10 | Automatic speed regulation method for conveyor and coal mining machine without coal flow sensor |
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| Publication Number | Publication Date |
|---|---|
| CN111897376A true CN111897376A (en) | 2020-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010525091.6A Pending CN111897376A (en) | 2020-06-10 | 2020-06-10 | Automatic speed regulation method for conveyor and coal mining machine without coal flow sensor |
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| Country | Link |
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| CN (1) | CN111897376A (en) |
| AU (1) | AU2021203532A1 (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8724580D0 (en) * | 1986-10-24 | 1987-11-25 | Stolar Inc | Remotely controlling coal cutting machine |
| CN102108862A (en) * | 2010-12-30 | 2011-06-29 | 三一重型装备有限公司 | Coal mining equipment and roller electrical speed regulating system |
| WO2014121645A1 (en) * | 2013-02-05 | 2014-08-14 | 中国矿业大学 | Apparatus and method for real-time coal surveying and identification for shearer |
| CN106406083A (en) * | 2015-07-28 | 2017-02-15 | 曲阜师范大学 | Fuzzy control coal dressing method |
| CN106842918A (en) * | 2016-12-23 | 2017-06-13 | 中煤张家口煤矿机械有限责任公司 | A kind of computational methods of the real-time coal amount of drag conveyor |
| CN110967974A (en) * | 2019-12-03 | 2020-04-07 | 西安科技大学 | Coal flow balance self-adaptive control method based on rough set |
| CN210343344U (en) * | 2019-08-30 | 2020-04-17 | 山西潞安环保能源开发股份有限公司常村煤矿 | Intelligent speed control device for load adjustment coal mining machine of mining conveyor |
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2020
- 2020-06-10 CN CN202010525091.6A patent/CN111897376A/en active Pending
-
2021
- 2021-05-31 AU AU2021203532A patent/AU2021203532A1/en not_active Abandoned
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8724580D0 (en) * | 1986-10-24 | 1987-11-25 | Stolar Inc | Remotely controlling coal cutting machine |
| CN102108862A (en) * | 2010-12-30 | 2011-06-29 | 三一重型装备有限公司 | Coal mining equipment and roller electrical speed regulating system |
| WO2014121645A1 (en) * | 2013-02-05 | 2014-08-14 | 中国矿业大学 | Apparatus and method for real-time coal surveying and identification for shearer |
| CN106406083A (en) * | 2015-07-28 | 2017-02-15 | 曲阜师范大学 | Fuzzy control coal dressing method |
| CN106842918A (en) * | 2016-12-23 | 2017-06-13 | 中煤张家口煤矿机械有限责任公司 | A kind of computational methods of the real-time coal amount of drag conveyor |
| CN210343344U (en) * | 2019-08-30 | 2020-04-17 | 山西潞安环保能源开发股份有限公司常村煤矿 | Intelligent speed control device for load adjustment coal mining machine of mining conveyor |
| CN110967974A (en) * | 2019-12-03 | 2020-04-07 | 西安科技大学 | Coal flow balance self-adaptive control method based on rough set |
Non-Patent Citations (3)
| Title |
|---|
| 丰岩: ""采煤机与刮板输送机协同速度控制过程分析"", 《自动化应用》 * |
| 刘小兵: ""采煤机与刮板输送机的协同调速控制策略的研究"", 《机械管理开发》 * |
| 王艳萍: ""刮板输送机—采煤机协同调速关键技术研究"", 《中国优秀硕士学位论文全文数据库》 * |
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| AU2021203532A1 (en) | 2022-01-06 |
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Application publication date: 20201106 |
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