CN113565787A - Mining explosion-proof and intrinsically safe dual-power dual-frequency-conversion speed regulation method - Google Patents

Mining explosion-proof and intrinsically safe dual-power dual-frequency-conversion speed regulation method Download PDF

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CN113565787A
CN113565787A CN202110863690.3A CN202110863690A CN113565787A CN 113565787 A CN113565787 A CN 113565787A CN 202110863690 A CN202110863690 A CN 202110863690A CN 113565787 A CN113565787 A CN 113565787A
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frequency
ventilator
value
dual
data
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CN113565787B (en
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张旭辉
郭文芳
万翔
师岗
卫青龙
薛旭升
李博
马骏
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Xi'an Reshipment Hancheng Coal Mine Machinery Co ltd
Xian University of Science and Technology
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Xi'an Reshipment Hancheng Coal Mine Machinery Co ltd
Xian University of Science and Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/004—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids by varying driving speed
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F1/00—Ventilation of mines or tunnels; Distribution of ventilating currents
    • E21F1/006—Ventilation at the working face of galleries or tunnels
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
    • H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/30—Systems integrating technologies related to power network operation and communication or information technologies for improving the carbon footprint of the management of residential or tertiary loads, i.e. smart grids as climate change mitigation technology in the buildings sector, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
    • Y04S20/20—End-user application control systems

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  • Life Sciences & Earth Sciences (AREA)
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Abstract

The invention discloses a mining explosion-proof and intrinsically safe dual-power-supply dual-frequency-conversion speed regulation method, which is characterized in that the rotating speed of a fan is automatically regulated according to the gas content when the environmental parameters of a roadway fed back by a sensor change through the frequency-conversion speed regulation method, the gas concentration of each part of the roadway is detected in real time through a gas sensor, when the gas exceeds a set value, the rotating speed of the fan is intelligently regulated, the output air quantity is changed, the phenomenon of gas emission by one-blow is completely avoided, and the energy-saving effect is obvious; through two sets of independent frequency converters, double-fan double-power-supply automatic switching is realized inside, and standby power supply switching can be automatically performed when a main power supply or a main frequency converter fails; one frequency converter can realize the control of two counter-rotating motors, and realize 'two-in four-out and two-motor hot standby'.

Description

Mining explosion-proof and intrinsically safe dual-power dual-frequency-conversion speed regulation method
Technical Field
The invention relates to the field of coal mine local ventilator control, in particular to a mining dual-power dual-frequency-conversion speed regulation device and a sensor data processing method.
Background
The underground local ventilator is one of the key devices for the safe production of the coal mine. The safety, reliability and automation degree of the method are directly related to the safe production of mines. Harmful gas such as gas under a coal mine and the like is verified to affect the production safety of the coal mine, and a local ventilator must be matched to ensure the safety of workers under the coal mine and the safe and efficient production of the coal mine. Due to the complex environment of coal machines such as underground moisture, a backup power supply must be provided for local fans to ensure normal ventilation of the working face in the event of a fault. The conventional dual-power variable-frequency speed regulation device generally adopted by the local ventilator for the coal mine has incomplete functions, insufficient system reliability and insufficient monitoring of the system on abnormal conditions, and the working face can not normally operate due to the fault of the existing fan frequency converter.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mining flameproof and intrinsically safe dual-power dual-frequency-conversion speed regulation method, when the gas exceeds a set value, the rotating speed of a fan is intelligently regulated, the output air quantity is changed, the phenomenon of gas emission by one-time blowing is completely avoided, and the energy-saving effect is obvious.
A mining explosion-proof and intrinsically safe dual-power dual-frequency-conversion speed regulation method is characterized in that a local fan point substation PLC (programmable logic controller) firstly preprocesses data monitored by various sensors on site by means of a box line graph method and a mean value substitution method; then, realizing the first-level optimal fusion of the data of the similar sensors by a distance adaptive weighted fusion algorithm; and finally, realizing an environment global fusion decision of each position sensor data by utilizing an improved D-S evidence theory algorithm: comprises closing a local ventilator, discharging gas, starting a main ventilator and supplying air according to requirements; and calculating the air quantity required by the current ventilator and the current motor running speed, adjusting the current ventilator running speed through an ant colony PID algorithm, adjusting the output frequency of the frequency converter through communication with the frequency converter, realizing adjustment of the motor output frequency, finally realizing control of the motor rotating speed of the ventilator, and realizing accurate frequency conversion decision of the underground coal mine ventilator control.
Further, the box plot method and the mean value substitution method specifically comprise the following steps:
processing the data of the gas concentration sensor, wherein the data comprises 6 data nodes which are sequentially the minimum value X from small to largeminLower quartile FLMedian Q2Maximum value XmaxUpper quartile FUAn abnormal value; fUAnd FLIs a distance of IQ＝FU-FLCalculating the truncation point on the data as FU+1.5IQThe lower truncation point is FL-1.5IQNamely, the boundary points of the upper edge and the lower edge of the abnormal value are obtained;
determining the minimum X of each sensorminLower quartile FLMedian Q2Maximum value XmaxUpper quartile FUThen, sequentially judging, judging to be an abnormal value when the gas concentration value or the wind pressure concentration value is larger than the upper and lower edge truncation points, and eliminating the abnormal value exceeding the boundary to obtain a primary stable gas and wind pressure sensor value; and after the abnormal values exceeding the boundary are removed, the abnormal values are filled according to the average value of the residual data, so that the problem of sample reduction is solved.
Further, a specific method for realizing the first-level optimal fusion of the data of the similar sensors by using a distance adaptive weighted fusion algorithm is as follows:
(1) calculating a variance weighted distance matrix D of measurement data of a certain type of gas sensor, and calculating content data x of the certain type of gas sensor based on DiAverage matrix of measured data of other similar gas sensors
Figure BDA0003186747540000031
(2) Based on the average matrix
Figure BDA0003186747540000032
Calculating the mutual average distance matrix among the measured data of all certain gas sensors and solving the normalized distance matrix
Figure BDA0003186747540000033
(3) Since the similarity is smaller as the distance is larger, the method is based on
Figure BDA0003186747540000034
Calculating a similarity matrix
Figure BDA0003186747540000035
And further obtain the measured data xiFor xjDegree of support of
Figure BDA0003186747540000036
(4) Then find xjTotal degree of support of
Figure BDA0003186747540000037
According to m (x)j) Calculating a fusion weight value w of each sensor dataij＝Si(xj)/m(xj) And finally, calculating a first-level optimal fusion value of the data acquired by the sensor according to each weight.
Further, the method for realizing the global fusion decision by using the double-frequency-conversion speed-regulation control decision model based on the improved D-S evidence theory algorithm comprises the following steps:
constructing a system decision identification framework on the basis of the primary optimal fusion value: a ═ turn off local fan }; b ═ row gas }; c ═ start-up main office fan }; d ═ supply on demand };
converting the first-level optimal fusion value into independent evidence, solving each evidence weight according to the obtained evidence weight matrix, further solving the weighted average evidence probability, and applying a basic synthesis rule to mωAnd (4) iterative combination is performed for n-1 times to achieve a final fusion result, so that a decision algorithm based on an improved evidence theory is realized, and a related instruction is executed.
Further, the ant colony PID algorithm comprises the following specific steps:
step 1: judging and comparing the value of the actual rotating speed v/v ' of the ventilator with the value of the required rotating speed v/v ' in real time, and if the value of v/v ' is more than or equal to 0.9 and less than or equal to 1, swinging the motor of the ventilator at full speed; if v/v' is less than 0.9, starting an ant colony PID control module, and increasing the rotating speed of the ventilator by adjusting the frequency of the frequency converter; if v/v' is greater than 1, starting an ant colony PID control module, adjusting the frequency of a frequency converter, and reducing the rotating speed of the ventilator; all control commands are given by a local fan point substation PLC controller and are transmitted to a frequency converter to control the rotating speed of a ventilator motor;
step 2: after the execution of one control command is finished, continuously judging and comparing the updated v/v ', if the v/v' is more than or equal to 0.9 and less than or equal to 1, operating the ventilator at the current rotating speed: if v/v ' <0.9 or v/v ' >1, continuing to circulate the control process in the step 1 until the v/v ' ≦ 1 of 0.9, and swinging the ventilator motor at full speed.
According to the invention, through a frequency conversion speed regulation method, when the environmental parameters of the roadway fed back by the sensor change, the rotating speed of the fan is automatically regulated according to the gas content, the gas concentration of each part of the roadway is detected in real time through the gas sensor, when the gas exceeds a set value, the rotating speed of the fan is intelligently regulated, the output air quantity is changed, the phenomenon of gas emission by one-time blowing is completely avoided, and the energy-saving effect is obvious; through two sets of independent frequency converters, double-fan double-power-supply automatic switching is realized inside, and standby power supply switching can be automatically performed when a main power supply or a main frequency converter fails; one frequency converter can realize the control of two counter-rotating motors, and realize 'two-in four-out and two-motor hot standby'.
Drawings
Fig. 1 is a diagram of a dual-power dual-frequency conversion switching device.
Fig. 2 is a schematic diagram of a roadway sensor arrangement.
Fig. 3 is a closed loop control system diagram.
Fig. 4 is a box plot rule.
FIG. 5 is a model building flow.
FIG. 6 is an ant colony PID control flow.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In a first aspect, the invention provides a mining explosion-proof and intrinsically safe dual-power dual-frequency-conversion speed regulation device, which comprises: the device comprises an industrial personal computer, two anti-explosion variable frequency ventilators, a local fan point substation PLC controller, two sets of independent power supplies, two independent frequency converters and various detection sensors (gas, air quantity, temperature and the like), wherein the device has manual and automatic working modes.
The industrial personal computer is sequentially connected with the local fan point substation PLC controller, two sets of independent power supplies, two independent frequency converters, a high-voltage switch, a double-power isolating switch and two anti-explosion frequency conversion ventilators, and sends a control instruction through the industrial personal computer to complete the I/O quantity control of the local fan point substation PLC controller;
the ventilator comprises a local main ventilator and an auxiliary ventilator, and one ventilator comprises two contra-rotating motors.
The device is internally provided with two independent frequency converters which are two-quadrant frequency converters, and one frequency converter controls two contra-rotating motors; two converters are respectively connected with a local main ventilator and a local auxiliary ventilator, the converters are communicated with a local fan point substation PLC through 485 communication interfaces, the output frequency of the converters is adjusted according to the gas concentration, and the output frequency of the motor is adjusted.
The local fan point substation PLC calculates the air volume required by the current ventilator according to real-time signals monitored by various sensors on site, including information such as gas, wind speed and temperature, calculates the current motor running speed, adjusts the motor output frequency through communicating with a frequency converter, and finally controls the rotating speed of the ventilator motor.
Each sensor transmits data to a PLC controller of a local fan point substation through 4-20MA current signals for displaying, storing, judging and alarming.
Two sets of power supplies are arranged in the device and respectively supply power for two sets of independent frequency converters independently, when the failure of the power supply 1 is detected, an audible and visual alarm gives an alarm, and meanwhile, the power supply 2 is started, so that the equipment can work stably under the abnormal condition;
the double-power-supply isolating switch inside realizes the automatic switching of double power supplies of the double fans, one frequency converter can realize the control of two counter-rotating motors, the two-in four-out and double-machine hot standby are realized, the reliability of the equipment can be effectively improved, and the continuous operation and the variable frequency speed regulation of the main ventilator and the auxiliary ventilator are ensured.
The specific power supply switching circuit is shown in fig. 1, wherein an incoming line of a power supply 1 enters a dual-power isolating switch through high-voltage switches Q11 and Q21, a power supply 2 enters the dual-power isolating switch through high-voltage switches Q12 and Q22, and then the local main ventilator is controlled through the dual-power isolating switch. The high-voltage switch Q11 of the incoming line of the power supply 1 and the high-voltage switch Q22 of the power supply 2 form a double-power-supply double-loop control frequency converter so as to control the local auxiliary ventilator.
During normal work, the power supply 1 and the power supply 2 are hot standby at the same time, and the dual-power isolating switch supplies power to the main ventilator and the auxiliary ventilator at the same time. When one of the two paths of faults is in power failure or is overhauled, the dual-power isolating switch is switched to the other power loop, and meanwhile, the frequency converter, the main ventilator and the auxiliary ventilator are supplied with power.
As shown in fig. 2, the sensor arrangement is specifically that a gas concentration sensor T1 is installed on the working face, and a gas concentration sensor T2 is installed at the air return; the gas concentration sensor T3 is arranged at the air return roadway, and the gas concentration sensor T4 is arranged at the fan inlet; the T5 sensor is an air flow sensor at the working face.
In a second aspect, the invention provides a mining explosion-proof and intrinsically safe dual-power dual-frequency-conversion speed regulation method, which is used for realizing local ventilation of a mine and supplying air as required.
As shown in fig. 5, the model construction process is as follows:
firstly, preprocessing data monitored by various sensors on site by a local fan point substation PLC controller by means of a box-line graph method and a mean value substitution method; then, realizing primary fusion of the same type detection data detected by the same type sensors arranged at the same position by a distance self-adaptive weighted fusion algorithm; and finally, realizing an environment global fusion decision of each position sensor data by utilizing an improved D-S evidence theory algorithm: comprises closing a local ventilator, discharging gas, starting a main ventilator and supplying air according to requirements; and calculating the air quantity required by the current ventilator and the current motor running speed, adjusting the current ventilator running speed through an ant colony PID algorithm, adjusting the output frequency of the frequency converter through communication with the frequency converter, realizing adjustment of the motor output frequency, finally realizing control of the motor rotating speed of the ventilator, and realizing accurate frequency conversion decision of the underground coal mine ventilator control.
The detailed procedure algorithm is as follows:
step 1: as shown in fig. 4, the box plot method and the mean value substitution method specifically include the following steps:
the data of the gas concentration sensor is processed, and a box plot method adopted by the system mainly comprises 6 data nodes which are sequentially minimum values X from small to largeminLower quartile FLMedian Q2Maximum value XmaxUpper quartile FUAbnormal values. FUAnd FLIs a distance of IQ＝FU-FLThen the truncation point on the data can be calculated to be FU+1.5IQThe lower truncation point is FL-1.5IQI.e. the upper and lower edge demarcation points of the outlier. The method has good effect on abnormal data processing by selecting the correct truncation point. Outlier criteria for the boxplot are typically taken to be greater than FU+1.5IQOr less than FL-1.5IQ。
Determining the minimum X of each sensorminLower quartile FLMedian Q2Maximum value XmaxUpper quartile FUThen, the judgment is carried out in sequence, and when the gas concentration value or the wind pressure concentration value is greater than the upper and lower edge cut-off points (namely F)U+1.5IQOr less than FL-1.5IQ) And judging the abnormal value, and removing the abnormal value exceeding the boundary to obtain a primary stable gas and wind pressure sensor value. After the abnormal sensor data are removed, the abnormal values are filled according to the average value of the residual data, and the problem of sample reduction is solved.
Step 2: taking T1 gas sensor data as an example, the distance adaptive weighting fusion algorithm is utilized to realize the first-level fusion of the sensor data of the same type of underground working condition.
The self-adaptive weighting fusion algorithm idea based on the distance is as follows:
(1) calculating a variance weighted distance matrix D of measurement data of a certain type of gas sensor, and calculating content data x of the certain type of gas sensor based on DiAverage matrix of measured data of other similar gas sensors
Figure BDA0003186747540000081
(2) Based on the average matrix
Figure BDA0003186747540000082
Calculating the mutual average distance matrix among the measured data of all certain gas sensors and solving the normalized distance matrix
Figure BDA0003186747540000083
(3) Since the similarity is smaller as the distance is larger, the method is based on
Figure BDA0003186747540000084
Calculating a similarity matrix
Figure BDA0003186747540000085
And further obtain the measured data xiFor xjDegree of support of
Figure BDA0003186747540000086
(4) Then find xjTotal degree of support of
Figure BDA0003186747540000087
According to m (x)j) Calculating a fusion weight value w of each sensor dataij＝Si(xj)/m(xj) And finally, calculating a primary optimal fusion value of the data acquired by each sensor according to each weight.
And step 3: and realizing a global fusion decision by using a double-frequency-conversion speed-regulation control decision model based on an improved D-S evidence theory algorithm.
On the basis of primary fusion, firstly, a system decision identification framework is constructed
A ═ closing local fan }
B ═ row gas }
C ═ starting main office fan }
D ═ supply of air on demand }
Converting the primary optimal fusion value into independent evidences A1, A2, A3 and A4, wherein the basic probability distribution function is shown in the following table:
TABLE 1 basic probability distribution function
Figure BDA0003186747540000091
Calculating each evidence weight according to the obtained evidence weight matrix, further calculating a weighted average evidence, and applying a basic synthesis rule to the evidence mωThe final fusion result was achieved by iterative combination n-1 times, as shown in table 2 below.
TABLE 2 Final fusion probability
Figure BDA0003186747540000092
Table 1 below under a single evidence proposition, a1 and a2 support decision C (start main office fan), A3 and a4 support decision B (exhaust gas), with conflicting conditions. However, under the improved evidence theory, the final algorithm decision, which can be obtained from table 2, is C, and the start master fan instruction is executed. And implementing a decision algorithm based on an improved evidence theory and executing a main office fan starting instruction.
And step 3: the local fan point substation PLC controller calculates the current required air volume according to real-time signals monitored by various sensors on site, including air pressure and air volume information, and calculates the current running speed of the ventilator, and the relationship between the rotating speed of the ventilator and the power supply frequency of the ventilator can be represented by the following formula (1):
n＝n0(1-s)＝60f/p(1-s) (1)
the change of the power supply frequency of the fan is easy to realize and can realize smooth change, so the speed of the fan is regulated by adopting a method of frequency converter control. The current running speed of the ventilator is adjusted through an ant colony PID algorithm, and the output frequency is adjusted through communication with the frequency converter.
And the ant colony PID is used for adjusting the output frequency of the frequency converter, the ant colony algorithm searches for the optimal PID controller parameter at each sampling moment according to the error between the input quantity expected motor speed and the output quantity actual ventilator rotating speed, and the frequency converter is controlled to perform self-adaptive adjustment on the fan running speed.
The ant colony PID algorithm comprises the following specific steps:
step 1: judging and comparing the value of the actual rotating speed v/v ' of the ventilator with the value of the required rotating speed v/v ' in real time, and if the value of v/v ' is more than or equal to 0.9 and less than or equal to 1, swinging the motor of the ventilator at full speed; if v/v' is less than 0.9, starting an ant colony PID control module, and increasing the rotating speed of the ventilator by adjusting the frequency of the frequency converter; and if v/v' is greater than 1, starting the ant colony PID control module, adjusting the frequency of the frequency converter and reducing the rotating speed of the ventilator. All control commands are given by the local fan point substation PLC controller and transmitted to the frequency converter to control the rotating speed of the ventilator motor.
Step 2: after the execution of the primary control instruction is finished, continuously judging and comparing the updated v/v ', if the v/v' is more than or equal to 0.9 and less than or equal to 1, operating the ventilator at the current rotating speed; if v/v ' <0.9 or v/v ' >1, continuing to circulate the control process in the step 1 until the v/v ' ≦ 1 of 0.9, and swinging the ventilator motor at full speed.
The mining flameproof and intrinsically safe dual-power-supply dual-frequency-conversion speed regulation device BPJ-110/660SF has a 485 communication interface and is communicated with a PLC, and functions of remote measurement, remote signaling, remote control, remote regulation and the like are provided for the outside. The product has manual and automatic working modes, and the two frequency converters are automatically switched, so that the reliability of the equipment is effectively improved, and the continuous operation of the main and auxiliary local fans is ensured.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are intended to be covered by the scope of the present invention.

Claims (5)

1. A mining explosion-proof and intrinsically safe dual-power dual-frequency-conversion speed regulation method is characterized by comprising the following steps: firstly, preprocessing data monitored by various sensors on site by a local fan point substation PLC controller by means of a box-line graph method and a mean value substitution method; then, realizing the first-level optimal fusion of the data of the similar sensors by a distance adaptive weighted fusion algorithm; and finally, realizing an environment global fusion decision of each position sensor data by utilizing an improved D-S evidence theory algorithm: comprises closing a local ventilator, discharging gas, starting a main ventilator and supplying air according to requirements; and calculating the air quantity required by the current ventilator and the current motor running speed, adjusting the current ventilator running speed through an ant colony PID algorithm, adjusting the output frequency of the frequency converter through communication with the frequency converter, realizing adjustment of the motor output frequency, finally realizing control of the motor rotating speed of the ventilator, and realizing accurate frequency conversion decision of the underground coal mine ventilator control.
2. The mining flameproof and intrinsically safe dual-power-supply dual-frequency-conversion speed regulation method according to claim 1, characterized in that the box diagram method and the mean value substitution method specifically comprise the following steps:
processing the data of the gas concentration sensor, wherein the data comprises 6 data nodes which are sequentially the minimum value X from small to largeminLower quartile FLMedian Q2Maximum value XmaxUpper quartile FUAn abnormal value; fUAnd FLBetweenA distance of IO＝FU-FLCalculating the truncation point on the data as FU+1.5IQThe lower truncation point is FL-1.5IQNamely, the boundary points of the upper edge and the lower edge of the abnormal value are obtained;
determining the minimum X of each sensorminLower quartile FLMedian Q2Maximum value XmaxUpper quartile FUThen, sequentially judging, judging to be an abnormal value when the gas concentration value or the wind pressure concentration value is larger than the upper and lower edge truncation points, and eliminating the abnormal value exceeding the boundary to obtain a primary stable gas and wind pressure sensor value; and after the abnormal values exceeding the boundary are removed, the abnormal values are filled according to the average value of the residual data, so that the problem of sample reduction is solved.
3. The mining flameproof and intrinsically safe dual-power-supply dual-frequency-conversion speed regulation method of claim 1, which is characterized in that a specific method for realizing the first-level optimal fusion of the data of the same type of sensors by a distance adaptive weighted fusion algorithm is as follows:
(1) calculating a variance weighted distance matrix D of measurement data of a certain type of gas sensor, and calculating content data x of the certain type of gas sensor based on DiAverage matrix of measured data of other similar gas sensors
Figure FDA0003186747530000021
(2) Based on the average matrix
Figure FDA0003186747530000022
Calculating the mutual average distance matrix among the measured data of all certain gas sensors and solving the normalized distance matrix
Figure FDA0003186747530000023
(3) Since the similarity is smaller as the distance is larger, the method is based on
Figure FDA0003186747530000024
Calculating a similarity matrix
Figure FDA0003186747530000025
And further obtain the measured data xiFor xjDegree of support of
Figure FDA0003186747530000026
(4) Then find xjTotal degree of support of
Figure FDA0003186747530000027
According to m (x)j) Calculating a fusion weight value w of each sensor dataij＝Si(xj)/m(xj) And finally, calculating a first-level optimal fusion value of the data acquired by the sensor according to each weight.
4. The mining flameproof and intrinsically safe dual-power dual-frequency-conversion speed regulation method of claim 1, which is characterized in that a method for realizing a global fusion decision by using a dual-frequency-conversion speed regulation control decision model based on an improved D-S evidence theory algorithm comprises the following steps:
constructing a system decision identification framework on the basis of the primary optimal fusion value: a ═ turn off local fan }; b ═ row gas }; c ═ start-up main office fan }; d ═ supply on demand };
converting the first-level optimal fusion value into independent evidence, solving each evidence weight according to the obtained evidence weight matrix, further solving the weighted average evidence probability, and applying a basic synthesis rule to mωAnd (4) iterative combination is performed for n-1 times to achieve a final fusion result, so that a decision algorithm based on an improved evidence theory is realized, and a related instruction is executed.
5. The mining flameproof and intrinsically safe dual-power-supply dual-frequency-conversion speed regulation method according to claim 1, characterized in that an ant colony PID algorithm comprises the following specific steps:
step 1: judging and comparing the value of the actual rotating speed v/v ' of the ventilator with the value of the required rotating speed v/v ' in real time, and if the value of v/v ' is more than or equal to 0.9 and less than or equal to 1, swinging the motor of the ventilator at full speed; if v/v' is less than 0.9, starting an ant colony PID control module, and increasing the rotating speed of the ventilator by adjusting the frequency of the frequency converter; if v/v' is greater than 1, starting an ant colony PID control module, adjusting the frequency of a frequency converter, and reducing the rotating speed of the ventilator; all control commands are given by a local fan point substation PLC controller and are transmitted to a frequency converter to control the rotating speed of a ventilator motor;
step 2: after the execution of one control command is finished, continuously judging and comparing the updated v/v ', if the v/v' is more than or equal to 0.9 and less than or equal to 1, operating the ventilator at the current rotating speed: if v/v ' <0.9 or v/v ' >1, continuing to circulate the control process in the step 1 until the v/v ' ≦ 1 of 0.9, and swinging the ventilator motor at full speed.
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