CN114183158B - Cantilever development machine motor protection control system and method - Google Patents
Cantilever development machine motor protection control system and method Download PDFInfo
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- CN114183158B CN114183158B CN202111345167.8A CN202111345167A CN114183158B CN 114183158 B CN114183158 B CN 114183158B CN 202111345167 A CN202111345167 A CN 202111345167A CN 114183158 B CN114183158 B CN 114183158B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000011161 development Methods 0.000 title claims abstract description 4
- 239000000498 cooling water Substances 0.000 claims abstract description 124
- 230000005641 tunneling Effects 0.000 claims abstract description 27
- 239000010720 hydraulic oil Substances 0.000 claims description 50
- 238000001514 detection method Methods 0.000 claims description 48
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 239000010705 motor oil Substances 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 238000001816 cooling Methods 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
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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
- E21C35/04—Safety devices
- E21C35/043—Protection against overload during transfer of machines for slitting or completely freeing the mineral from the seam
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The application relates to a cantilever tunneling machine motor protection control system and method, comprising the steps of setting a maximum allowable value L of a cutting motor load rate in unit time max And judging the cutting motor load rate in unit time and the maximum allowable value L of the cutting motor load rate in unit time max Size of the space; setting the maximum allowable value S of cutting motor protection stop rate in unit time max If the cutting motor load rate in unit time is smaller than the maximum allowable value L of the cutting motor load rate in unit time max Judging the cutting motor protection stop rate and the maximum allowable value S of the cutting motor protection stop rate in unit time max Is of a size of (a) and (b). According to the application, through providing the concept of the maximum allowable value of the motor load rate in unit time and the maximum allowable value of the motor protection stop rate in unit working time, the protection problem of the cantilever development machine under the continuous heavy load working condition is solved, and meanwhile, the cooling water flow control is automatically adjusted according to the motor temperature value, so that the motor temperature rise speed is reduced.
Description
Technical Field
The application belongs to the field of electrical control, and particularly relates to a cantilever heading machine motor protection control system and method.
Background
The cantilever tunneling machine is multifunctional and complex electromechanical-hydraulic integrated tunneling equipment, is directly applied to section excavation of tunnels and coal roadways, has complex and changeable geological conditions in front of tunneling surfaces, and has a large rock hardness fluctuation range. The cutting objects with different hardness determine the operation load of the cantilever tunneling machine, especially under the geological condition of soft rock, the daily footage of the tunneling machine is large, the continuous working time is long, and high requirements are put on the reliability of equipment heavy parts such as a cutting motor and a hydraulic system. Common major faults include burning of a cutting motor, overtemperature of a hydraulic system and the like, and the faults belong to shutdown faults, so that the construction efficiency and the safety construction are greatly influenced.
In operation, the overcurrent and overtemperature protection shutdown times of the cutting motor are directly reflected by the equipment load, and the main reasons of the faults are improper operations such as continuous operation of a large load, insufficient flow of cooling water of the motor, large feed of an operator, high swinging speed of a cutting arm and the like.
The existing cantilever tunneling machine control system mainly sets electrical system protection according to MT/T971 and other standards, including overload, overcurrent and phase failure of a cutting motor loop, oil temperature protection of a hydraulic system and the like. The method can meet the basic working condition requirements, but is not suitable for the load variation, especially continuous tunneling under the soft soil working condition.
Disclosure of Invention
The application provides a cantilever tunneling machine motor protection control system and a cantilever tunneling machine motor protection control method, which solve the protection problem of the cantilever tunneling machine under the continuous heavy-load working condition by providing the concept of the maximum allowable value of the motor load rate in unit time and the maximum allowable value of the motor protection stop rate in unit working time, and simultaneously automatically adjust the cooling water flow control according to the motor temperature value, thereby reducing the motor temperature rise speed.
In order to achieve the above object, a first aspect of the present application proposes a protection control method of a cantilever excavator motor, including;
step 1: setting a maximum allowable value L of the cutting motor load rate in unit time max And judging the cutting motor load rate in unit time and the maximum allowable value L of the cutting motor load rate in unit time max Size of the space;
if the cutting motor load rate in unit time is greater than the maximum allowable value L of the cutting motor load rate in unit time max Stopping the cantilever tunneling machine;
step 2: setting the maximum allowable value S of cutting motor protection stop rate in unit time max If the cutting motor load rate in unit time is smaller than the maximum allowable value L of the cutting motor load rate in unit time max Judging the cutting motor protection stop rate and the maximum allowable value S of the cutting motor protection stop rate in unit time max Is of a size of (2);
if the protection stop rate of the cutting motor in unit time is greater than the maximum allowable value S of the protection stop rate of the cutting motor max Stopping the cantilever tunneling machine;
step 3: respectively setting minimum allowable value F of cooling water flow of cutting motor min Minimum temperature value C_Temp for cutting motor start lim And cutting motor start hydraulic oil temperature minimum allowable O_Temp lim And sequentially judging whether the cooling water flow detection value meets the minimum allowable value F of the cooling water flow of the cutting motor min Whether the temperature detection value of the cutting motor is smaller than the minimum starting temperature value C_Temp of the cutting motor lim Whether the detection value of the cutting motor oil tank hydraulic oil temperature meets the minimum allowable value O_Temp of the cutting motor starting hydraulic oil temperature or not lim ；
If one of the two is judged to be unsatisfied, the cutting motor is stopped;
step 4: the cutting motor carries the operation, sets up the cutting motor early warning temperature value C_Temp warn And judging whether the current cutting motor temperature detection value is smaller than the cutting motor early warning temperature value C_Temp warn If the motor is smaller than the cut motor, the motor continuously works;
step 5:setting the maximum output value P of power of a proportional electromagnetic valve of a cooling water loop of a cantilever heading machine max When the temperature detection value of the cutting motor is larger than the early warning temperature value C_Temp of the cutting motor warn Judging whether the power of the proportional electromagnetic valve of the cooling water loop of the current cantilever excavator is larger than the maximum output value P of the power of the proportional electromagnetic valve of the cooling water loop of the cantilever excavator max If the power of the cooling water loop proportional solenoid valve is smaller than the power of the cooling water loop proportional solenoid valve, the power is adjusted;
step 6: respectively setting a maximum temperature threshold C_Temp of a cutting motor max Maximum threshold value W_Temp of outlet water temperature of cooling water loop max Cutting motor hydraulic oil temperature maximum threshold o_temp max ；
Judging if the power of the current cantilever excavator cooling water loop proportional electromagnetic valve is larger than the maximum output value P of the power of the cantilever excavator cooling water loop proportional electromagnetic valve max Respectively judging the current cutting motor temperature detection value and the cutting motor maximum temperature threshold C_Temp max Is equal to or greater than the current cooling water circuit outlet water temperature detection value and the maximum cooling water circuit outlet water temperature threshold W_Temp max Is equal to or greater than a current cutting motor hydraulic oil temperature detection value and a cutting motor hydraulic oil temperature maximum threshold value O_Temp max If one of the values is larger than the preset value, the cutting motor is stopped.
Further, the maximum allowable value L of the motor load rate in unit time max As shown in formula (1):
wherein T is load For the load duration of the motor, T work The working time of the motor is the working time of the motor.
Further, the motor protection shutdown rate maximum allowable value S max As shown in formula (2):
wherein S is count The number of motor protection shutdowns during the operating time.
Further, the step 2 further includes;
step 202: setting a shutdown protection time limit T limit When the motor protection stop rate in unit time is greater than the maximum allowable value S of the motor protection stop rate max When the motor of the cantilever heading machine is stopped, the motor is stopped for protection time limit T limit After the time is finished, the starting function of the cantilever excavator motor is reset.
Further, the cutting motor load calculation is expressed in terms of 80% of the rated current of the motor.
Further, the cutting motor protection shutdown rate is calculated according to 1.2 times of overload protection and overcurrent protection times or 1.5 times of overload protection and overcurrent protection times.
Further, an early warning module is arranged between the steps 1-6 and is used for sending out an early warning signal before the cutting motor is stopped, the early warning module is provided with early warning delay, and the early warning delay carries out a delay instruction when the cutting motor is stopped in the step 3 and the step 6.
Corresponding to the above method, a second aspect of the present application provides a protection control system for a cantilever excavator motor, including a main controller, where the main controller is configured to set a maximum allowable value L of a cutting motor load rate in a unit time max And judging the cutting motor load rate in unit time and the maximum allowable value L of the cutting motor load rate in unit time max Size of the space; if the cutting motor load rate in unit time is greater than the maximum allowable value L of the cutting motor load rate in unit time max Stopping the cantilever tunneling machine;
setting the maximum allowable value S of cutting motor protection stop rate in unit time max If the cutting motor load rate in unit time is smaller than the maximum allowable value L of the cutting motor load rate in unit time max Judging the cutting motor protection stop rate and the maximum allowable value S of the cutting motor protection stop rate in unit time max Is of a size of (2);
if the protection stop rate of the cutting motor in unit time is greater than the protection stop rate of the cutting motorMaximum allowable value S max Stopping the cantilever tunneling machine;
respectively setting minimum allowable value F of cooling water flow of cutting motor min Minimum temperature value C_Temp for cutting motor start lim And cutting motor start hydraulic oil temperature minimum allowable O_Temp lim And sequentially judging whether the cooling water flow detection value meets the minimum allowable value F of the cooling water flow of the cutting motor min Whether the temperature detection value of the cutting motor is smaller than the minimum starting temperature value C_Temp of the cutting motor lim Whether the detection value of the cutting motor oil tank hydraulic oil temperature meets the minimum allowable value O_Temp of the cutting motor starting hydraulic oil temperature or not lim ；
If one of the two is judged to be unsatisfied, the cutting motor is stopped;
setting a cutting motor early warning temperature value C_Temp warn And judging whether the current cutting motor temperature detection value is smaller than the cutting motor early warning temperature value C_Temp warn If the motor is smaller than the cut motor, the motor continuously works;
setting the maximum output value P of power of a proportional electromagnetic valve of a cooling water loop of a cantilever heading machine max When the temperature detection value of the cutting motor is larger than the early warning temperature value C_Temp of the cutting motor warn Judging whether the power of the proportional electromagnetic valve of the cooling water loop of the current cantilever excavator is larger than the maximum output value P of the power of the proportional electromagnetic valve of the cooling water loop of the cantilever excavator max If the power of the cooling water loop proportional solenoid valve is smaller than the power of the cooling water loop proportional solenoid valve, the power is adjusted;
respectively setting a maximum temperature threshold C_Temp of a cutting motor max Maximum threshold value W_Temp of outlet water temperature of cooling water loop max Cutting motor hydraulic oil temperature maximum threshold o_temp max ；
Judging if the power of the current cantilever excavator cooling water loop proportional electromagnetic valve is larger than the maximum output value P of the power of the cantilever excavator cooling water loop proportional electromagnetic valve max Respectively judging the current cutting motor temperature detection value and the cutting motor maximum temperature threshold C_Temp max Is equal to or greater than the current cooling water circuit outlet water temperature detection value and the maximum cooling water circuit outlet water temperature threshold W_Temp max Is of the size of (a)Current cutting motor hydraulic oil temperature detection value and cutting motor hydraulic oil temperature maximum threshold o_temp max If one of the values is larger than the preset value, the cutting motor is stopped.
Further, the main controller is connected with a hydraulic oil temperature sensor, a cutting motor cooling water temperature sensor and a cooling water flow sensor, and the hydraulic oil temperature sensor is used for detecting the hydraulic oil temperature of an oil tank of the cutting motor;
the cutting motor temperature sensor is used for detecting the temperature of the cutting motor;
the cutting motor cooling water temperature sensor is used for detecting the cooling water temperature of a cooling water loop;
the cooling water flow sensor is used for detecting cooling water flow of the cooling water loop;
the hydraulic oil temperature sensor, the cutting motor cooling water temperature sensor and the cooling water flow sensor are connected with an ADC port of a main controller, the main controller comprises one or more combinations of a PLC (programmable logic controller) and a MUC (multiple user interface) chip, the main controller is provided with an upper computer and a display module, a communication module is arranged between the main controller and the upper computer and between the main controller and the display module, and the communication module comprises one or more combinations of a CAN (controller area network) bus and a 485 bus network line;
the main controller is provided with an alarm module, the alarm module is used for sending out alarm signals, and the main controller is connected with a cooling water proportional electromagnetic valve.
Through the technical scheme, the application has the beneficial effects that:
1. the method of the application partially provides the concept of the maximum allowable value of the load rate of the cutting motor in unit time and the maximum allowable value of the protection stop rate of the cutting motor in unit working time, and solves the protection problem of the cantilever heading machine under the continuous heavy load working condition.
2. The method automatically adjusts the cooling water flow control according to the temperature value of the cutting motor, and dynamically reduces the temperature rise speed of the cutting motor in real time.
3. According to the application, the protection stop signals of the cutting motor are classified, and after a part of alarm stops for a certain early warning time, the alarm is performed again for stop protection, so that the working continuity of the equipment is improved.
Drawings
FIG. 1 is a flow chart of steps of a method for protecting and controlling a cutting motor of a cantilever heading machine;
FIG. 2 is an electrical schematic diagram of a protection and control system for a cutting motor of a boom-entry machine according to the present application.
Reference numerals: the intelligent cutting machine is characterized in that the intelligent cutting machine is composed of a main controller 1, a hydraulic oil temperature sensor 2, a cutting motor temperature sensor 3, a cutting motor cooling water temperature sensor 4, a cooling water flow sensor 5, a communication module 6, an alarm module 7 and a cooling water proportional electromagnetic valve 8.
Detailed Description
The application is further described with reference to the drawings and detailed description which follow:
example 1
As shown in fig. 1, a first aspect of the present application proposes a protection control method for a cantilever excavator, including;
step 1: setting a maximum allowable value L of the cutting motor load rate in unit time max And judging the cutting motor load rate in unit time and the maximum allowable value L of the cutting motor load rate in unit time max Size of the space;
if the cutting motor load rate in unit time is greater than the maximum allowable value L of the cutting motor load rate in unit time max Stopping the cantilever tunneling machine;
step 2: setting the maximum allowable value S of cutting motor protection stop rate in unit time max If the cutting motor load rate in unit time is smaller than the maximum allowable value L of the cutting motor load rate in unit time max Judging the cutting motor protection stop rate and the maximum allowable value S of the cutting motor protection stop rate in unit time max Is of a size of (2);
if the protection stop rate of the cutting motor in unit time is greater than the maximum allowable value S of the protection stop rate of the cutting motor max Stopping the cantilever tunneling machine;
step 3: respectively setting minimum allowable value F of cooling water flow of cutting motor min Minimum temperature value C_Temp for cutting motor start lim And cutting motor start hydraulic oil temperature minimum allowable O_Temp lim And sequentially judging whether the cooling water flow detection value meets the minimum allowable value F of the cooling water flow of the cutting motor min Whether the temperature detection value of the cutting motor is smaller than the minimum starting temperature value C_Temp of the cutting motor lim Whether the detection value of the cutting motor oil tank hydraulic oil temperature meets the minimum allowable value O_Temp of the cutting motor starting hydraulic oil temperature or not lim ；
If one of the two is judged to be unsatisfied, the cutting motor is stopped;
step 4: the cutting motor carries the operation, sets up the cutting motor early warning temperature value C_Temp warn And judging whether the current cutting motor temperature detection value is smaller than the cutting motor early warning temperature value C_Temp warn If the motor is smaller than the cut motor, the motor continuously works;
step 5: setting the maximum output value P of power of a proportional electromagnetic valve of a cooling water loop of a cantilever heading machine max When the temperature detection value of the cutting motor is larger than the early warning temperature value C_Temp of the cutting motor warn Judging whether the power of the proportional electromagnetic valve of the cooling water loop of the current cantilever excavator is larger than the maximum output value P of the power of the proportional electromagnetic valve of the cooling water loop of the cantilever excavator max If the power of the cooling water loop proportional solenoid valve is smaller than the power of the cooling water loop proportional solenoid valve, the power is adjusted;
step 6: respectively setting a maximum temperature threshold C_Temp of a cutting motor max Maximum threshold value W_Temp of outlet water temperature of cooling water loop max Cutting motor hydraulic oil temperature maximum threshold o_temp max ；
Judging if the power of the current cantilever excavator cooling water loop proportional electromagnetic valve is larger than the maximum output value P of the power of the cantilever excavator cooling water loop proportional electromagnetic valve max Respectively judging the current cutting motor temperature detection value and the cutting motor maximum temperature threshold C_Temp max Is equal to or greater than the current cooling water circuit outlet water temperature detection value and the maximum cooling water circuit outlet water temperature threshold W_Temp max Is equal to or greater than a current cutting motor hydraulic oil temperature detection value and a cutting motor hydraulic oil temperature maximum threshold value O_Temp max If one of the values is larger than the preset value, the cutting motor is stopped.
As an implementation manner, the maximum allowable value L of the motor load rate in unit time max As shown in formula (1):
wherein T is load For the load duration of the motor, T work The working time of the motor is the working time of the motor.
As an embodiment, the motor protection stop probability maximum allowable value S max As shown in formula (2):
wherein S is count The number of motor protection shutdowns during the operating time.
Further, the step 2 further includes;
step 202: setting a shutdown protection time limit T limit When the motor protection stop rate in unit time is greater than the maximum allowable value S of the motor protection stop rate max When the motor of the cantilever heading machine is stopped, the motor is stopped for protection time limit T limit After the time is finished, the starting function of the cantilever excavator motor is reset.
As an embodiment, the cutting motor load calculation is expressed in terms of 80% of the rated current of the motor.
As an implementation manner, the cutting motor protection shutdown rate is calculated according to 1.2 times of statistics of overload protection and overcurrent protection times or 1.5 times of statistics of overload protection and overcurrent protection times.
As an implementation manner, an early warning module is arranged between the steps 1 to 6 and is used for sending out an early warning signal before the cutting motor is stopped, the early warning module is provided with early warning delay, and the early warning delay carries out a delay instruction when the cutting motor is stopped in the step 3 and the step 6.
During operation 1. Continuous operation under heavy load: the application provides a method for setting the maximum allowable value L of the load rate of the cutting motor in unit time max The value represents the load duty ratio of the motor in unit time, and the definition of the load can be set according to the cutting hardness of the cantilever heading machine and is generally proportional to the cutting hardness, so that the safe operation of the cutting motor is ensured.
2. The motor cooling water flow is insufficient during operation: the application additionally comprises cooling water flow monitoring, automatic flow regulation and cooling water outlet temperature limitation, and the method ensures that the cooling water loop of the cutting motor works normally and stably, and the cutting motor can effectively end the working state when abnormal.
3. When the problems of large operation feed amount and high swinging speed of the cutting arm occur (namely, abnormal operation of equipment operators): frequent protection shutdown and restarting of the cantilever heading machine can be caused, and the impact current of a general high-capacity alternating current motor is larger when the high-capacity alternating current motor is frequently started, so that serious influence is caused on the temperature rise and mechanical impact of the motor. The application provides the maximum allowable value S of the protection stop rate of the cutting motor in unit time max Therefore, the abnormal operation is screened, the restarting limitation is carried out on the abnormal operation, and the artificial damage of the cutting motor is avoided.
4. In order to avoid the problem that the working efficiency of the equipment is affected when the cutting motor is protected by using the steps 1-6, the method delays the stopping operation of the temperature and flow early warning, reduces the stopping times and prompts the equipment operators in time to improve the operation method, thereby improving the working continuity of the equipment.
5. The application adopts a negative feedback control method to reach the early warning temperature C_Temp when the temperature of the cutting motor reaches the early warning temperature C_Temp warn And during the process, the opening of the proportional electromagnetic valve of the cooling water loop is automatically adjusted, so that the cooling efficiency is effectively improved, and the temperature rise speed of the motor is reduced.
Example 2
Based on the above embodiment, a second aspect of the present application proposes a protection control system for a cantilever excavator motor, as shown in fig. 2:
comprises a main controller 1, wherein the main controller 1 is used for setting cutting power in unit timeMaximum allowable value L of machine load rate max And judging the cutting motor load rate in unit time and the maximum allowable value L of the cutting motor load rate in unit time max Size of the space; if the cutting motor load rate in unit time is greater than the maximum allowable value L of the cutting motor load rate in unit time max Stopping the cantilever tunneling machine;
setting the maximum allowable value S of cutting motor protection stop rate in unit time max If the cutting motor load rate in unit time is smaller than the maximum allowable value L of the cutting motor load rate in unit time max Judging the cutting motor protection stop rate and the maximum allowable value S of the cutting motor protection stop rate in unit time max Is of a size of (2);
if the protection stop rate of the cutting motor in unit time is greater than the maximum allowable value S of the protection stop rate of the cutting motor max Stopping the cantilever tunneling machine;
respectively setting minimum allowable value F of cooling water flow of cutting motor min Minimum temperature value C_Temp for cutting motor start lim And cutting motor start hydraulic oil temperature minimum allowable O_Temp lim And sequentially judging whether the cooling water flow detection value meets the minimum allowable value F of the cooling water flow of the cutting motor min Whether the temperature detection value of the cutting motor is smaller than the minimum starting temperature value C_Temp of the cutting motor lim Whether the detection value of the cutting motor oil tank hydraulic oil temperature meets the minimum allowable value O_Temp of the cutting motor starting hydraulic oil temperature or not lim ；
If one of the two is judged to be unsatisfied, the cutting motor is stopped;
setting a cutting motor early warning temperature value C_Temp warn And judging whether the current cutting motor temperature detection value is smaller than the cutting motor early warning temperature value C_Temp warn If the motor is smaller than the cut motor, the motor continuously works;
setting the maximum output value P of power of a proportional electromagnetic valve of a cooling water loop of a cantilever heading machine max When the temperature detection value of the cutting motor is larger than the early warning temperature value C_Temp of the cutting motor warn Judging whether the power of the proportional electromagnetic valve of the cooling water loop of the current cantilever heading machine is larger than that of the cantileverMaximum output value P of power of proportional electromagnetic valve of cooling water loop of arm heading machine max If the power of the cooling water loop proportional solenoid valve is smaller than the power of the cooling water loop proportional solenoid valve, the power is adjusted;
respectively setting a maximum temperature threshold C_Temp of a cutting motor max Maximum threshold value W_Temp of outlet water temperature of cooling water loop max Cutting motor hydraulic oil temperature maximum threshold o_temp max ；
Judging if the power of the current cantilever excavator cooling water loop proportional electromagnetic valve is larger than the maximum output value P of the power of the cantilever excavator cooling water loop proportional electromagnetic valve max Respectively judging the current cutting motor temperature detection value and the cutting motor maximum temperature threshold C_Temp max Is equal to or greater than the current cooling water circuit outlet water temperature detection value and the maximum cooling water circuit outlet water temperature threshold W_Temp max Is equal to or greater than a current cutting motor hydraulic oil temperature detection value and a cutting motor hydraulic oil temperature maximum threshold value O_Temp max If one of the values is larger than the preset value, the cutting motor is stopped.
As an implementation manner, the main controller 1 is connected with a hydraulic oil temperature sensor 2, a cutting motor temperature sensor 3, a cutting motor cooling water temperature sensor 4 and a cooling water flow sensor 5, wherein the hydraulic oil temperature sensor 2 is used for detecting the hydraulic oil temperature of a cutting motor oil tank;
the cutting motor temperature sensor 3 is used for detecting the cutting motor temperature;
the cutting motor cooling water temperature sensor 4 is used for detecting the cooling water temperature of a cooling water loop;
the cooling water flow sensor 5 is used for detecting cooling water flow of the cooling water loop;
the hydraulic oil temperature sensor 2, the cutting motor temperature sensor 3, the cutting motor cooling water temperature sensor 4 and the cooling water flow sensor 5 are connected with an ADC port of the main controller 1, the main controller 1 comprises one or more combinations of a PLC and a MUC chip, the main controller 1 is provided with an upper computer and a display module, a communication module 6 is arranged between the main controller 1 and the upper computer and the display module, and the communication module 6 comprises one or more combinations of a CAN bus and a 485 bus network line;
the main controller 1 is provided with an alarm module 7, the alarm module 7 is used for sending out alarm signals, and the main controller 1 is connected with a cooling water proportional electromagnetic valve 8.
In this embodiment, the master controller 1 is a MUC chip, the ADC port of the MUC chip is connected to the hydraulic oil temperature sensor 2, the cutting motor temperature sensor 3, the cutting motor cooling water temperature sensor 4 and the cooling water flow sensor 5, the IO pin of the MUC chip is connected to the alarm module 7, the alarm module 7 includes a delay alarm module and an alarm module, if the MUC chip complies with steps 1, 2, 4 and 5 to send a shutdown signal, the IO pin of the MUC chip outputs a high level to enable the alarm module to access the circuit and perform an audible and visual alarm, to remind a worker of a failure, and to communicate with the upper computer through the CAN bus to perform shutdown control on the cutting motor. If the MUC chip sends out a stop signal according to the steps 3 and 6, the IO pin of the MUC chip outputs a high level to enable the delay alarm module to be connected into a circuit and delay to carry out audible and visual alarm, and the time is adjusted for staff.
The above-described embodiments are merely preferred embodiments of the present application and are not intended to limit the scope of the present application, so that all equivalent changes or modifications of the structure, characteristics and principles described in the claims should be included in the scope of the present application.
Claims (9)
1. The protection control method of the cantilever development machine motor is characterized by comprising the following steps of;
step 1: setting a maximum allowable value L of the cutting motor load rate in unit time max And judging the cutting motor load rate in unit time and the maximum allowable value L of the cutting motor load rate in unit time max Size of the space;
if the cutting motor load rate in unit time is greater than the maximum allowable value L of the cutting motor load rate in unit time max Stopping the cantilever tunneling machine;
step 2: setting the maximum allowable value S of cutting motor protection stop rate in unit time max If the load rate of the cutting motor in unit time is smaller than the negative load of the cutting motor in unit timeMaximum allowable value L of load rate max Judging the cutting motor protection stop rate and the maximum allowable value S of the cutting motor protection stop rate in unit time max Is of a size of (2);
if the protection stop rate of the cutting motor in unit time is greater than the maximum allowable value S of the protection stop rate of the cutting motor max Stopping the cantilever tunneling machine;
step 3: respectively setting minimum allowable value F of cooling water flow of cutting motor min Minimum temperature value C_Temp for cutting motor start lim And cutting motor start hydraulic oil temperature minimum allowable O_Temp lim And sequentially judging whether the cooling water flow detection value meets the minimum allowable value F of the cooling water flow of the cutting motor min Whether the temperature detection value of the cutting motor is smaller than the minimum starting temperature value C_Temp of the cutting motor lim Whether the detection value of the cutting motor oil tank hydraulic oil temperature meets the minimum allowable value O_Temp of the cutting motor starting hydraulic oil temperature or not lim ；
If one of the two is judged to be unsatisfied, the cutting motor is stopped;
step 4: the cutting motor carries the operation, sets up the cutting motor early warning temperature value C_Temp warn And judging whether the current cutting motor temperature detection value is smaller than the cutting motor early warning temperature value C_Temp warn If the motor is smaller than the cut motor, the motor continuously works;
step 5: setting the maximum output value P of power of a proportional electromagnetic valve of a cooling water loop of a cantilever heading machine max When the temperature detection value of the cutting motor is larger than the early warning temperature value C_Temp of the cutting motor warn Judging whether the power of the proportional electromagnetic valve of the cooling water loop of the current cantilever excavator is larger than the maximum output value P of the power of the proportional electromagnetic valve of the cooling water loop of the cantilever excavator max If the power of the cooling water loop proportional solenoid valve is smaller than the power of the cooling water loop proportional solenoid valve, the power is adjusted;
step 6: respectively setting a maximum temperature threshold C_Temp of a cutting motor max Maximum threshold value W_Temp of outlet water temperature of cooling water loop max Cutting motor hydraulic oil temperature maximum threshold o_temp max ；
Judging the proportion electromagnetic of the cooling water loop of the current cantilever heading machineThe valve power is larger than the maximum output value P of the power of the proportional electromagnetic valve of the cooling water loop of the cantilever excavator max Respectively judging the current cutting motor temperature detection value and the cutting motor maximum temperature threshold C_Temp max Is equal to or greater than the current cooling water circuit outlet water temperature detection value and the maximum cooling water circuit outlet water temperature threshold W_Temp max Is equal to or greater than a current cutting motor hydraulic oil temperature detection value and a cutting motor hydraulic oil temperature maximum threshold value O_Temp max If one of the values is larger than the preset value, the cutting motor is stopped.
2. The protection control method for a cantilever excavator motor according to claim 1, wherein the maximum allowable value L of the motor load rate in unit time max As shown in formula (1):
wherein T is load For the load duration of the motor, T work The working time of the motor is the working time of the motor.
3. The protection control method for a cantilever excavator motor according to claim 1, wherein the motor protection stop probability maximum allowable value S max As shown in formula (2):
wherein S is count The number of motor protection shutdowns during the operating time.
4. The protection control method for a cantilever excavator motor according to claim 1, wherein the step 2 further comprises;
step 202: setting a shutdown protection time limit T limit When the motor protection stop rate in unit time is greater than the maximum allowable value of the motor protection stop rateS max When the motor of the cantilever heading machine is stopped, the motor is stopped for protection time limit T limit After the time is finished, the starting function of the cantilever excavator motor is reset.
5. A protection control method for a cantilever excavator motor according to claim 1 wherein the cutter motor load calculation is expressed in terms of 80% current rating of the motor.
6. The protection control method for the motor of the cantilever tunneling machine according to claim 1, wherein the cutting motor protection shutdown rate is calculated according to 1.2 times of statistics of overload protection and overcurrent protection times or 1.5 times of statistics of overload protection and overcurrent protection times.
7. The protection control method of a cantilever tunneling machine motor according to claim 1 is characterized in that an early warning module is arranged between the steps 1-6, the early warning module is used for sending an early warning signal before a cutting motor is stopped, the early warning module is provided with early warning delay, and the early warning delay carries out a delay instruction when the cutting motor is stopped in the step 3 and the step 6.
8. The motor protection control system of the cantilever tunneling machine is characterized by comprising a main controller (1), wherein the main controller (1) is used for setting a maximum allowable value L of the load rate of a cutting motor in unit time max And judging the cutting motor load rate in unit time and the maximum allowable value L of the cutting motor load rate in unit time max Size of the space; if the cutting motor load rate in unit time is greater than the maximum allowable value L of the cutting motor load rate in unit time max Stopping the cantilever tunneling machine;
setting the maximum allowable value S of cutting motor protection stop rate in unit time max If the cutting motor load rate in unit time is smaller than the maximum allowable value L of the cutting motor load rate in unit time max Judging the cutting motor protection stop rate and the maximum allowable value S of the cutting motor protection stop rate in unit time max Is of a size of (2);
if the protection stop rate of the cutting motor in unit time is greater than the maximum allowable value S of the protection stop rate of the cutting motor max Stopping the cantilever tunneling machine;
respectively setting minimum allowable value F of cooling water flow of cutting motor min Minimum temperature value C_Temp for cutting motor start lim And cutting motor start hydraulic oil temperature minimum allowable O_Temp lim And sequentially judging whether the cooling water flow detection value meets the minimum allowable value F of the cooling water flow of the cutting motor min Whether the temperature detection value of the cutting motor is smaller than the minimum starting temperature value C_Temp of the cutting motor lim Whether the detection value of the cutting motor oil tank hydraulic oil temperature meets the minimum allowable value O_Temp of the cutting motor starting hydraulic oil temperature or not lim ；
If one of the two is judged to be unsatisfied, the cutting motor is stopped;
setting a cutting motor early warning temperature value C_Temp warn And judging whether the current cutting motor temperature detection value is smaller than the cutting motor early warning temperature value C_Temp warn If the motor is smaller than the cut motor, the motor continuously works;
setting the maximum output value P of power of a proportional electromagnetic valve of a cooling water loop of a cantilever heading machine max When the temperature detection value of the cutting motor is larger than the early warning temperature value C_Temp of the cutting motor warn Judging whether the power of the proportional electromagnetic valve of the cooling water loop of the current cantilever excavator is larger than the maximum output value P of the power of the proportional electromagnetic valve of the cooling water loop of the cantilever excavator max If the power of the cooling water loop proportional solenoid valve is smaller than the power of the cooling water loop proportional solenoid valve, the power is adjusted;
respectively setting a maximum temperature threshold C_Temp of a cutting motor max Maximum threshold value W_Temp of outlet water temperature of cooling water loop max Cutting motor hydraulic oil temperature maximum threshold o_temp max ；
Judging if the power of the current cantilever excavator cooling water loop proportional electromagnetic valve is larger than the maximum output value P of the power of the cantilever excavator cooling water loop proportional electromagnetic valve max Respectively judging the current cutting motor temperature detection value and the cutting motor maximum temperature threshold C_Temp max Is of the size of (and current cooling)Water loop outlet water temperature detection value and cooling water loop outlet water temperature maximum threshold W_Temp max Is equal to or greater than a current cutting motor hydraulic oil temperature detection value and a cutting motor hydraulic oil temperature maximum threshold value O_Temp max If one of the values is larger than the preset value, the cutting motor is stopped.
9. The cantilever tunneling machine motor protection control system according to claim 8, wherein the main controller (1) is connected with a hydraulic oil temperature sensor (2), a cutting motor temperature sensor (3), a cutting motor cooling water temperature sensor (4) and a cooling water flow sensor (5), and the hydraulic oil temperature sensor (2) is used for detecting the cutting motor oil tank hydraulic oil temperature;
the cutting motor temperature sensor (3) is used for detecting the cutting motor temperature;
the cutting motor cooling water temperature sensor (4) is used for detecting the cooling water temperature of a cooling water loop;
the cooling water flow sensor (5) is used for detecting cooling water flow of the cooling water loop;
the hydraulic oil temperature sensor (2), the cutting motor temperature sensor (3), the cutting motor cooling water temperature sensor (4) and the cooling water flow sensor (5) are connected with an ADC port of the main controller (1), the main controller (1) comprises one or more combinations of a PLC controller and a MUC chip, the main controller (1) is provided with an upper computer and a display module, a communication module (6) is arranged between the main controller (1) and the upper computer and the display module, and the communication module (6) comprises one or more combinations of a CAN bus and a 485 bus network cable;
the main controller (1) is provided with an alarm module (7), the alarm module (7) is used for sending out an alarm signal, and the main controller (1) is connected with a cooling water proportional electromagnetic valve (8).
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