CN114352278B - Evaluation method of fully-mechanized coal mining face straightening system - Google Patents
Evaluation method of fully-mechanized coal mining face straightening system Download PDFInfo
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Abstract
The invention discloses an evaluation method of a fully-mechanized coal mining face straightening system, which comprises the steps of determining the most of a fully-mechanized coal mining face moving frame to the next fully-mechanized coal mining faceDistance L of small moving frame min Maximum frame moving distance L max Deviation D of furthest point and closest point of fully mechanized mining face max The method comprises the steps of carrying out a first treatment on the surface of the According to the maximum frame moving distance L max And a minimum frame moving distance L min Judging the straightening capability of the straightening system
The method comprises the steps of carrying out a first treatment on the surface of the And determining the theoretical frame moving distance L of any nth hydraulic bracket between the furthest point and the closest point on the fully mechanized mining face n And the actual frame moving distance L' n The method comprises the steps of carrying out a first treatment on the surface of the Thereby judging the control precision of the straightening system
The method comprises the steps of carrying out a first treatment on the surface of the Finally, judging the instant effect S of the straightening system according to the deviation between the adjacent hydraulic supports of the fully mechanized mining face P . The invention has the advantages that the straightening effect of the straightening system can be specifically judged in the straightening process, namely, the straightening system can be used for straightening when the coal mining machine advances one cutter forwards; through evaluating the straightening system, the method helps staff to continuously optimize the algorithm and the function of the straightening system, and improves the control level of the straightness of the working face.
Description
Technical Field
The invention relates to the field of intelligent control of fully-mechanized coal mining faces, in particular to an evaluation method of a fully-mechanized coal mining face straightening system.
Background
In the working process of the coal mining machine, the straightening system can realize the adjustment of the straightness of the fully-mechanized coal mining working face, so that the motion trail of the coal mining machine is ensured to reach the optimal working face in an ideal state. If the current working surface deviates greatly from the optimal working surface in an ideal state, the straightening system generally controls the advancing degree of the coal mining machine and the setting value corresponding to each cutter according to the bending degree of the working surface. The coal mining machine needs to be pushed forward according to the corresponding set value, and the working face can be straightened through the cyclic reciprocating motion.
The straightening system cannot finish the correction of the working surface at one time, and the specific evaluation indexes and methods for the actual application condition and effect of the straightening system on the working surface are lacking, so that the size of the straightening capacity of the straightening system, the control precision and the immediate effect of straightening after each knife is pushed cannot be judged in the process that the working surface is corrected to the optimal working surface from deviation through the straightening system, the straightening process is uncontrollable, and artificial intervention and adjustment cannot be performed.
Therefore, an evaluation method of a fully-mechanized coal face straightening system is needed, and the capability, control precision and instant effect of the straightening system in the straightening process can be specifically judged, so that the controllability of the straightening process is achieved.
Disclosure of Invention
The invention aims to provide an evaluation method of a fully-mechanized coal mining face straightening system.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention relates to an evaluation method of a fully-mechanized coal mining face straightening system, which comprises the following steps:
s1, determining the fully mechanized mining face movementMinimum frame moving distance L from frame to next fully mechanized mining face min Maximum frame moving distance L max Deviation D of furthest point and closest point of fully mechanized mining face max ；
S2, according to the maximum frame moving distance L max And a minimum frame moving distance L min Judging the straightening capability of the straightening system
；
S3, according to the maximum frame moving distance L max And a minimum frame moving distance L min Determining a theoretical frame moving distance L of any nth hydraulic bracket between the furthest point and the closest point on the fully mechanized mining face n ；
S4, judging the control precision of the straightening system according to the theoretical frame moving distance and the actual frame moving distance measured by installing the speed regulating valve
；
S5, judging the instant effect S of the straightening system according to the deviation between the adjacent hydraulic supports of the fully mechanized mining face P 。
Further, the deviation D of the furthest point and the closest point of the fully mechanized mining face max For the maximum frame moving distance L max And a minimum frame moving distance L min At the vertical distance between the hydraulic supports.
Further, the straightening capability
The judgment formula of (2) is as follows:
further, the theoretical frame moving distance L of any nth hydraulic bracket n The calculation formula is as follows:
wherein ,Dn Representing the distance between the nth hydraulic support and the maximum frame moving distance
Vertical distance between hydraulic supports at the location.
Further, the control accuracy
The judgment formula of (2) is as follows:
wherein ,
the actual frame moving distance of the nth hydraulic bracket.
Further, the deviation between the adjacent hydraulic supports of the fully mechanized mining face is the vertical distance between the adjacent hydraulic supports of the fully mechanized mining face.
The invention has the advantages that the straightening effect of the straightening system can be specifically judged in the straightening process, namely, the straightening system can be used for straightening when the coal mining machine advances one cutter forwards; judging the alignment efficiency of the alignment system according to the alignment capacity; judging the alignment matching degree of the alignment system according to the control precision, namely whether the current alignment algorithm is suitable for alignment of the working surface; and finally judging the immediate straightening effect of the straightening system according to the straightness of the working surface. Through evaluating the straightening system, the method can help the staff to continuously optimize the algorithm and the function of the straightening system, and improve the control level of the straightness of the working face.
Drawings
FIG. 1 is a schematic representation of the relationship of fully mechanized coal faces according to the present invention.
Fig. 2 is a schematic diagram of the alignment system workflow according to the present invention.
Fig. 3 is a flow chart of the method of the present invention.
FIG. 4 is a schematic diagram showing the meaning of each parameter in the method of the present invention.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the measuring process, the inertial navigation device of the coal mining machine always carries out coal mining work. Therefore, the inertial navigation device measures the position information of the coal mining machine at a certain moment on the fully-mechanized mining face. When the coal mining machine leaves the position and continues to travel to the next position for coal mining, the hydraulic support and the conveyor at the previous position can perform forward pushing and frame moving actions, so that the fully-mechanized coal mining working face currently being measured by the inertial navigation device is lagged relative to the actual fully-mechanized coal mining working face after the measurement is completed, and the lagging distance is the pushing depth of one cutter of the coal mining machine. As shown in FIG. 1, the arrow in the figure represents the advancing direction of the coal mining machine, the line 1 represents the fully-mechanized coal mining working face currently being measured by the inertial navigation device, the line 2 represents the actual fully-mechanized coal mining working face after the measurement of the inertial navigation device is completed, and certain errors exist between the line 1 and the line 2.
If the current fully-mechanized coal mining face measured by the inertial navigation device deviates greatly from the optimal face in an ideal state, the straightening system controls the propelling degree of the coal mining machine and the set value corresponding to each cutter according to the bending degree of the current fully-mechanized coal mining face. The coal mining machine advances according to the corresponding set value, and the working face can be straightened through the cyclic reciprocating motion. Therefore, the straightening system does not finish the correction of the fully-mechanized coal mining working face at one time, but dynamically straightens the fully-mechanized coal mining working face through rolling circulation, and gradually adjusts the fully-mechanized coal mining working face to an optimal working face in an ideal state.
As shown in fig. 2, an arrow in the drawing represents the advancing direction of the coal cutter, and a line 3 is a fully-mechanized coal mining working face currently being measured by the first cutter inertial navigation device; the line 4 is the actual fully-mechanized coal mining working face after the measurement of the inertial navigation device is completed, namely the fully-mechanized coal mining working face after the first cutter is completely finished; and the line 5 is a fully-mechanized mining face after the second cutter is calculated by the straightening system according to the condition of the line 1. The coal mining machine works according to the propulsion depth calculated by the straightening system on the basis of the fully-mechanized coal mining face represented by the line 4, meanwhile, the inertial navigation device measures the fully-mechanized coal mining face of the second cutter to form the line 6, and the fully-mechanized coal mining face after the second cutter is actually finished is the line 7. And then, the straightening system calculates the fully-mechanized coal mining working surface after the third cutter is finished according to the condition of the No. 6 wire, and the coal cutter works according to the propulsion depth calculated by the straightening system on the basis of the fully-mechanized coal mining working surface represented by the No. 7 wire, and meanwhile, the No. 8 wire is formed by the third cutter fully-mechanized coal mining working surface measured by the inertial navigation device. And (5) rolling and circulating in turn, and dynamically straightening.
As shown in fig. 3, the evaluation method of the fully-mechanized coal mining face straightening system of the invention comprises the following steps:
s1, determining the minimum frame moving distance L from a fully-mechanized coal mining face to the next fully-mechanized coal mining face min Maximum frame moving distance L max Deviation D of furthest point and closest point of fully mechanized mining face max ；
Wherein, as shown in FIG. 4, the minimum frame moving distance L min Representing the minimum moving distance of the hydraulic support on the fully mechanized coal mining face 9 when the hydraulic support moves to the same position on the next cutter straightening face 10;
maximum frame moving distance L max Representing the maximum moving distance of the hydraulic support on the fully mechanized coal mining face 9 when the hydraulic support moves to the same position on the next cutter straightening face 10;
the deviation Dmax of the farthest point and the nearest point represents the maximum frame moving distance L along the advancing direction of the coal mining machine on the fully mechanized mining face 9 max And a minimum frame moving distance L min At the vertical distance between the hydraulic supports.
S2, according to the maximum frame moving distance L max And a minimum frame moving distance L min Judging the straightening capability of the straightening system
；
Said straightening ability
The judgment formula of (2) is as follows:
s3, according to the maximum frame moving distance L max And a minimum frame moving distance L min Determining a theoretical frame moving distance L of any nth hydraulic bracket between the furthest point and the closest point on the fully mechanized mining face n ；
Theoretical frame moving distance L of any nth hydraulic support n The calculation formula is as follows:
wherein ,Dn Representing the distance between the nth hydraulic support and the maximum frame moving distance
Vertical distance between hydraulic supports at the location.
S4, judging the control precision of the straightening system according to the theoretical frame moving distance and the actual frame moving distance measured by installing the speed regulating valve
；
The control accuracy
The judgment formula of (2) is as follows: />
wherein ,
the actual frame moving distance of the nth hydraulic bracket.
S5, judging the instant effect S of the straightening system according to the deviation between the adjacent hydraulic supports of the fully mechanized mining face P 。
The deviation between the adjacent hydraulic supports of the fully mechanized mining face is the vertical distance between the adjacent hydraulic supports of the fully mechanized mining face.
Through the steps, the straightening effect of the straightening system can be specifically judged in the straightening process, namely, when the coal mining machine advances one cutter forward, the straightening system can straighten. Judging the alignment efficiency of the alignment system according to the alignment capacity; judging the alignment matching degree of the alignment system according to the control precision, namely whether the current alignment algorithm is suitable for alignment of the working surface; and finally, judging the immediate straightening effect of the straightening system according to the straightness of the fully-mechanized coal mining face. Through evaluating the straightening system, the method can help the staff to continuously optimize the algorithm and the function of the straightening system, and improve the level of straightness control of the fully mechanized mining face.
Claims (5)
1. An evaluation method of a fully-mechanized coal mining face straightening system is characterized by comprising the following steps of: the method comprises the following steps:
s1, determining the minimum frame moving distance L from a fully-mechanized coal mining face to the next fully-mechanized coal mining face min Maximum frame moving distance L max Deviation D of furthest point and closest point of fully mechanized mining face max ；
S2, according to the maximum frame moving distance L max And the minimum frame moving distance L min Judging the straightening capability of the straightening system
The method comprises the steps of carrying out a first treatment on the surface of the Said straightening ability->
The judgment formula of (2) is as follows:
s3, according to the maximum frame moving distance L max And a minimum frame moving distance L min Determining a theoretical frame moving distance L of any nth hydraulic bracket between the furthest point and the closest point on the fully mechanized mining face n ；
S4, judging the control precision of the straightening system according to the theoretical frame moving distance and the actual frame moving distance measured by installing the speed regulating valve
；
S5, judging the instant effect S of the straightening system according to the deviation between the adjacent hydraulic supports of the fully mechanized mining face P 。
2. The method for evaluating a fully mechanized coal face straightening system according to claim 1, characterized in that: deviation D of furthest point and closest point of fully mechanized mining face max For the maximum frame moving distance L max And the minimum frame moving distance L min At the vertical distance between the hydraulic supports.
3. The method for evaluating a fully mechanized coal face straightening system according to claim 1, characterized in that: theoretical frame moving distance L of any nth hydraulic support n The calculation formula is as follows:
wherein ,Dn Represents the distance between the nth hydraulic bracket and the maximum frame moving distance
Vertical distance between hydraulic supports at the location.
4. The method for evaluating a fully mechanized coal face straightening system according to claim 1, characterized in that: the control accuracy
The judgment formula of (2) is as follows:
wherein ,
the actual frame moving distance of the nth hydraulic bracket.
5. The method for evaluating a fully mechanized coal face straightening system according to claim 1, characterized in that: the deviation between the adjacent hydraulic supports of the fully mechanized mining face is the vertical distance between the adjacent hydraulic supports of the fully mechanized mining face.
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| CN103541754B (en) * | 2013-10-21 | 2017-05-17 | 北京天地玛珂电液控制系统有限公司 | Coal mining face hydraulic support straightening system and straightening method |
| CN104058215B (en) * | 2014-06-05 | 2015-12-09 | 中国矿业大学 | Based on the dynamic aligning method of slat conveyer of coalcutter absolute motion track |
| CN107905786A (en) * | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of coal-mining method and system based on transparent operation face |
| CN108957405A (en) * | 2018-07-03 | 2018-12-07 | 中国矿业大学 | A kind of detection method of coal face scraper conveyor straightness |
| CN111223182B (en) * | 2019-10-28 | 2022-09-13 | 北京天玛智控科技股份有限公司 | Fully mechanized coal mining face digital mining model construction system and method |
| CN111442759B (en) * | 2020-03-05 | 2023-10-31 | 天地科技股份有限公司 | Unified monitoring system for pose of fully-mechanized coal mining face equipment |
| CN111441812B (en) * | 2020-03-20 | 2021-09-07 | 郑州煤机液压电控有限公司 | Coal mine fully mechanized coal mining face automatic straightening system and method based on inertial navigation system |
| CN111723448B (en) * | 2020-06-29 | 2023-04-18 | 中国矿业大学(北京) | Digital twin intelligent fully mechanized coal mining face hydraulic support straightness monitoring method |
| CN111927518B (en) * | 2020-09-10 | 2022-03-22 | 西安科技大学 | Automatic straightening method for fully mechanized coal mining face hydraulic support based on combination of inertial navigation and odometer |
| CN112761699B (en) * | 2021-03-19 | 2023-04-07 | 郑州恒达智控科技股份有限公司 | Control method for moving hydraulic support of fully mechanized coal mining face of coal mine |
| CN113587927A (en) * | 2021-07-21 | 2021-11-02 | 宁波长壁流体动力科技有限公司 | Working face alignment method based on BP neural network and inertial navigation |
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Inventor after: Wang Yongqiang Inventor after: Li Wei Inventor after: Chen Xiangyuan Inventor after: Zhang Xingfu Inventor after: Cui Kefei Inventor after: Li Guowei Inventor after: Chen Wenyu Inventor after: Liang Shanlin Inventor after: Di Baoyang Inventor after: Zhang Fan Inventor before: Wang Yongqiang Inventor before: Li Wei Inventor before: Zhang Xingfu Inventor before: Cui Kefei Inventor before: Li Guowei Inventor before: Chen Xiangyuan Inventor before: Chen Wenyu Inventor before: Liang Shanlin Inventor before: Di Baoyang Inventor before: Zhang Fan |
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Address after: 719000 Laide building, Jianye Avenue, high tech Industrial Park, Yulin City, Shaanxi Province Applicant after: Guoneng Yulin Energy Co.,Ltd. Applicant after: Zhengzhou Hengda Intelligent Control Technology Co.,Ltd. Address before: 719000 Laide building, Jianye Avenue, high tech Industrial Park, Yulin City, Shaanxi Province Applicant before: Guoneng Yulin Energy Co.,Ltd. Applicant before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. |
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