CN114578682A - Coal shearer towline control method, device and storage medium - Google Patents

Abstract

The present disclosure provides a coal mining machine cable towing control method, device and storage medium, which are applied to a cable towing control system, wherein the cable towing control system comprises a controller and a cable towing device for tensioning a coal mining machine cable, and the method comprises the following steps: collecting a first speed value of a coal mining machine and a second speed value of a towing device; judging whether the error between the first speed value and the second speed value is larger than a preset threshold value or not; and under the condition that the error is smaller than the preset threshold value, the controller generates an adjusting signal according to the first speed value and the second speed value by adopting a PID control method, and under the condition that the error is larger than the preset threshold value, the controller generates an adjusting signal according to the first speed value and the second speed value by adopting a fuzzy control method, wherein the adjusting signal is used for controlling the running speed of the cable towing device to be synchronous with the running speed of the coal mining machine, the problems of cable lamination of the coal mining machine and the like can be effectively solved, the PID control method or the fuzzy control method is flexibly selected for control, and the control accuracy of the cable towing device can be improved.

Description

Coal shearer towline control method, device and storage medium

technical field

The present disclosure relates to the technical field of mining equipment, and in particular, to a control method, device and storage medium for a coal shearer towline.

Background technique

As an important working machine in a coal mine, the operation state of the shearer has a significant impact on the efficiency of coal mining. The shearer cable is an extremely important component of the fully mechanized mining face. It is responsible for providing electrical energy for the normal operation of the shearer. If the cables are squeezed, dropped and bent, the mining efficiency will be affected.

In the related art, a hydraulic winch is generally used to achieve stable tension output, and the cable is always in a state of tension during the normal operation of the shearer through the moving pulley. In addition, it is also affected by the resistance of the slideway to the cable pulley, especially during the upward mining process of the shearer. , in this case, the service life of the cable core wire will be greatly reduced. In addition, the supporting hydraulic winch system occupies a large space, and there are problems in installation, which may have a certain impact on the conventional coal mining work, so its practicality is general.

SUMMARY OF THE INVENTION

The present disclosure proposes a shearer towline control method, device and storage medium, aiming to solve one of the technical problems in the related art at least to a certain extent.

The embodiment of the first aspect of the present disclosure proposes a method for controlling a shearer towline, which is applied to a towline control system. The towline control system includes a controller and a towline device for tensioning the shearer cable. The method includes: collecting a first speed value of a shearer and a second speed value of a streamer device; judging whether the error between the first speed value and the second speed value is greater than a preset threshold; and when the error is less than the preset threshold , the controller adopts the PID control method to generate the adjustment signal according to the first speed value and the second speed value, and when the error is greater than the preset threshold, the controller adopts the fuzzy control method to generate the adjustment signal according to the first speed value and the second speed value , wherein the adjustment signal is used to control the running speed of the streamer device to synchronize with the running speed of the shearer.

The embodiment of the second aspect of the present disclosure proposes a shearer towline control device, including: a collection module for collecting a first speed value of the shearer and a second speed value of the towline device; a judgment module for Judging whether the error between the first speed value and the second speed value is greater than a preset threshold; and a control module, for when the error is less than the preset threshold, the controller adopts the PID control method according to the first speed value and the second speed value. Generating an adjustment signal, when the error is greater than a preset threshold, the controller adopts a fuzzy control method to generate an adjustment signal according to the first speed value and the second speed value, wherein the adjustment signal is used to control the running speed of the streamer device and coal mining. The running speed of the machine is synchronized.

An embodiment of a third aspect of the present disclosure provides a computer device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores data executable by the at least one processor The instructions are executed by the at least one processor to enable the at least one processor to execute the shearer streamer control method of the embodiment of the present disclosure.

Embodiments of the fourth aspect of the present disclosure provide a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause the computer to execute the coal shearer towline control method disclosed in the embodiments of the present disclosure.

In this embodiment, by collecting the first speed value of the shearer and the second speed value of the streamer device, it is determined whether the error between the first speed value and the second speed value is greater than a preset threshold, and when the error is less than a preset value In the case of the threshold value, the controller adopts the PID control method to generate the adjustment signal according to the first speed value and the second speed value. The adjustment signal is used to control the running speed of the towing cable device to synchronize with the running speed of the shearer, and the towing cable can be tensioned according to the speed relationship, which is in line with the actual production requirements of the mine site, and the working performance is stable and effective. It solves the problems of shearer cable stacking, cable outlet trough, and cable stacking affecting mining, etc., and the towing cable device is easy to install and takes up little space. In addition, the PID control method or the fuzzy control method is selected for control according to the speed deviation of the shearer and the towing device, so that the control accuracy of the towing device can be improved.

Additional aspects and advantages of the present disclosure will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the present disclosure.

Description of drawings

The above and/or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a schematic flowchart of a method for controlling a coal shearer towline according to an embodiment of the present disclosure;

2 is a schematic structural diagram of a streamer control system provided according to an embodiment of the present disclosure;

3 is a schematic diagram of various control methods of a controller provided according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart of a shearer towline control provided according to an embodiment of the present disclosure;

5 is a schematic diagram of a calculation process of a fuzzy control method provided according to an embodiment of the present disclosure;

6 is a schematic diagram of a communication scheme of a shearer towline control system provided according to an embodiment of the present disclosure;

7 is a schematic diagram of a shearer towline control device provided according to another embodiment of the present disclosure;

Figure 8 shows a block diagram of an exemplary computer device suitable for use in implementing embodiments of the present disclosure.

Detailed ways

Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure and should not be construed as a limitation of the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

In view of the technical problem that the use of hydraulic winch to tow the shearer mentioned in the background art is easily affected by the resistance of the slideway and occupies a large space, thus affecting the towing effect of the shearer, the technical solution of this embodiment provides a The method for controlling the towline of a shearer is described below with reference to specific embodiments.

It should be noted that the executive body of the shearer towline control method in this embodiment may be a shearer towline control device, which may be implemented by software and/or hardware, and the device may be configured in an electronic In the device, the electronic device may include, but is not limited to, a terminal, a server, and the like.

FIG. 1 is a schematic flowchart of a method for controlling a towline of a coal shearer according to an embodiment of the present disclosure. As shown in FIG. 1 , the method includes:

S101: Collect the first speed value of the shearer and the second speed value of the streamer device.

FIG. 2 is a schematic structural diagram of a streamer control system provided according to an embodiment of the present disclosure. As shown in FIG. 2 , the streamer control system may include a controller and a streamer device. The device includes a tensioning trolley, a towing cable motor (such as an asynchronous motor), and a towing cable chain between the tensioning trolley and the towing cable motor. The tensioning trolley directly performs the shearer cable tensioning work, while the frequency conversion inside the controller The controller controls the output speed of the towing motor by changing the current frequency, thereby controlling the moving speed of the tensioning trolley, thereby realizing the cable tensioning.

In the embodiment of the present disclosure, the controller firstly controls the collection of the first speed value of the shearer and the second speed value of the towing device. The speed sensor can collect the running speed of the shearer and the tensioning trolley.

The current operating speed of the shearer may be referred to as the first speed value, and the current operating speed of the streamer device may be referred to as the second speed value.

S102: Determine whether the error between the first speed value and the second speed value is greater than a preset threshold.

Further, the controller determines whether the error between the first speed value and the second speed value is greater than a preset threshold, wherein the preset threshold can be flexibly set according to practical applications, which is not limited.

S103: When the error is less than the preset threshold, the controller uses the PID control method to generate the adjustment signal according to the first speed value and the second speed value, and when the error is greater than the preset threshold, the controller uses the fuzzy control method to generate the adjustment signal according to the first speed value and the second speed value. A speed value and a second speed value generate an adjustment signal, wherein the adjustment signal is used to control the speed of operation of the streamer device to be synchronized with the speed of operation of the shearer.

FIG. 3 is a schematic diagram of various control methods of the controller provided according to the embodiment of the present disclosure. As shown in FIG. 3 , the plc controller of the embodiment of the present disclosure may adopt PID-Fuzzy control, that is, the controller may There are PID control method (PID control) and fuzzy control method (Fuzzy control).

In the case where the judgment error is less than the preset threshold, for example: when the shearer first starts to work, the operating speed error of the shearer and the towing device is small, and there is almost no fuzzy output at this time, so fuzzy control is not required, and the PID The control part can well eliminate the problems of steady state deviation and limit cycle oscillation. In this case, the controller adopts the PID control method to generate the regulation signal according to the first speed value and the second speed value.

When the error is greater than the preset threshold, the fuzzy control method will produce the main control effect. In this case, the controller adopts the fuzzy control method to generate the adjustment signal according to the first speed value and the second speed value.

Among them, the adjustment signal is used to control the running speed of the towing device to synchronize with the running speed of the shearer. For example, as shown in Figure 2, the tensioning trolley is based on the principle of moving pulley, so the adjustment signal can control the running speed of the towing device to be the mining machine. The operating speed of the coal machine is one half, so that the towing device and the shearer can run synchronously. The controller adopts the PID-Fuzzy speed following control strategy, the closed-loop control gives full play to the important role of feedback, eliminates unpredictable or uncertain factors, and makes the speed correction action of the streamer device more accurate.

In practical application, FIG. 4 is a schematic flow chart of the towline control of a shearer provided according to an embodiment of the present disclosure. As shown in FIG. 4 , first, the towline control system is initialized; then, the controller controls signal acquisition (ie, , collect the first speed value and the second speed value); further, the controller can also judge whether the shearer is moving according to the collected signal, and can also judge the movement direction (up or down) of the shearer. When judging that the shearer is going up, the controller continuously reads the state of the shearer and follows the speed following control strategy of PID-Fuzzy. By changing the current frequency of the inverter inside the controller, the output speed of the towing motor follows the mining. The speed of the motor of the coal machine changes with the change (as shown in Figure 2, the operating speed of the shearer is controlled to be twice the operating speed of the towing cable device), so as to realize the cable tensioning and upward function. When the shearer stops moving upward, the towing cable device also Stop going up and wait for the next action of the shearer; similarly, when the shearer goes down, the controller reads the signal of the shearer and follows the speed follow control strategy of PID-Fuzzy to realize the speed follow down function of the towing device. Here During the process, the running speed of the shearer is also twice as fast as that of the towline device. The shearer stops when it goes down for coal mining, and then the towline device stops following it down. Therefore, the synchronous operation of the towing cable device and the shearer is realized. When the work is normal, the control system continues to cycle the above steps to maintain the normal operation of the system; when the work is not normal, the control system sends an alarm signal and displays the fault type through the man-machine interface, so as to facilitate timely maintenance by relevant personnel.

In this embodiment, by collecting the first speed value of the shearer and the second speed value of the streamer device, it is determined whether the error between the first speed value and the second speed value is greater than a preset threshold, and when the error is less than a preset value In the case of the threshold value, the controller adopts the PID control method to generate the adjustment signal according to the first speed value and the second speed value. The adjustment signal is used to control the running speed of the towing cable device to synchronize with the running speed of the shearer, and the towing cable can be tensioned according to the speed relationship, which is in line with the actual production requirements of the mine site, and the working performance is stable and effective. It solves the problems of shearer cable stacking, cable outlet trough, and cable stacking affecting mining, etc., and the towing cable device is easy to install and takes up little space. In addition, the PID control method or the fuzzy control method is selected for control according to the speed deviation of the shearer and the towing device, so that the control accuracy of the towing device can be improved.

In some embodiments, FIG. 5 is a schematic diagram of a calculation process of a fuzzy control method provided according to an embodiment of the present disclosure. As shown in FIG. 5 , the controller adopts a fuzzy control method (Fuzzy control) according to the first speed value and the second speed value. In the operation of generating the adjustment signal, the error and the error change rate of the first speed value and the second speed value are first determined, wherein the error can be represented by e, and the error change rate can be represented by Δe.

In practical applications, for example, Siemens S7-1500 CPU programmable controller (PLC) can be used as the main control unit, and POTVAL V16 is used to program the Siemens S7-1500 PLC to realize the speed follow control of the shearer. Add two organization blocks OB1, OB3, four data blocks DB10, DB12, DB13, DB14, three functions FC10, FC11, FC12, and FB41 function block inside the program. In this embodiment, the FC11 module can be used to obtain the error e and the error change rate Δe according to the first speed value and the second speed value.

Further, the error e and the error change rate Δe (ie, the input amount in FIG. 5 ) are fuzzified by the FC10 module.

Further, based on the preset fuzzy control look-up table, the speed adjustment increments Δk _p , Δk _i , and Δk _d corresponding to the error after fuzzification and the error rate of change are queried. Among them, the fuzzy control look-up table can be established in advance, for example, including Kp, Ki, Kd, after the establishment is completed, the fuzzy control look-up table Kp, Ki, Kd can be written into DB12, DB13, DB14 data storage area, and can be realized by FC12 module Fuzzy control lookup table query. In practical applications, the fuzzified error e and the error rate of change Δe (ie, the input amount) can be written into the data storage area, and then inquired to obtain the speed adjustment increments Δk _p , Δk _i , Δk _d . Further, according to the speed adjustment increments Δk _p , Δk _i , Δk _d , adjust the proportional P, integral I, and differential D coefficients of the PID control method, and output an adjustment signal.

In some embodiments, in the operation of adjusting the proportional P, integral I, and differential D coefficients of the PID control method according to the speed adjustment increments Δk _p , Δk _i , Δk _d , a quantization factor may also be introduced, and the quantization factor includes: Error gain ke and error variation gain kΔe. In the operation of adjusting the proportional P, integral I, and differential D coefficients, first multiply the speed adjustment increments △k _p , △k _i , △k _d with the pre-calculated quantization factor, and then adjust the PID according to the multiplication result. The proportional P, integral I, and differential D coefficients of the control method are used to output adjustment signals. Thus, the conditioning signal can be optimized by introducing a combination of quantization factors.

In some embodiments, a threshold interval can be set for the error e and the error rate of change Δe. In the operation of fuzzifying the error e and the error rate of change Δe, as shown in FIG. 5 , first determine the input amount (error e and the error rate of change Δe) exceeds the threshold, wherein, the threshold interval corresponding to the error e can be called the first preset interval, and the threshold interval corresponding to the error rate of change Δe can be called the second preset interval, that is, That is, it is first determined whether the error e is located in the first preset interval, and whether the error rate of change Δe is located in the second preset interval. Wherein, the first preset interval and the second preset interval can be set flexibly, which is not limited.

When the error e is located in the first preset interval and the error rate of change Δe is located in the second preset interval, the error and the error rate of change are directly fuzzified.

When the error error e exceeds the first preset interval, the upper limit range or the lower limit range of the first preset interval is used as the error. For example, if the error e is higher than the upper limit range (upper limit value) of the first preset interval, the first The upper limit range of the preset interval is used as the error e; if the error e is lower than the lower limit range (lower limit value) of the first preset interval, the lower limit range of the first preset interval is used as the error e. Similarly, when the error change rate Δe exceeds the second preset interval, the upper limit range or the lower limit range of the second preset interval is used as the error change rate, and the adjustment method is the same as that of the error e, which is not repeated here. Further, the adjusted error and the error rate of change are fuzzified.

In this embodiment, the error e and the error change rate Δe are adjusted according to the threshold value, which can narrow the calculation range of the fuzzy query and improve the calculation efficiency. Moreover, the threshold value can be flexibly set according to the actual application, so as to improve the application range of the system.

In some embodiments, a calculation method (setting method) of the quantization factor is also disclosed, and the process is as follows:

Step 1: Determine the output of the linear part of the fuzzy control method Fuzzy as

Step 2: When the collection time of the first speed value and the second speed value is greater than the set range, for example: the sampling time is large enough, formula (1) can be equivalent to

Among them, Ts is the sampling time of the system;

得到Step 3: Based on formula (2), let

get

It can be seen from this that formula (3) can be equivalent to a serial PID control.

Step 4: According to formula (3), determine the PID transfer function of the fuzzy control method as

Step 5: According to the formula (4), the PID tuning formula of the fuzzy control method is derived as:

得到：Step 6: Make the corresponding coefficients of the fuzzy control method and the PID control method equal, namely:

get:

Among them, Am is the gain margin, ω _P is the phase angle crossing frequency, L is the set threshold, u _PM is the adjustment parameter, Am, ω _P , L, u _PM are design parameters; K proportional constant, T1, T2 are The integration time, τ is the time constant, which is a known parameter; e is the error, △e is the error change rate, the error gain ke, the error change gain k△e is the quantization factor, the output gain ku, the output change gain k△u is the ratio factor.

其中，a可根据试验确定，r₀为最大的设定值变化，这样可以确定量化因子和比例因子，即k_e、k_Δe、k_Δu、k_u。When the design parameters ( _{u PM} , L, ω _P , Am ) and the known parameters (K, T ₁ , T ₂ , τ) are determined, _ke /k _Δe /k _Δu /k _u is the parameter to be set , formula (6) has three equations, four unknowns, for the control system, take:

Among them, a can be determined according to experiments, and r ₀ is the maximum set value change, so that the quantization factor and scale factor can be determined, namely _ke , k _Δe , _{k Δu} , and ku .

Therefore, the quantization factors ke, kΔe and the PID control parameters kp, ki, kd are written into the PLC controller, and then continuous sampling is performed within the set time. Determine whether the input speed value exceeds the set threshold range. If it is not within the threshold range, the input quantity will be changed to the upper limit or lower limit of the threshold, and then input into the data register after fuzzification. If the input amount is within the threshold range, it is directly input into the register through fuzzification. Calculate △kp, △ki, △kd through the fuzzy control look-up table, and multiply them with the quantization factor to finally get the output of the fuzzy control.

It should be noted that, considering the particularity of the underground production environment of coal mines, it is required that the underground communication network of coal mines must have the functions of mobile and random access. When emergencies occur, relevant information should be able to access the network at any time. The hardware communication in the shearer towline control system mainly completes the data transmission task between the programmable logic controller and the touch screen. FIG. 6 is a schematic diagram of a communication scheme of a shearer towline control system provided according to an embodiment of the present disclosure. As shown in FIG. 6 , the communication adopts the MODBUS RTU communication protocol, which can support RS-232, RS-485, etc. A variety of hardware interfaces can also transmit data in media such as twisted pair and optical fiber; the frame format of sending and receiving data in this protocol is relatively concise and easy to use. In addition, in the embodiment of the present disclosure, the TCP/IP protocol is used for real-time communication between the controller and the upper computer, which provides an effective guarantee for reliable communication.

In this embodiment, by collecting the first speed value of the shearer and the second speed value of the streamer device, it is determined whether the error between the first speed value and the second speed value is greater than a preset threshold, and when the error is less than a preset value In the case of the threshold value, the controller adopts the PID control method to generate the adjustment signal according to the first speed value and the second speed value. The adjustment signal is used to control the running speed of the towing cable device to synchronize with the running speed of the shearer, and the towing cable can be tensioned according to the speed relationship, which is in line with the actual production requirements of the mine site, and the working performance is stable and effective. It solves the problems of shearer cable stacking, cable outlet trough, and cable stacking affecting mining, etc., and the towing cable device is easy to install and takes up little space. In addition, the PID control method or the fuzzy control method is selected for control according to the speed deviation of the shearer and the towing device, so that the control accuracy of the towing device can be improved.

7 is a schematic diagram of a shearer towline control device provided according to another embodiment of the present disclosure. As shown in Figure 7, the shearer towline control device 70 includes:

a collection module 701, configured to collect the first speed value of the shearer and the second speed value of the streamer device;

a judgment module 702, configured to judge whether the error between the first speed value and the second speed value is greater than a preset threshold; and

The control module 703 is used to generate the adjustment signal according to the first speed value and the second speed value by using the PID control method when the error is less than the preset threshold, and when the error is greater than the preset threshold, the controller uses fuzzy The control method generates an adjustment signal based on the first speed value and the second speed value, wherein the adjustment signal is used to control the operating speed of the streamer device to be synchronized with the operating speed of the shearer.

In some embodiments, the control module 703 is specifically configured to: determine the error and the error rate of change of the first speed value and the second speed value; perform fuzzy processing on the error and the error rate of change; based on a preset fuzzy control look-up table, Query the speed adjustment increments △kp, △ki, △kd corresponding to the error after fuzzification and the error rate of change; and adjust the proportional P and integral of the PID control method according to the speed adjustment increments △kp, △ki, △kd I, differential D coefficient, output adjustment signal.

In some embodiments, the control module 703 is specifically configured to: multiply the speed adjustment increments Δkp, Δki, and Δkd by a pre-calculated quantization factor; and adjust the ratios P, Integrate I and differential D coefficients, and output adjustment signals.

In some embodiments, the control module 703 is specifically configured to: determine whether the error is located in the first preset interval, and determine whether the error rate of change is located in the second preset interval; when the error is located in the first preset interval and the error rate of change is located in the second preset interval In the case of a preset interval, the error and the error rate of change are directly fuzzified; and when the error exceeds the first preset interval and/or the error rate of change exceeds the second preset interval, the first preset interval is The upper limit range or the lower limit range of the second preset interval is used as the error, and/or the upper limit range or the lower limit range of the second preset interval is used as the error change rate, and the adjusted error and the error change rate are fuzzified.

In some embodiments, the apparatus 70 further includes: a parameter setting module, configured to determine the quantization factor according to the following steps:

Determine the output of the linear part of the fuzzy control method as

When the acquisition time of the first speed value and the second speed value is greater than the set range, the formula (1) can be equivalent to

得到Based on formula (2), let

get

According to formula (3), the PID transfer function of the fuzzy control method is determined as

According to formula (4), the PID tuning formula of the fuzzy control method is derived as:

得到：Let the corresponding coefficients of the fuzzy control method and the PID control method be equal,

get:

Among them, the design parameters include: Am gain margin, ω _P is the phase angle crossing frequency, L is the set threshold, u _PM is the adjustment parameter; the known parameters include: K proportional constant, T1, T2 are the integration time, τ is Time constant, e is the error, △e is the error rate of change, the error gain ke, the error change gain k△e is the quantization factor, the output gain ku, the output change gain k△u is the scale factor.

According to embodiments of the present disclosure, the present disclosure also provides a computer device, a readable storage medium, and a computer program product.

In order to realize the above embodiments, the present disclosure also provides a computer program product, when the instruction processor in the computer program product executes, executes the coal shearer towline control method proposed by the foregoing embodiments of the present disclosure.

Figure 8 shows a block diagram of an exemplary computer device suitable for use in implementing embodiments of the present disclosure. The computer device 12 shown in FIG. 8 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

As shown in FIG. 8, computer device 12 takes the form of a general-purpose computing device. Components of computer device 12 may include, but are not limited to, one or more processors or processing units 16 , system memory 28 , and a bus 18 connecting various system components including system memory 28 and processing unit 16 .

Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (hereinafter referred to as: ISA) bus, Micro Channel Architecture (hereinafter referred to as: MAC) bus, enhanced ISA bus, video electronic standard Association (Video Electronics Standards Association; hereinafter referred to as: VESA) local bus and Peripheral Component Interconnection (Peripheral Component Interconnection; hereinafter referred to as: PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including both volatile and nonvolatile media, removable and non-removable media.

The memory 28 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (Random Access Memory; hereinafter referred to as: RAM) 30 and/or a cache memory 32 . Computer device 12 may further include other removable/non-removable, volatile/non-volatile computer system storage media. For example only, storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive").

Although not shown in FIG. 8, disk drives for reading and writing to removable non-volatile magnetic disks (eg, "floppy disks") and removable non-volatile optical disks (eg, compact disk read only memory) may be provided. Disc Read OnlyMemory; hereinafter referred to as: CD-ROM), Digital Video Disc Read Only Memory (hereinafter referred to as: DVD-ROM) or other optical media) read and write optical disc drives. In these cases, each drive may be connected to bus 18 through one or more data media interfaces. Memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present disclosure.

A program/utility 40 having a set (at least one) of program modules 42, which may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data , each or some combination of these examples may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described in this disclosure.

Computer device 12 may also communicate with one or more external devices 14 (eg, keyboard, pointing device, display 24, etc.), may also communicate with one or more devices that enable a user to interact with computer device 12, and/or communicate with Any device (eg, network card, modem, etc.) that enables the computer device 12 to communicate with one or more other computing devices. Such communication may take place through input/output (I/O) interface 22 . In addition, the computer device 12 can also communicate with one or more networks (eg, Local Area Network (hereinafter referred to as: LAN), Wide Area Network (hereinafter referred to as: WAN) and/or public network, such as the Internet through the network adapter 20 ) ) communication. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18 . It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.

The processing unit 16 executes various functional applications by running the programs stored in the system memory 28, such as implementing the coal shearer towline control method mentioned in the foregoing embodiments.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common general knowledge or techniques in the technical field not disclosed by this disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

It should be noted that, in the description of the present disclosure, the terms "first", "second", etc. are only used for description purposes, and cannot be understood as indicating or implying relative importance. Also, in the description of the present disclosure, unless stated otherwise, "plurality" means two or more.

Any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a specified logical function or step of the process , and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present disclosure pertain.

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

Those skilled in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program is stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structures, materials, or features are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above-described embodiments are exemplary and should not be construed as limitations of the present disclosure, and those of ordinary skill in the art may interpret the above-described embodiments within the scope of the present disclosure. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (10)

1. A shearer towing cable control method, applied to a towing cable control system, characterized in that the towing cable control system comprises a controller and a towing cable device for tensioning the shearer cable, so The methods described include: collecting a first speed value of the shearer and a second speed value of the streamer device; determining whether the error between the first speed value and the second speed value is greater than a preset threshold; and When the error is smaller than the preset threshold, the controller uses a PID control method to generate a regulation signal according to the first speed value and the second speed value, and when the error is greater than the preset threshold In the case of , the controller adopts a fuzzy control method to generate the adjustment signal according to the first speed value and the second speed value, wherein the adjustment signal is used to control the running speed of the streamer device and The operating speeds of the shearers are synchronized. 2. The method of claim 1, wherein the controller adopts a fuzzy control method to generate the adjustment signal according to the first speed value and the second speed value, comprising: determining the error and error rate of change for the first speed value and the second speed value; fuzzifying the error and the error rate of change; Based on a preset fuzzy control look-up table, query the speed adjustment increments Δk _p , _Δki , Δk _d corresponding to the error and the error rate of change after fuzzification; and According to the speed adjustment increments Δk _p , Δk _i , and Δk _d , the proportional P, integral I, and differential D coefficients of the PID control method are adjusted, and the adjustment signal is output. 3. The method according to claim 2, wherein the proportional P, integral I, and differential D coefficients of the PID control method are adjusted according to the speed adjustment increments Δk _p , Δk _i , and Δk _d . , output the adjustment signal, including: multiplying the speed adjustment increments Δk _p , Δk _i , Δk _d by a pre-computed quantization factor; and According to the multiplication result, the proportional P, integral I, and differential D coefficients of the PID control method are adjusted, and the adjustment signal is output. 4. The method according to claim 2, wherein fuzzifying the error and the error rate of change comprises: judging whether the error is located in a first preset interval, and determining whether the error rate of change is located in a second preset interval; When the error is located in the first preset interval and the error rate of change is located in the second preset interval, directly fuzzing the error and the error rate of change; and When the error exceeds the first preset interval and/or the error rate of change exceeds the second preset interval, the upper limit range or the lower limit range of the first preset interval is used as the error , and/or the upper limit range or the lower limit range of the second preset interval is used as the error rate of change, and the adjusted error and the error rate of change are fuzzified. 5. The method of claim 3, further comprising determining the quantization factor according to the following steps: Determine the output of the linear part of the fuzzy control method as

When the acquisition time of the first speed value and the second speed value is greater than the set range, the formula (1) is equivalent to

Based on formula (2), let

get

According to formula (3), the PID transfer function of the fuzzy control method is determined as:

According to formula (4), the PID tuning formula of the fuzzy control method is derived as:

Let the corresponding coefficients of the fuzzy control method and the PID control method be equal,

T _i ^F =T _i ,

get:

Among them, Am is the gain margin, ω _P is the phase angle crossing frequency, L is the set threshold, u _PM is the adjustment parameter; K proportional constant, T1, T2 are the integration time, τ is the time constant, e is the error, △ e is the error rate of change, ke is the error gain, k△e is the error change gain, ke and k△e belong to the quantization factor, ku is the output gain, k△u is the output change gain, and ku and k△u are the ratio factor. 6. A shearer towline control device, characterized in that, comprising: a collection module, used for collecting the first speed value of the shearer and the second speed value of the streamer device; a judgment module for judging whether the error between the first speed value and the second speed value is greater than a preset threshold; and a control module, configured to generate an adjustment signal according to the first speed value and the second speed value by using a PID control method when the error is less than the preset threshold, and when the error is greater than the preset threshold In the case of a preset threshold, the controller adopts a fuzzy control method to generate the adjustment signal according to the first speed value and the second speed value, wherein the adjustment signal is used to control the speed of the streamer device. The operating speed is synchronized with the operating speed of the shearer. 7. The device according to claim 6, wherein the control module is specifically used for: determining the error and error rate of change for the first speed value and the second speed value; fuzzifying the error and the error rate of change; Based on a preset fuzzy control look-up table, query the speed adjustment increments Δkp, Δki, and Δkd corresponding to the error after fuzzification and the error rate of change; and According to the speed adjustment increments Δkp, Δki, and Δkd, the proportional P, integral I, and differential D coefficients of the PID control method are adjusted, and the adjustment signal is output. 8. The device according to claim 7, wherein the control module is specifically used for: multiplying the speed adjustment increments Δkp, Δki, Δkd by a pre-computed quantization factor; and According to the multiplication result, the proportional P, integral I, and differential D coefficients of the PID control method are adjusted, and the adjustment signal is output. 9. The device according to claim 7, wherein the control module is specifically used for: judging whether the error is located in a first preset interval, and determining whether the error rate of change is located in a second preset interval; When the error is located in the first preset interval and the error rate of change is located in the second preset interval, directly fuzzing the error and the error rate of change; and When the error exceeds the first preset interval and/or the error rate of change exceeds the second preset interval, the upper limit range or the lower limit range of the first preset interval is used as the error , and/or the upper limit range or the lower limit range of the second preset interval is used as the error rate of change, and the adjusted error and the error rate of change are fuzzified. 10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any of claims 1-5.

Images