CN114578682A - Coal mining machine towing cable control method and device and storage medium - Google Patents
Coal mining machine towing cable control method and device and storage medium Download PDFInfo
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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
Technical Field
The disclosure relates to the technical field of mining equipment, in particular to a coal mining machine towing cable control method and device and a storage medium.
Background
The coal mining machine is used as an important working machine under a coal mine, and the running state of the coal mining machine has obvious influence on the coal mining efficiency. The coal mining machine cable is an extremely important component unit of the fully mechanized coal mining face and is responsible for providing electric energy for normal work of the coal mining machine, and mining efficiency is affected if the cables are extruded, fall off the road, are bent and other bad working conditions occur.
In the related technology, a hydraulic winch is generally adopted to realize stable tension output, and a cable of a coal mining machine is always in a tensioning state in the normal working process through a movable pulley, but because the underground environment of a coal mine is severe, the cable is influenced by the tension of the hydraulic winch and the resistance of a slide way to a cable pulley, particularly in the upward coal mining process of the coal mining machine, the resistance generated by the slide way has obvious influence on the tension of the cable, which shows that the cable bears larger tension in the whole working process, and the service life of a cable core wire under the condition can be greatly reduced. In addition, the matched hydraulic winch system occupies a large space, is problematic in installation and has a certain influence on the conventional coal mining work, so that the hydraulic winch system is general in practicability.
Disclosure of Invention
The present disclosure proposes a method and a device for controlling a coal mining machine streamer, and a storage medium, which aim to solve at least one of the technical problems in the related art to some extent.
The embodiment of the first aspect of the disclosure provides a coal mining machine cable towing control method, which is 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: acquiring a first speed value of a coal mining machine and a second speed value of a cable 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 a 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 towing device to be synchronous with the running speed of the coal mining machine.
An embodiment of a second aspect of the present disclosure provides a coal mining machine towing cable control device, including: the acquisition module is used for acquiring a first speed value of the coal mining machine and a second speed value of the cable towing device; the judging module is used for judging whether the error between the first speed value and the second speed value is larger than a preset threshold value or not; and the control module is used for generating an adjusting signal according to the first speed value and the second speed value by adopting a PID control method under the condition that the error is smaller than a preset threshold value, and generating an adjusting signal according to the first speed value and the second speed value by adopting a fuzzy control method under the condition that the error is larger than the preset threshold value, 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.
An embodiment of a third aspect of the present disclosure provides a computer device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the shearer streamer control method of embodiments of the disclosure.
A fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute a method for controlling a streamer of a coal mining machine disclosed by an embodiment of the present disclosure.
In the embodiment, by acquiring a first speed value of a coal mining machine and a second speed value of a towing device, judging whether an error between the first speed value and the second speed value is larger than a preset threshold value, and if the error is smaller than the preset threshold value, generating an adjusting signal by a controller by adopting a PID control method according to the first speed value and the second speed value, and if the error is larger than the preset threshold value, generating an adjusting signal by the controller by adopting a fuzzy control method according to the first speed value and the second speed value, wherein the adjusting signal is used for controlling the running speed of the towing device to be synchronous with the running speed of the coal mining machine, the towing device can be tensioned according to a speed relation, the actual production requirement of a mine field is met, the working performance is stable, the problems that the coal mining machine is stacked by cables, the cables go out of a groove, the cable stacking influences the mining height and the like are effectively solved, and the towing device is convenient to install, the occupied space is small. In addition, the PID control method or the fuzzy control method is selected to control according to the speed deviation of the coal mining machine and the towing device, so that the control accuracy of the towing device can be improved.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.
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The above and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow diagram of a method of shearer streamer control provided in accordance with an embodiment of the disclosure;
FIG. 2 is a schematic structural diagram of a streamer control system provided in accordance with an embodiment of the disclosure;
FIG. 3 is a schematic diagram of various control methods of a controller provided in accordance with an embodiment of the present disclosure;
FIG. 4 is a flow diagram of shearer streamer control provided in accordance with an embodiment of the disclosure;
FIG. 5 is a schematic diagram of a calculation process of a fuzzy control method provided according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a communication scheme of a shearer streamer control system provided in accordance with an embodiment of the disclosure;
FIG. 7 is a schematic view of a shearer streamer control device provided in accordance with another embodiment of the disclosure;
FIG. 8 illustrates a block diagram of an exemplary computer device suitable for use in implementing embodiments of the present disclosure.
Detailed Description
Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like 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 drawings are exemplary only for the purpose of illustrating the present disclosure and should not be construed as limiting the same. On the contrary, the embodiments of the disclosure include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Aiming at the technical problems that the effect of the coal mining machine towing cable is affected by the resistance of a slideway and the occupied space is large when the hydraulic winch is adopted to tow the coal mining machine towing cable in the background art, the technical scheme of the embodiment provides a coal mining machine towing cable control method, and the method is explained by combining with a specific embodiment.
It should be noted that the execution main body of the coal mining machine streamer control method of the present embodiment may be a coal mining machine streamer control device, which may be implemented by software and/or hardware, and the device may be configured in electronic equipment, which may include, but is not limited to, a terminal, a server, and the like.
Fig. 1 is a schematic flow chart diagram of a method for controlling a streamer of a coal mining machine according to an embodiment of the disclosure, as shown in fig. 1, the method including:
s101: a first velocity value of the shearer and a second velocity value of the streamer device are collected.
Fig. 2 is a schematic structural diagram of a streamer control system provided according to an embodiment of the disclosure, and as shown in fig. 2, the streamer control system may include a controller and a streamer device, where the controller may be, for example, a plc controller, the streamer device includes a tensioning trolley, a streamer motor (e.g., an asynchronous motor), and a streamer chain between the tensioning trolley and the streamer motor, the tensioning trolley directly performs a cable tensioning operation of a coal mining machine, and a frequency converter inside the controller controls an output rotation speed of the streamer motor by changing a current frequency, so as to control a movement speed of the tensioning trolley, thereby implementing the cable tensioning.
In the disclosed embodiment, the controller first controls acquisition of a first speed value of the shearer and a second speed value of the streamer device, for example: the towing device (tensioning trolley) and the coal mining machine are respectively provided with a speed sensor, and the running speeds of the coal mining machine and the tensioning trolley can be acquired through the speed sensors.
The current operating speed of the shearer may be referred to as a first speed value, and the current operating speed of the streamer device may be referred to as a second speed value, among others.
S102: and judging whether the error between the first speed value and the second speed value is larger than a preset threshold value.
Further, the controller judges whether the error between the first speed value and the second speed value is larger than a preset threshold value, wherein the preset threshold value can be flexibly set according to practical application without limitation.
S103: and under the condition that the error is smaller than a 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 towing device to be synchronous with the running speed of the coal mining machine.
Fig. 3 is a schematic diagram of various control methods of a controller provided according to an embodiment of the present disclosure, and as shown in fig. 3, a plc controller according to an embodiment of the present disclosure may employ PID-Fuzzy control, that is, a PID control method (PID control) and a Fuzzy control method (Fuzzy control) may be provided in the controller.
In the case where the determination error is smaller than the preset threshold, for example: when the coal mining machine starts to work, the running speed errors of the coal mining machine and the towing device are small, fuzzy output is almost not generated, fuzzy control is not needed, the problems of steady state deviation, limit ring oscillation and the like can be well solved by the PID control part, and in the case, the controller generates the adjusting signals according to the first speed value and the second speed value by adopting a PID control method.
In the case where the error is greater than the preset threshold, the fuzzy control method will produce a primary control action, in which case the controller generates the adjustment signal from the first speed value and the second speed value using the fuzzy control method.
Wherein the adjustment signal is used to control the operation speed of the streamer device to be synchronized with the operation speed of the shearer, for example: as shown in FIG. 2, the tensioning trolley is of a movable pulley principle, so that the adjusting signal can control the running speed of the towing device to be half of the running speed of the coal mining machine, and therefore the towing device and the coal mining machine can run synchronously. The controller adopts a PID-Fuzzy speed following control strategy, which is the important role of closed-loop control, fully plays the feedback, eliminates factors which are difficult to predict or uncertain, and ensures that the speed correction action of the streamer device is more accurate.
In practical application, fig. 4 is a schematic flow chart of the streamer control of the coal mining machine provided according to the embodiment of the disclosure, and as shown in fig. 4, the streamer control system is initialized first; then, the controller controls signal acquisition (i.e., acquiring a first speed value and a second speed value); further, the controller can also judge whether the coal mining machine moves according to the collected signals, and can also judge the movement direction (ascending or descending) of the coal mining machine. When the coal mining machine is judged to be in an ascending state, the controller continuously reads the state of the coal mining machine and realizes that the output rotating speed of a cable towing motor changes along with the rotating speed of the coal mining machine motor by a speed following control strategy of PID-Fuzzy through changing the current frequency of a frequency converter in the controller (as shown in figure 2, the operating speed of the coal mining machine is controlled to be twice of the operating speed of a cable towing device), so that the cable tensioning ascending function is realized, and when the ascending of the coal mining machine is stopped, the cable towing device also stops ascending to wait for the next action of the coal mining machine; similarly, when the coal mining machine goes down, the controller reads signals of the coal mining machine and realizes the function of the speed following and going down of the cable towing device through a speed following control strategy of PID-Fuzzy, the running speed of the coal mining machine is twice as high as that of the cable towing device in the process, the coal mining machine stops going down, and the cable towing device immediately stops following and going down. Therefore, synchronous operation of the cable towing device and the coal mining machine is achieved. When the system works normally, the control system continuously circulates the steps, so that the normal operation of the system is maintained; when the work is abnormal, the control system sends out an alarm signal and displays the fault type through the human-computer interface, so that the related personnel can conveniently and timely overhaul.
In the embodiment, by acquiring a first speed value of a coal mining machine and a second speed value of a towing device, judging whether an error between the first speed value and the second speed value is larger than a preset threshold value, and if the error is smaller than the preset threshold value, generating an adjusting signal by a controller by adopting a PID control method according to the first speed value and the second speed value, and if the error is larger than the preset threshold value, generating an adjusting signal by the controller by adopting a fuzzy control method according to the first speed value and the second speed value, wherein the adjusting signal is used for controlling the running speed of the towing device to be synchronous with the running speed of the coal mining machine, the towing device can be tensioned according to a speed relation, the actual production requirement of a mine field is met, the working performance is stable, the problems that the coal mining machine is stacked by cables, the cables go out of a groove, the cable stacking influences the mining height and the like are effectively solved, and the towing device is convenient to install, the occupied space is small. In addition, a PID control method or a fuzzy control method is selected to control according to the speed deviation of the coal mining machine and the cable towing device, so that the control accuracy of the cable 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, and as shown in fig. 5, in an operation in which a controller generates an adjustment signal according to a first speed value and a second speed value by using a Fuzzy control method (Fuzzy control), an error and an error change rate of the first speed value and the second speed value are first determined, where the error may be represented by e and the error change rate may be represented by Δ e.
In practical application, for example, Siemens S7-1500 PLC programming can be carried out by using POTVAL V16 to realize the speed following control of the coal mining machine by adopting Siemens series products S7-1500 CPU Programmable Logic Controller (PLC) as a main control unit. Two organization blocks of OB1 and OB3, four data blocks of DB10, DB12, DB13 and DB14, three functions of FC10, FC11 and FC12 and an FB41 function block are added inside the program. In this embodiment, the FC11 module may be used to obtain the error e and the error change rate Δ e according to the first speed value and the second speed value.
Further, the error e and the error change rate Δ e (i.e., the input amount in fig. 5) are subjected to blurring processing by the FC10 module.
Further, based on a preset fuzzy control lookup table, querying the speed adjustment increment delta k corresponding to the error and the error change rate after the fuzzification processingp、△ki、△kd. The fuzzy control lookup table can be established in advance, for example, the fuzzy control lookup table comprises Kp, Ki and Kd, the fuzzy control lookup table Kp, Ki and Kd can be written into data register areas of DB12, DB13 and DB14 after the establishment is completed, and the FC12 module can be adopted to realize the query of the fuzzy control lookup table. In practical application, the error e and the error change rate Δ e (i.e. the input amount) after fuzzification processing can be written into the data register area, and then query is performed to obtain the speed adjustment increment Δ kp、△ki、△kd. Further, the increment Δ k is adjusted according to the speedp、△ki、△kdAnd adjusting the proportional P, integral I and differential D coefficients of the PID control method, and outputting an adjusting signal.
In some embodiments, the delta Δ k is adjusted based on speedp、△ki、△kdIn the operation of adjusting the proportional P, integral I and differential D coefficients of the PID control method, quantization factors can be introduced, and the quantization factors comprise an error gain ke and an error change gain k delta e. In the operation of adjusting the proportional P, integral I and differential D coefficients, the speed is first adjusted by an increment Δ kp、△ki、△kdAnd multiplying the obtained product by a pre-calculated quantization factor, adjusting the coefficients of proportion P, integral I and differential D of the PID control method according to the multiplication result, and outputting an adjusting signal. Thus, the adjustment signal can be optimized by introducing a combination of quantization factors.
In some embodiments, threshold intervals may be set for the error e and the error change rate Δ e, and in the operation of performing the blurring processing on the error e and the error change rate Δ e, as shown in fig. 5, it is first determined whether the input amount (the error e and the error change rate Δ e) exceeds a threshold, where the threshold interval corresponding to the error e may be referred to as a first preset interval, and the threshold interval corresponding to the error change rate Δ e may be referred to as a second preset interval, that is, it is first determined whether the error e is located in the first preset interval, and it is determined whether the error change rate Δ e is located in the second preset interval, respectively. The first preset interval and the second preset interval can be flexibly set, and the setting is not limited.
And under the condition that the error e is positioned in a first preset interval and the error change rate delta e is positioned in a second preset interval, directly carrying out fuzzification processing on the error and the error change rate.
When the error e exceeds a first preset interval, taking an upper limit range or a lower limit range of the first preset interval as an error, for example: if the error e is higher than the upper limit range (upper limit value) of the first preset interval, taking the upper limit range of the first preset interval 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 Δ e 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 manner is similar to the error e, which is not described herein again. Further, the adjusted error and the error change rate are subjected to fuzzification processing.
In the embodiment, the error e and the error change rate Δ e are adjusted according to the threshold, so that the calculation range of the fuzzy query can be reduced, and the calculation efficiency is improved. In addition, the threshold value can be flexibly set according to the practical application, and the application range of the system is improved.
In some embodiments, a calculation method (setting method) of the quantization factor is further disclosed, and the process is as follows:
step 1: the linear part output of the Fuzzy control method Fuzzy is determined as
Step 2: in the case where the acquisition 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 that equation (1) can be equivalent to
Wherein Ts is the sampling time of the system;
and step 3: based on the formula (2), let
To obtain
It can be seen that equation (3) is equivalent to a PID control in a serial manner.
And 4, step 4: determining the PID transfer function of the fuzzy control method according to the formula (3) as
And 5: the PID setting formula of the fuzzy control method is deduced according to the formula (4) as follows:
step 6: corresponding coefficients of the fuzzy control method and the PID control method are equal, namely:
obtaining:
where Am is the gain margin, ωPFor the phase angle crossing frequency, L is a set threshold value, uPMTo adjust the parameters, Am, ωP、L、uPMBelonging to design parameters; k proportional constant, T1 and T2 are integration time, and tau is a time constant and belongs to known parameters; e is an error, delta e is an error change rate, an error gain ke and an error change gain k delta e are quantization factors, and an output gain ku and an output change gain k delta u are scale factors.
At the design parameter (u)PM,L,ωP,Am) And known parameters (K, T)1,T2τ) determined, ke/kΔe/kΔu/kuFor the parameter to be set, the formula (6) has three equations and four unknowns, and for the control system, the following are taken:
wherein a can be determined experimentally and r0For maximum set-point variation, the quantization factor and the scale factor, i.e. k, can be determinede、kΔe、kΔu、ku。
Thus, the quantization factors ke, k Δ e and the control parameters kp, ki, kd of the PID are written into the PLC controller, and then continuous sampling is performed for a set time. It is determined whether the input velocity value exceeds a set threshold range. If the input quantity is not in the threshold range, the input quantity is changed into the upper limit or the lower limit of the threshold value, and then the upper limit or the lower limit is fuzzified and input into the data register. And if the input quantity is within the threshold range, the input quantity is directly input into the register through fuzzification. And calculating delta kp, delta ki and delta kd through a fuzzy control table look-up table, and multiplying the delta kp, the delta ki and the delta kd by a quantization factor to finally obtain the output quantity of the fuzzy control.
It should be noted that, in consideration of the particularity of the coal mine underground production environment, the coal mine underground communication network must have the functions of mobility and random access, and when an emergency occurs, the related information should be accessed to the network at any time. Hardware communication in the coal mining machine towing cable control system mainly completes a data transmission task between the programmable logic controller and the touch screen. Fig. 6 is a schematic diagram of a communication scheme of a coal mining machine streamer control system according to an embodiment of the present disclosure, and as shown in fig. 6, the communications all use MODBUS RTU communication protocol, and such communication protocol can support multiple hardware interfaces such as RS-232 and RS-485, and can also perform data transmission in media such as twisted pair, optical fiber, and the like; the frame format of the protocol for transmitting and receiving data is simple and clear, and the protocol is convenient to use. In addition, in the embodiment of the disclosure, the controller and the upper computer adopt a TCP/IP protocol for real-time communication, thereby providing an effective guarantee for reliable communication.
In the embodiment, by acquiring a first speed value of a coal mining machine and a second speed value of a towing device, judging whether an error between the first speed value and the second speed value is larger than a preset threshold value, and if the error is smaller than the preset threshold value, generating an adjusting signal by a controller by adopting a PID control method according to the first speed value and the second speed value, and if the error is larger than the preset threshold value, generating an adjusting signal by the controller by adopting a fuzzy control method according to the first speed value and the second speed value, wherein the adjusting signal is used for controlling the running speed of the towing device to be synchronous with the running speed of the coal mining machine, the towing device can be tensioned according to a speed relation, the actual production requirement of a mine field is met, the working performance is stable, the problems that the coal mining machine is stacked by cables, the cables go out of a groove, the cable stacking influences the mining height and the like are effectively solved, and the towing device is convenient to install, the occupied space is small. In addition, the PID control method or the fuzzy control method is selected to control according to the speed deviation of the coal mining machine and the towing device, so that the control accuracy of the towing device can be improved.
Fig. 7 is a schematic diagram of a shearer streamer control device provided in accordance with another embodiment of the disclosure. As shown in fig. 7, the shearer streamer control device 70 includes:
the acquisition module 701 is used for acquiring a first speed value of a coal mining machine and a second speed value of a cable towing device;
a determining module 702, configured to determine whether an error between the first speed value and the second speed value is greater than a preset threshold; and
and the control module 703 is configured to, when the error is smaller than a preset threshold, generate an adjustment signal according to the first speed value and the second speed value by using a PID control method, and when the error is larger than the preset threshold, generate an adjustment signal according to the first speed value and the second speed value by using a fuzzy control method, where the adjustment signal is used to control the operation speed of the streamer device to be synchronized with the operation speed of the shearer.
In some embodiments, the control module 703 is specifically configured to: determining an error and an error rate of change of the first and second speed values; fuzzification processing is carried out on the error and the error change rate; inquiring the speed adjustment increment delta kp, delta ki and delta kd corresponding to the error and the error change rate after fuzzification processing based on a preset fuzzy control lookup table; and adjusting the proportional P, integral I and differential D coefficients of the PID control method according to the speed adjustment increments delta kp, delta ki and delta kd, and outputting an adjusting signal.
In some embodiments, the control module 703 is specifically configured to: multiplying the speed adjustment increment delta kp, delta ki and delta kd with a pre-calculated quantization factor; and adjusting the proportional P, integral I and differential D coefficients of the PID control method according to the multiplication result, and outputting an adjusting signal.
In some embodiments, the control module 703 is specifically configured to: judging whether the error is in a first preset interval or not, and judging whether the error change rate is in a second preset interval or not; under the condition that the error is in a first preset interval and the error change rate is in a second preset interval, the error and the error change rate are directly fuzzified; and when the error exceeds a first preset interval and/or the error change rate exceeds a second preset interval, taking the upper limit range or the lower limit range of the first preset interval as the error, and/or taking the upper limit range or the lower limit range of the second preset interval as the error change rate, and fuzzifying the adjusted error and the error change rate.
In some embodiments, the apparatus 70 further comprises: a parameter setting module for determining a quantization factor according to the following steps:
determining the linear part output of the fuzzy control method as
In the case where the acquisition time of the first speed value and the second speed value is greater than the set range, equation (1) may be equivalent to
Based on the formula (2), let
To obtain
Determining the PID transfer function of the fuzzy control method according to the formula (3) as
The PID setting formula of the fuzzy control method is deduced according to the formula (4) as follows:
the corresponding coefficients of the fuzzy control method and the PID control method are equal,
obtaining:
wherein the design parameters include: am gain margin, ωPFor the phase angle crossing frequency, L is a set threshold value, uPMTo adjust the parameters; known parameters include: k proportional constant, integral time T1 and T2, time constant T, error e, error change rate delta e, error gain ke and errorThe variation gain k delta e is a quantization factor, and the output gain ku and the output variation gain k delta u are scale factors.
The present disclosure also provides a computer device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
To achieve the above embodiments, the present disclosure also proposes a computer program product which, when executed by an instruction processor in the computer program product, executes the shearer streamer control method proposed as the foregoing embodiments of the present disclosure.
FIG. 8 illustrates 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 one example and should not impose any limitations on the functionality or scope of use of embodiments of the present disclosure.
As shown in FIG. 8, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
Although not shown in FIG. 8, a disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk Read Only Memory (CD-ROM), a Digital versatile disk Read Only Memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.
A program/utility 40 having a set (at least one) of program modules 42 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 of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the embodiments described in this disclosure.
Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network such as the Internet) via Network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, 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, among others.
The processing unit 16 executes various functional applications, such as implementing the shearer streamer control methods mentioned in the foregoing embodiments, by executing programs stored in the system memory 28.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the 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 used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present disclosure, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present disclosure includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the 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, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer-readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above 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 embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.
Claims (10)
1. A method of controlling a streamer of a coal mining machine, the method being applied to a streamer control system, the streamer control system including a controller and a streamer device for tensioning a coal mining machine cable, the method comprising:
acquiring a first speed value of the shearer and a second speed value of the streamer device;
judging whether the error of the first speed value and the second speed value is larger than a preset threshold value or not; and
and in the case 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 in the case that the error is larger than the preset threshold value, the controller generates the 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 streamer device to be synchronous with the running speed of the coal mining machine.
2. The method of claim 1, wherein the controller generates the adjustment signal from the first speed value and the second speed value using a fuzzy control method comprising:
determining the error and error rate of change of the first and second speed values;
fuzzifying the error and the error change rate;
inquiring the speed adjustment increment delta k corresponding to the error and the error change rate after fuzzification processing based on a preset fuzzy control inquiry tablep、△ki、△kd(ii) a And
adjusting the increment Δ k according to the speedp、△ki、△kdAnd adjusting the proportional P, integral I and differential D coefficients of the PID control method, and outputting the adjusting signal.
3. The method of claim 2, wherein the increment Δ k is adjusted in accordance with the speedp、△ki、△kdAdjusting the proportional P, integral I and differential D coefficients of the PID control method to output the adjusting signal, comprising:
adjusting the speed by an increment Δ kp、△ki、△kdMultiplying by a pre-calculated quantization factor; and
and adjusting the proportional P, integral I and differential D coefficients of the PID control method according to the multiplication result, and outputting the adjusting signal.
4. The method of claim 2, wherein blurring the error and the rate of change of error comprises:
judging whether the error is in a first preset interval or not, and judging whether the error change rate is in a second preset interval or not;
when the error is located in the first preset interval and the error change rate is located in the second preset interval, directly fuzzifying the error and the error change rate; and
and under the condition that the error exceeds the first preset interval and/or the error change rate exceeds the second preset interval, taking the upper limit range or the lower limit range of the first preset interval as the error, and/or taking the upper limit range or the lower limit range of the second preset interval as the error change rate, and fuzzifying the adjusted error and the error change rate.
5. The method of claim 3, further comprising determining the quantization factor according to the steps of:
determining a linear portion output of the fuzzy control method as
In the case that 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 the formula (2), let
To obtain
Determining the PID transfer function of the fuzzy control method according to the formula (3) as
Deducing a PID setting formula of the fuzzy control method according to a formula (4) as follows:
the corresponding coefficients of the fuzzy control method and the PID control method are equal,
Ti F＝Ti,
obtaining:
where Am is the gain margin, ωPFor the phase angle crossing frequency, L is a set threshold value, uPMTo adjust the parameters; k proportional constant, T1 and T2 are integration time, tau is a time constant, e is an error, delta e is an error change rate, ke is an error gain, K delta e is an error change gain, ke and K delta e belong to the quantization factor, ku is an output gain, K delta u is an output change gain, and ku and K delta u are proportional factors.
6. A coal mining machine tow cable control device, comprising:
the acquisition module is used for acquiring a first speed value of the coal mining machine and a second speed value of the cable towing device;
the judging module is used for judging whether the error between the first speed value and the second speed value is larger than a preset threshold value or not; and
and the control module is used for generating an adjusting signal according to the first speed value and the second speed value by adopting a PID control method under the condition that the error is smaller than the preset threshold value, and generating the adjusting signal according to the first speed value and the second speed value by adopting a fuzzy control method under the condition that the error is larger than the preset threshold value, wherein the adjusting signal is used for controlling the running speed of the towing device to be synchronous with the running speed of the coal mining machine.
7. The apparatus of claim 6, wherein the control module is specifically configured to:
determining the error and error rate of change of the first and second speed values;
fuzzifying the error and the error change rate;
inquiring speed adjustment increments delta kp, delta ki and delta kd corresponding to the error and the error change rate after fuzzification processing based on a preset fuzzy control lookup table; and
and adjusting the proportional P, integral I and differential D coefficients of the PID control method according to the speed adjusting increment delta kp, delta ki and delta kd, and outputting the adjusting signal.
8. The apparatus of claim 7, wherein the control module is specifically configured to:
multiplying the speed adjustment increments Δ kp, Δ ki, Δ kd by a pre-calculated quantization factor; and
and adjusting the proportional P, integral I and differential D coefficients of the PID control method according to the multiplication result, and outputting the adjusting signal.
9. The apparatus of claim 7, wherein the control module is specifically configured to:
judging whether the error is in a first preset interval or not, and judging whether the error change rate is in a second preset interval or not;
when the error is located in the first preset interval and the error change rate is located in the second preset interval, directly fuzzifying the error and the error change rate; and
and under the condition that the error exceeds the first preset interval and/or the error change rate exceeds the second preset interval, taking the upper limit range or the lower limit range of the first preset interval as the error, and/or taking the upper limit range or the lower limit range of the second preset interval as the error change rate, and fuzzifying the adjusted error and the error change rate.
10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
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