CN115949405B - Coal mining machine control method, system, coal mining machine, electronic equipment and computer medium - Google Patents
Coal mining machine control method, system, coal mining machine, electronic equipment and computer medium Download PDFInfo
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Abstract
The invention relates to the technical field of coal mining machines, and provides a coal mining machine control method, a system, a coal mining machine, electronic equipment and a computer medium, wherein the method comprises the following steps: after the coal mining machine is electrified and started, controlling the cutting motor to run to a preset rated speed, and accelerating the traction motor; monitoring a cutting operation parameter of a cutting motor and a traction operation parameter of a traction motor in real time; based on the cutting operation parameters and the traction operation parameters, the operation speed of the cutting motor and/or the traction motor is adjusted in real time until any one of the cutting operation parameters and the traction operation parameters reaches a corresponding preset upper limit value. The invention is used for solving the defect that the coal mining machine cannot be guaranteed to run in an efficient area due to the adoption of a control method for controlling the possible shutdown of the intelligent coal mining machine in the prior art, and realizing the coordinated running of cutting and traction of the coal mining machine, thereby ensuring that the coal mining machine can be kept to run in the efficient area for different working conditions, and improving the stability and the coal mining efficiency of the coal mining machine.
Description
Technical Field
The invention relates to the technical field of coal mining machines, in particular to a coal mining machine control method, a coal mining machine control system, a coal mining machine, electronic equipment and a computer medium.
Background
The coal mining machine is an indispensable device in coal mining operation, and the intellectualization of the coal mining machine is already on a primary scale.
However, intelligent shearers often suffer from different downtime under different conditions, such as: in order to avoid the stop caused by the reasons of the excessive temperature of the rocker arm, the existing control modes are respectively controlled aiming at possible stop reasons, such as: when the traction motor is blocked/overloaded, traction force, cutting force and the like are increased and kept unchanged, and when the cutting motor is overloaded, cutting force, traction force and the like are increased and kept unchanged.
In the process of realizing the technical scheme of the invention, the inventor finds that the existing independent control mode reduces the shutdown probability of the intelligent coal mining machine, but has the following problems: only the operation efficiency of the coal mining machine can be improved by a small margin, and the whole coal mining machine cannot be operated in a high-efficiency area.
Disclosure of Invention
The invention provides a coal cutter control method, a system, a coal cutter, electronic equipment and a computer medium, which are used for solving the defect that the coal cutter cannot be guaranteed to run in a high-efficiency area due to the adoption of a control method for controlling the possible shutdown of an intelligent coal cutter in the prior art, and realizing the coordinated running of cutting and traction of the coal cutter, thereby ensuring that the coal cutter can be kept to run in the high-efficiency area for different working conditions, and improving the stability and the coal cutter efficiency of the coal cutter.
The invention provides a coal cutter control method, which comprises the following steps:
after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine;
monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time;
and adjusting the running speed of the cutting motor and/or the traction motor in real time based on the cutting running parameter and the traction running parameter until any one of the cutting running parameter and the traction running parameter reaches a corresponding preset upper limit value.
Preferably, according to the coal cutter control method of the present invention, the adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter includes:
Determining whether the traction operation parameter reaches a first preset adjustment limit value, wherein the first preset adjustment limit value is a preset adjustment limit value of the traction motor;
when any operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, the operation speed of the cutting motor is increased;
otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed.
Preferably, according to the coal cutter control method of the present invention, after the operation speed of the cutting motor is increased, the method further includes:
controlling the traction motor to accelerate, and determining whether any parameter of the traction operation parameters reaches a corresponding preset upper limit value when the cutting operation parameters reach a second preset adjustment limit value, wherein the second preset adjustment limit value is a preset adjustment limit value of the cutting motor;
if yes, controlling the cutting motor and the traction motor to operate at the current operating speed;
if not, controlling the traction motor to accelerate until any one of the cutting operation parameters and the traction operation parameters reaches the corresponding preset upper limit value.
Preferably, the coal mining machine control method according to the present invention further includes:
controlling the operation of an oil pump motor of the coal mining machine;
monitoring whether rocker arm operation parameters of the oil pump motor meet preset speed increasing requirements in real time, wherein the preset speed increasing requirements comprise: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of preset power;
if yes, controlling the oil pump motor to accelerate;
if not, controlling the oil pump motor to operate at the current operating speed.
Preferably, according to the coal mining machine control method of the present invention, after the controlling the oil pump motor to accelerate, the method further includes:
monitoring the rocker arm supporting force and the output power in real time;
and controlling the oil pump motor to operate at the current operating speed when the rocker arm supporting force meets the use requirement and/or the output power reaches the preset upper power limit.
The invention also provides a coal cutter control system, which comprises: the device comprises a parameter detection module, a cutting frequency converter, a traction frequency converter and a controller;
the parameter detection module is used for detecting cutting operation parameters of a cutting motor of the coal mining machine and traction operation parameters of a traction motor of the coal mining machine;
The cutting frequency converter is used for responding to a first control instruction, wherein the first control instruction is an instruction which is generated by the controller based on the cutting operation parameter and the traction operation parameter and used for controlling the cutting motor;
the traction frequency converter is used for responding to a second control instruction, and the second control instruction is an instruction which is generated by the controller based on the cutting operation parameter and the traction operation parameter and used for controlling the traction motor;
the controller is used for enabling the cutting motor to run to a preset rated speed after the coal mining machine is electrified and started, accelerating the traction motor, monitoring the cutting operation parameters of the cutting motor and the traction operation parameters of the traction motor in real time, and enabling the running speed of the cutting motor and/or the traction motor to be adjusted in real time based on the cutting operation parameters and the traction operation parameters until any one of the cutting operation parameters and the traction operation parameters reaches a corresponding preset upper limit value.
Preferably, the shearer control system according to the present invention further comprises: an oil pump frequency converter;
The parameter detection module is also used for detecting the rocker arm operation parameter of the oil pump motor of the coal mining machine;
the oil pump frequency converter is used for responding to a third control instruction, wherein the third control instruction is an instruction which is generated by the controller based on the rocker arm operation parameter and a preset speed increasing requirement and used for controlling the oil pump motor;
the controller is also used for enabling the oil pump motor to operate, monitoring whether the rocker arm operation parameter of the oil pump motor meets the preset speed-up requirement in real time, and enabling the oil pump motor to accelerate when the rocker arm operation parameter meets the preset speed-up requirement, otherwise enabling the oil pump motor to operate at the current operation speed;
the preset acceleration requirements include: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of preset power.
The invention also provides a coal mining machine comprising the coal mining machine control system or controlled by the coal mining machine control method.
The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the coal mining machine control method according to any one of the above when executing the computer program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements a shearer control method as described in any one of the above.
According to the coal cutter control method, the system, the coal cutter, the electronic equipment and the computer medium, after the coal cutter is electrified and started, the cutting motor of the coal cutter is controlled to run to the preset rated speed, the traction motor of the coal cutter is accelerated, then the cutting operation parameters of the cutting motor and the traction operation parameters of the traction motor are monitored in real time, the running speed of the cutting motor and/or the traction motor is adjusted in real time based on the cutting operation parameters and the traction operation parameters until any one of the cutting operation parameters and the traction operation parameters reaches the corresponding preset upper limit value, so that the control of the cutting motor and the traction motor is not only based on the respective running parameters, but also used for mutual optimization, and therefore the running stability of the coal cutter is effectively improved through the coordinated control of the cutting motor and the traction motor, the coal cutter is enabled to run in a high-efficiency zone, and the coal cutter is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is one of the flow charts of a shearer control method according to one embodiment of the present invention;
FIG. 2 is a schematic flow chart of a shearer control method for controlling a cutting motor and a traction motor of the shearer according to one embodiment of the present invention;
FIG. 3 is a second flow chart of a method for controlling a shearer in accordance with one embodiment of the present invention;
FIG. 4 is a schematic flow chart of the control of the oil pump motor of the shearer using the shearer control method provided by one embodiment of the present invention;
FIG. 5 is a schematic diagram of a shearer control system according to one embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals:
510: a parameter detection module; 520: a cutting frequency converter; 530: a traction inverter; 540: a controller; 550: a cutting motor; 560: traction motor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes, with reference to fig. 1 to 4, a control method of a coal mining machine according to the present invention, which may be executed by software and/or hardware of a controller of the coal mining machine, where the controller may be a controller for controlling the coal mining machine itself, or may be a controller configured on or remotely connected to the coal mining machine and specifically configured to execute the control method of the coal mining machine according to the embodiment of the present invention, where the controller may be any software and/or hardware capable of executing control, for example: programmable controller PLC, etc.
The coal mining machine control method provided by the embodiment of the invention, as shown in fig. 1, comprises the following steps:
101. after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine;
it can be understood that after the coal mining machine is electrified and started, the controller firstly needs to perform self-checking on the coal mining machine, and then after the self-checking is confirmed to be abnormal, the cutting motor of the coal mining machine is controlled to operate to a preset rated speed, and the traction motor of the coal mining machine is started and accelerated.
After the coal mining machine is started, the cutting motor is generally started first, and then the traction motor is gradually accelerated after the cutting motor reaches a certain rotating speed.
Specifically, the preset rated speed is the running speed of the preset cutting motor, and the cutting motor can be flexibly set according to the requirement, so that after the coal mining machine is electrified and started, the controller automatically controls the traction motor to start and accelerate after controlling the cutting motor to run to the preset rated speed.
Further, a traction frequency converter and a cutting frequency converter can be configured on the coal cutter, and then the traction frequency converter and the cutting frequency converter are controlled by a controller to realize the control of the traction motor and the cutting motor of the coal cutter through the soft start of the frequency converter, so that the problem that the cutting motor, the traction motor and the planetary mechanism are easy to impact due to the direct start of the cutting motor and the traction motor is avoided, the motor is protected from impact, the failure probability of the motor is reduced, the service life of the motor is prolonged, and the running stability of the coal cutter is further improved.
102. Monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time;
it will be appreciated that the operating parameters of the cutting motor and the traction motor, such as temperature, current, etc., have a direct effect on the operation of the shearer, for example: when the traction motor or the cutting motor is overloaded, i.e. the current or the output power exceeds the maximum extent that the motor can bear, and the temperature of the motor is too high, the coal mining machine is stopped.
Specifically, the operation state of the coal mining machine can be effectively monitored by monitoring the cutting operation parameters of the cutting motor and the traction operation parameters of the traction motor in real time in the acceleration process of the traction motor, so that shutdown caused by the fact that the operation parameters exceed the limit value is avoided.
More specifically, the cutting operation parameters may include cutting power, cutting motor temperature, cutting motor operation speed, and the like, and the traction operation parameters may include traction power, traction motor temperature, traction motor operation speed, and the like.
103. And adjusting the running speed of the cutting motor and/or the traction motor in real time based on the cutting running parameter and the traction running parameter until any one of the cutting running parameter and the traction running parameter reaches a corresponding preset upper limit value.
It will be appreciated that when the shearer is on a working surface with more rock, the cutting motor is prone to heat, the rocker arm high-speed shaft temperature is also prone to be raised rapidly, and although the existing shearer is provided with a constant power protection function, the traction speed of the shearer is also restricted, so that the shearer coal mining efficiency is reduced, therefore, by controlling each operation component of the shearer for each operation parameter, the probability of shutdown of the shearer can be reduced, but the operation of other operation components cannot be adjusted according to the output state of one operation component, for example: when the output power of the traction motor reaches the upper limit value of the preset traction power, the shutdown of the coal mining machine is avoided only by reducing the output power of the traction motor, however, when the cutting motor is accelerated, the traction current of the traction motor is reduced, if the cutting power of the cutting motor does not reach the upper limit value of the preset cutting power at the moment, the efficiency of the coal mining machine can be improved and the output power of the traction motor can be reduced by accelerating the cutting motor, so that the operation of the coal mining machine is controlled by controlling each operation part of the coal mining machine according to each operation parameter, and the coal mining machine cannot be ensured to always operate in a high-efficiency area.
Specifically, the preset upper limit value refers to the maximum value that each operation parameter of the traction motor and the cutting motor can reach, that is, when a certain operation parameter exceeds the corresponding preset upper limit value, the risk of stopping the coal mining machine due to overload or high temperature and the like is increased sharply, and even the motor is damaged. The preset upper limit value can be specifically set according to the conditions of the traction motor, the cutting motor and the overall condition of the coal mining machine, and specific working conditions of the coal mining machine are set, for example: set to the rated value of each operation parameter, 1.1 times of the rated value, 1.2 times of the rated value, etc.
The cutting operation parameters and the traction operation parameters of the coal mining machine are monitored in real time, and the operation speed of the cutting motor and/or the traction motor is adjusted based on the cutting operation parameters and the traction operation parameters until any one of the cutting operation parameters and the traction operation parameters reaches a preset upper limit value, so that closed-loop control of mutual pushing and mutual restriction of the cutting motor and the traction motor is formed, stable and safe operation of the coal mining machine is ensured, higher coal mining efficiency can be ensured under different comprehensive working conditions of the coal mining machine, and energy saving and efficiency improvement of the coal mining machine are realized.
Based on the foregoing embodiment, the adjusting, in real time, the operation speed of the cutting motor and/or the traction motor based on the cutting operation parameter and the traction operation parameter includes:
determining whether the traction operation parameter reaches a first preset adjustment limit value, wherein the first preset adjustment limit value is a preset adjustment limit value of the traction motor;
when any operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, the operation speed of the cutting motor is increased;
otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed.
It may be appreciated that the first preset adjustment limit is a preset node for triggering the controller to adjust the operation speed of the cutting motor, and may specifically be defined as a value corresponding to each traction operation parameter when the traction motor is operated to an operating state relatively close to the output maximum output power, for example, the adjustment limit may include an adjustment limit of the traction operation parameter that directly affects the output power of the traction motor, such as a traction motor temperature and a traction current. Therefore, the higher the first preset adjustment limit value is set, the higher the output power of the corresponding traction motor is, the higher the coal mining efficiency of the coal mining machine is, and meanwhile, the stronger the impact force on the mechanical structure of the coal mining machine is. Therefore, the determination of the first preset adjustment limit value needs to be comprehensively considered by combining the characteristics of the mechanical structure of the coal mining machine, the output power and the specific working condition of the coal mining machine, and the specific rule is that the higher the first preset adjustment limit value is set, the stronger the requirement on the mechanical structure of the coal mining machine is, otherwise, the lower the setting is, the softer the adjustment of the traction motor and the cutting motor is, but the lower the first preset adjustment limit value is set, and the adjustment meaning is not great, so the first preset adjustment limit value is generally set to 80% -100% of the rated value of each traction operation parameter.
In one embodiment, taking as an example traction operating parameters including traction motor temperature, traction motor operating speed, and current, a first preset adjustment limit may be set to 90% of the nominal values of traction motor temperature, traction motor operating speed, and current.
Specifically, when the cutting motor is accelerated, the traction current of the traction motor is reduced, taking the traction operation parameters including the temperature and the current of the traction motor as an example, and assuming that the first preset adjustment limit value is 90% of the rated value of the temperature and the current of the traction motor, the controller can further determine whether the cutting operation parameters of the cutting motor are smaller than the preset upper limit value when determining that the temperature or the current of the traction motor reaches 90% of the rated value, and increase the operation speed of the cutting motor when the cutting operation parameters such as the cutting power of the cutting motor, the temperature of the cutting motor and the like are smaller than the corresponding preset upper limit value, thereby not only increasing the coal mining efficiency of the coal mining machine, but also reducing the traction current of the traction motor, and further increasing the operation speed of the traction motor so as to further increase the coal mining efficiency of the coal mining machine.
More specifically, if any operation parameter of the traction motor reaches the first preset adjustment limit value, but the operation parameter which has reached the corresponding preset upper limit value exists in the cutting operation parameters, it is indicated that the cutting motor is in a limit working state capable of ensuring normal and stable operation of coal mining, that is, the cutting motor is in a most efficient working state, and at the moment, the controller controls the cutting motor and the traction motor to operate at the current operation speed, so that on one hand, the operation speed of the cutting motor can be prevented from being continuously increased, and on the other hand, the cutting motor is prevented from being easily failed, and on the other hand, the coal mining machine is in a relatively most efficient output state.
Based on the foregoing embodiment, after the operation speed of the cutting motor is improved, the method further includes:
controlling the traction motor to accelerate, and determining whether any parameter of the traction operation parameters reaches a corresponding preset upper limit value when the cutting operation parameters reach a second preset adjustment limit value, wherein the second preset adjustment limit value is a preset adjustment limit value of the cutting motor;
if yes, controlling the cutting motor and the traction motor to operate at the current operating speed;
if not, controlling the traction motor to accelerate until any one of the cutting operation parameters and the traction operation parameters reaches the corresponding preset upper limit value.
It will be appreciated that the second preset adjustment limit is a preset node for triggering the controller to adjust the running speed of the traction motor, and the specific setting principle is the same as the first preset adjustment limit, and is generally set to 80% -100% of the rated value of each cutting running parameter.
In one embodiment, taking the example of the cutting operation parameters including the cutting motor temperature, the cutting motor operation speed, and the current, the second preset adjustment limit may be set to 90% of the rated values of the cutting motor temperature, the cutting motor operation speed, and the current.
Specifically, when the cutting motor is accelerated, the traction current of the traction motor is reduced, the coal mining efficiency of the coal mining machine can be further improved by controlling the cutting motor to accelerate, taking the cutting operation parameters including the cutting motor temperature and the current, and the traction operation parameters still including the traction motor temperature and the current as an example, assuming that the second preset adjustment limit value is 90% of the rated values of the cutting motor temperature and the current, because the controller is also in the acceleration process in the process of controlling the traction motor to accelerate, the controller can determine whether to continuously adjust the operation speed of the traction motor by taking whether the cutting motor temperature or the current of the cutting motor reaches 90% of the rated values of the cutting motor temperature and the current as an adjustment node, namely, when any one of the cutting motor temperature or the current reaches 90% of the rated values, further determining whether any one of the traction motor temperature and the current of the traction motor reaches the preset upper limit value set for the traction motor temperature and the current, and continuously improving the operation speed of the traction motor until any one of the cutting motor temperature and the current reaches the preset upper limit value when the traction motor temperature and the current of the traction motor reaches the corresponding preset upper limit value, and the coal mining efficiency is further improved.
More specifically, if any operation parameter of the traction motor reaches a corresponding preset upper limit value, although the cutting operation parameter only reaches a second preset adjustment limit value, the traction motor is in a limit working state capable of ensuring normal and stable operation of coal mining, namely, the traction motor is in a most efficient working state, and at the moment, the controller controls the cutting motor and the traction motor to operate at the current operation speed, so that on one hand, the operation speed of the traction motor can be prevented from being continuously increased, and on the other hand, the traction motor is in a relatively most efficient output state.
In addition, for the setting of the first preset adjustment limit value and the second preset adjustment limit value, the adjustment limit value can be further determined based on continuous learning of the operation parameters of the actual work of the coal mining machine, so that the adjustment limit values can be reasonably determined for the automatic identification of different coal mining machines, and the coal mining efficiency of the coal mining machine is further improved.
As shown in fig. 2, in order to use the method for controlling a coal mining machine according to the embodiment of the present invention to control a cutting motor and a traction motor of the coal mining machine, taking a cutting operation parameter and a traction operation parameter each including a motor temperature, an output power and an operation speed as examples, the method for controlling the cutting motor and the traction motor mainly includes the following steps:
201. In the working process of the coal mining machine, determining whether the coal mining machine is in a working state with maximum efficiency in real time; if yes, go to step 2041; if not, go to steps 2021 and 2022, respectively;
2021. cutting enabled and steps 2031, 2032, and 2033 are performed, respectively;
2022. traction enabled, and steps 2031, 2032, and 2033 are performed, respectively;
2031. determining whether the temperature of the motor reaches a preset upper limit value; if yes, go to step 2041; if not, executing step 2042;
2032. determining whether the output power reaches a preset upper limit value; if yes, go to step 2041; if not, executing step 2042;
2033. determining whether the running speed reaches a preset upper limit value; if yes, go to step 2041; if not, executing step 2042;
2041. controlling the cutting motor and the traction motor to operate at the current operating speed;
2042. and controlling the cutting motor and/or the traction motor to accelerate.
Based on the foregoing embodiment, the control method of the coal mining machine according to the embodiment of the present invention controls the cutting motor and the traction motor, and simultaneously controls the oil pump motor, where, as shown in fig. 3, the method mainly includes the following steps:
301. controlling the operation of an oil pump motor of the coal mining machine;
302. Monitoring whether rocker arm operation parameters of the oil pump motor meet preset speed increasing requirements in real time, wherein the preset speed increasing requirements comprise: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of preset power; if yes, go to step 303; if not, go to step 304;
303. controlling the acceleration of the oil pump motor;
304. and controlling the oil pump motor to operate at the current operating speed.
Specifically, whether the rocker arm operation parameters of the oil pump motor meet the preset speed increasing requirement or not is monitored in real time, so that the controller can control the oil pump motor to accelerate when the rocker arm supporting force is insufficient and the output power of the oil pump motor is smaller than the preset upper power limit, and automatic control of the oil pump motor is achieved.
More specifically, the oil pump motor is controlled by the controller, so that the controller can reasonably match the running speeds of the cutting motor, the traction motor and the oil pump motor of the coal mining machine, thereby not only realizing the complete monitoring of three motors in the coal mining machine, but also further perfecting the integral intellectualization of the coal mining machine.
Based on the foregoing embodiment, the controlling the oil pump motor after acceleration further includes:
Monitoring the rocker arm supporting force and the output power in real time;
and controlling the oil pump motor to operate at the current operating speed when the rocker arm supporting force meets the use requirement and/or the output power reaches the preset upper power limit.
Specifically, the preset upper power limit refers to the maximum power value of the oil pump motor that can be safely and stably output, that is, when a certain output power exceeds the preset upper power limit, the risk of damaging the oil pump motor increases sharply. The preset upper power limit can be specifically set according to the self condition of the oil pump motor, the overall condition of the coal mining machine, the specific working condition and the like.
As shown in fig. 4, in order to use the control method of the coal mining machine provided by the embodiment of the present invention, a flow chart for controlling an oil pump motor of the coal mining machine is provided, wherein the flow chart mainly includes the following steps:
401. in the working process of the coal mining machine, determining whether the supporting force of the rocker arm meets the use requirement in real time; if yes, go to step 4041; if not, go to step 402;
402. enabling the oil pump and performing steps 4031 and 4032 respectively;
4031. determining whether the rocker arm supporting force meets the use requirement; if yes, go to step 4041; if not, go to step 4042;
4032. Determining whether the output power reaches a preset upper power limit; if yes, go to step 4041; if not, go to step 4042;
4041. controlling the oil pump motor to operate at the current operating speed;
4042. and controlling the oil pump motor to speed up.
In summary, the coal mining machine control method provided by the embodiment of the invention can be realized by further configuring a Programmable Logic Controller (PLC), a traction frequency converter, a cutting frequency converter, an oil pump frequency converter, a corresponding temperature sensor, a current transformer, a pressure sensor, a speed sensor and the like on the existing coal mining machine, so that the control signals of the frequency converters of all motors are controlled by the Programmable Logic Controller (PLC), closed-loop control is performed through the feedback sensor data, the sensor feedback signals of all motors optimize the output of the motors, and simultaneously optimize the output of other motors, so that the traction, cutting and oil pump motors simultaneously perform effective output control, thereby not only effectively protecting all motors and mechanical structures of the coal mining machine, but also achieving the purposes of improving quality and enhancing efficiency while enhancing stability.
The following describes a control system of a coal mining machine provided by the present invention, and the control system of the coal mining machine described below and the control method of the coal mining machine described above can be referred to correspondingly.
The coal cutter control system according to the embodiment of the invention, as shown in fig. 5, includes: parameter detection module 510, cutting inverter 520, traction inverter 530, and controller 540; wherein, the liquid crystal display device comprises a liquid crystal display device,
the parameter detection module 510 is configured to detect a cutting operation parameter of a cutting motor 550 of the coal mining machine and a traction operation parameter of a traction motor 560 of the coal mining machine;
the cutting inverter 520 is configured to control an operation speed of the cutting motor 550 in response to a first control instruction, where the first control instruction is an instruction generated by the controller 540 based on the cutting operation parameter and the traction operation parameter and used for controlling the cutting motor 550;
the traction inverter 530 is configured to control an operation speed of the traction motor 560 in response to a second control instruction, where the second control instruction is an instruction generated by the controller 540 based on the cutting operation parameter and the traction operation parameter and used for controlling the traction motor 560;
the controller 540 is configured to, after the coal mining machine is powered on and started, enable the cutting motor 550 to operate to a preset rated speed, accelerate the traction motor 560, monitor the cutting operation parameter of the cutting motor 550 and the traction operation parameter of the traction motor 560 in real time, and adjust the operation speed of the cutting motor 550 and/or the traction motor 560 in real time based on the cutting operation parameter and the traction operation parameter until any parameter of the cutting operation parameter and the traction operation parameter reaches a corresponding preset upper limit value.
Specifically, the parameter detection module may include a temperature sensor, a current transformer, a pressure sensor, a speed sensor, etc. to detect each operating parameter of the cutting motor and the traction motor, respectively.
According to the coal cutter control system provided by the embodiment of the invention, after the coal cutter is electrified and started, the cutting motor of the coal cutter is controlled to run to the preset rated speed, the traction motor of the coal cutter is accelerated, then the cutting operation parameter of the cutting motor and the traction operation parameter of the traction motor are monitored in real time, so that the running speed of the cutting motor and/or the traction motor is adjusted in real time based on the cutting operation parameter and the traction operation parameter until any one of the cutting operation parameter and the traction operation parameter reaches the corresponding preset upper limit value, and the control of the cutting motor and the traction motor is not only based on the respective running parameter but also used for mutual optimization, so that the running stability of the coal cutter is effectively improved through the coordinated control of the cutting motor and the traction motor, and the coal cutter is enabled to run in a high-efficiency zone, and the coal cutter efficiency is improved.
Based on the foregoing embodiment, the coal mining machine control system provided by the embodiment of the present invention further includes: an oil pump frequency converter;
The parameter detection module is also used for detecting the rocker arm operation parameter of the oil pump motor of the coal mining machine;
the oil pump frequency converter is used for responding to a third control instruction, wherein the third control instruction is an instruction which is generated by the controller based on the rocker arm operation parameter and a preset speed increasing requirement and used for controlling the oil pump motor;
the controller is also used for enabling the oil pump motor to operate, monitoring whether the rocker arm operation parameter of the oil pump motor meets the preset speed-up requirement in real time, and enabling the oil pump motor to accelerate when the rocker arm operation parameter meets the preset speed-up requirement, otherwise enabling the oil pump motor to operate at the current operation speed;
the preset acceleration requirements include: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of preset power.
Specifically, in the coal cutter control system provided by the embodiment of the invention, through configuring frequency converters for the traction motor, the cutting motor and the oil pump motor, and then based on a controller such as a Programmable Logic Controller (PLC) of the coal cutter and a parameter detection module such as a temperature sensor, a speed sensor and a pressure sensor, the running states of the motors of the coal cutter are comprehensively analyzed, for example: the traction speed is low, the output power is high, the control of the cutting motor can be optimized, the cutting speed is improved, the coal quantity of the roller is increased, the traction resistance is reduced, the traction speed is improved, the coal mining efficiency is improved, the motor and the mechanical structure are protected from impact, and the aim of improving quality and efficiency is fulfilled while the running stability of the coal mining machine is enhanced.
Optionally, the controller is specifically configured to:
determining whether the traction operation parameter reaches a first preset adjustment limit value, wherein the first preset adjustment limit value is a preset adjustment limit value of the traction motor;
when any operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, the operation speed of the cutting motor is increased;
otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed.
Optionally, the controller is further specifically configured to:
controlling the traction motor to accelerate, and determining whether any parameter of the traction operation parameters reaches a corresponding preset upper limit value when the cutting operation parameters reach a second preset adjustment limit value, wherein the second preset adjustment limit value is a preset adjustment limit value of the cutting motor;
if yes, controlling the cutting motor and the traction motor to operate at the current operating speed;
if not, controlling the traction motor to accelerate until any one of the cutting operation parameters and the traction operation parameters reaches the corresponding preset upper limit value.
Optionally, the controller is further configured to:
Controlling the operation of an oil pump motor of the coal mining machine;
monitoring whether rocker arm operation parameters of the oil pump motor meet preset speed increasing requirements in real time, wherein the preset speed increasing requirements comprise: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of preset power;
if yes, controlling the oil pump motor to accelerate;
if not, controlling the oil pump motor to operate at the current operating speed.
Optionally, the controller is further configured to:
monitoring the rocker arm supporting force and the output power in real time;
and controlling the oil pump motor to operate at the current operating speed when the rocker arm supporting force meets the use requirement and/or the output power reaches the preset upper power limit.
The embodiment of the invention also provides a coal mining machine comprising the coal mining machine control system or controlled by the coal mining machine control method.
It is understood that the coal mining machine including the coal mining machine control system according to any one of the embodiments or the coal mining machine controlled by the coal mining machine control method according to any one of the embodiments has all the advantages and technical effects of the coal mining machine control system or the coal mining machine control method according to any one of the embodiments, and will not be repeated herein.
Fig. 6 illustrates a physical schematic diagram of an electronic device, as shown in fig. 6, which may include: processor 610, communication interface (Communications Interface) 620, memory 630, and communication bus 640, wherein processor 610, communication interface 620, and memory 630 communicate with each other via communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a shearer control method that includes: after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine; monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time; and adjusting the running speed of the cutting motor and/or the traction motor in real time based on the cutting running parameter and the traction running parameter until any one of the cutting running parameter and the traction running parameter reaches a corresponding preset upper limit value.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a shearer control method as provided by the above methods, the method comprising: after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine; monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time; and adjusting the running speed of the cutting motor and/or the traction motor in real time based on the cutting running parameter and the traction running parameter until any one of the cutting running parameter and the traction running parameter reaches a corresponding preset upper limit value.
In yet another aspect, the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements a shearer control method, the method comprising: after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine; monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time; and adjusting the running speed of the cutting motor and/or the traction motor in real time based on the cutting running parameter and the traction running parameter until any one of the cutting running parameter and the traction running parameter reaches a corresponding preset upper limit value.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of controlling a shearer, comprising:
after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine;
monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time;
based on the cutting operation parameters and the traction operation parameters, the operation speed of the cutting motor and/or the traction motor is adjusted in real time until any one of the cutting operation parameters and the traction operation parameters reaches a corresponding preset upper limit value;
wherein, based on the cutting operation parameter and the traction operation parameter, the operation speed of the cutting motor and/or the traction motor is adjusted in real time, including:
Determining whether the traction operation parameter reaches a first preset adjustment limit value, wherein the first preset adjustment limit value is a preset adjustment limit value of the traction motor;
when any operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, the operation speed of the cutting motor is increased;
otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed;
meanwhile, after the operation speed of the cutting motor is improved, the method further comprises the following steps:
controlling the traction motor to accelerate, and determining whether any parameter of the traction operation parameters reaches a corresponding preset upper limit value when the cutting operation parameters reach a second preset adjustment limit value, wherein the second preset adjustment limit value is a preset adjustment limit value of the cutting motor;
if yes, controlling the cutting motor and the traction motor to operate at the current operating speed;
if not, controlling the traction motor to accelerate until any one of the cutting operation parameters and the traction operation parameters reaches the corresponding preset upper limit value.
2. The shearer control method of claim 1, further comprising:
Controlling the operation of an oil pump motor of the coal mining machine;
monitoring whether rocker arm operation parameters of the oil pump motor meet preset speed increasing requirements in real time, wherein the preset speed increasing requirements comprise: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of preset power;
if yes, controlling the oil pump motor to accelerate;
if not, controlling the oil pump motor to operate at the current operating speed.
3. The method of claim 2, wherein the controlling the oil pump motor after acceleration further comprises:
monitoring the rocker arm supporting force and the output power in real time;
and controlling the oil pump motor to operate at the current operating speed when the rocker arm supporting force meets the use requirement and/or the output power reaches the preset upper power limit.
4. A shearer control system, comprising: the device comprises a parameter detection module, a cutting frequency converter, a traction frequency converter and a controller;
the parameter detection module is used for detecting cutting operation parameters of a cutting motor of the coal mining machine and traction operation parameters of a traction motor of the coal mining machine;
the cutting frequency converter is used for responding to a first control instruction, wherein the first control instruction is an instruction which is generated by the controller based on the cutting operation parameter and the traction operation parameter and used for controlling the cutting motor;
The traction frequency converter is used for responding to a second control instruction, and the second control instruction is an instruction which is generated by the controller based on the cutting operation parameter and the traction operation parameter and used for controlling the traction motor;
the controller is used for enabling the cutting motor to run to a preset rated speed after the coal mining machine is electrified and started, accelerating the traction motor, monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time, and enabling the running speed of the cutting motor and/or the traction motor to be adjusted in real time based on the cutting operation parameters and the traction operation parameters until any parameter of the cutting operation parameters and the traction operation parameters reaches a corresponding preset upper limit value;
the controller is specifically configured to determine whether the traction operation parameter reaches a first preset adjustment limit, where the first preset adjustment limit is a preset adjustment limit of the traction motor; when any operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, the operation speed of the cutting motor is increased; otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed; and the traction motor is controlled to speed up after the running speed of the cutting motor is increased, and when the cutting running parameters reach a second preset adjustment limit value, whether any parameter of the traction running parameters reaches the corresponding preset upper limit value is determined, wherein the second preset adjustment limit value is the preset adjustment limit value of the cutting motor; if yes, controlling the cutting motor and the traction motor to operate at the current operating speed; if not, controlling the traction motor to accelerate until any one of the cutting operation parameters and the traction operation parameters reaches the corresponding preset upper limit value.
5. The shearer control system of claim 4, further comprising: an oil pump frequency converter;
the parameter detection module is also used for detecting the rocker arm operation parameter of the oil pump motor of the coal mining machine;
the oil pump frequency converter is used for responding to a third control instruction, wherein the third control instruction is an instruction which is generated by the controller based on the rocker arm operation parameter and a preset speed increasing requirement and used for controlling the oil pump motor;
the controller is also used for enabling the oil pump motor to operate, monitoring whether the rocker arm operation parameter of the oil pump motor meets the preset speed-up requirement in real time, and enabling the oil pump motor to accelerate when the rocker arm operation parameter meets the preset speed-up requirement, otherwise enabling the oil pump motor to operate at the current operation speed;
the preset acceleration requirements include: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of preset power.
6. A shearer loader comprising a shearer loader control system as claimed in claim 4 or 5 or controlled by a shearer control method as claimed in any one of claims 1 to 3.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the shearer loader control method of any one of claims 1 to 3 when executing the computer program.
8. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the shearer loader control method of any one of claims 1 to 3.
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| CN202187761U (en) * | 2011-07-16 | 2012-04-11 | 西安煤矿机械有限公司 | High-power heavy type low seam mining machine |
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| CN205827202U (en) * | 2016-05-05 | 2016-12-21 | 河南理工大学 | Experimental provision for the coal-winning machine Intelligent Control Strategy research of Multi-information acquisition |
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| CN110685685B (en) * | 2019-10-10 | 2020-07-21 | 中国矿业大学 | Automatic control method for traction speed of coal mining machine based on coal wall collapse degree |
| CN112943241B (en) * | 2021-01-25 | 2024-02-27 | 三一重型装备有限公司 | Automatic cutting control method, device and system for coal mining machine and storage medium |
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| CN102536234A (en) * | 2010-12-31 | 2012-07-04 | 上海派芬自动控制技术有限公司 | Electric control system of thin-seam electric traction coal mining machine |
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