SU1221344A1 - Method of automatically controlling in the profile of a bed coal-winning plough sets and front-loading sets - Google Patents

Description

equal to

S cf Sj

and

-

M-il

TO

respectively

where 8dd is the value of the new ordinates for the leading sections nearest to the left and right; K is the number of slave sections between adjacent leading sections; if the new ordinates for the left or right sections are greater than the average value of Sf, then they are reduced by the same

The invention relates to the mining industry, in particular to methods for automatically controlling coal-mining plow complexes and frontal aggregates in a formation profile.

The aim of the invention is to increase the reliability of the automatic control process in the formation profile by ensuring trouble-free operation of the complex by limiting the bending angles between adjacent lining sections.

They fix trajectories along the length of the lava by the Lagrange polynomial of the (Y – 1) -th power or by the integral equation of the deflection of the elastic beam.

Appeal to one of two options for the choice of the trajectory is determined by the type of communication sections of the lining sections of the complex.

If there are no elastic connection elements between the lining sections and they can be bent in an arbitrary direction within the limits of bending angles, the calculation of the ordinates of the bases of the sections is performed using the Lagrange polynomial,

h (xi |; hjn ..

j "1 J i4j X,

where h (x) is the ordinate of the lining section with

abscissa x; - ordinate j - and leading secJ

this lining.

the values, again determine the values of the bending angles of the support sections, compare them with the value of the allowable bending angle, repeat these operations until all the bending angles of the sections are less than or equal to the allowable value, corrected by the new ordinates set a new final trajectory for laying the support section and issue control signals for moving the hydraulic jacks of the driving and driven sections by values equal to the differences of the new final and initial ordinates of the Relevant sections.

In the event that the lock joints of the support sections are supplemented with elastic elements of the spring type, which excludes an arbitrary direction of the bending angles of the adjacent support sections, one relative to the other, and uniquely determines the values of these bending angles themselves, the bases of the support sections are calculated using the integral

beam deflection equations:

, E34xS E3 rPj x-b- (j -.) E; ||,

ABOUT

(2)

where h is the ordinate at x;

h is the ordinate of the starting point; dd is the angle of rotation of the cross section at the initial point;

EZ is the stiffness of the elastic joint;

PJ - forces acting on the base of the leading sections of the lining; b is the distance from the reference to the first leading lining section; and e is the step of the placement of rock sensors — coal (the distance between the leading lining sections). Using the method of initial parameters to solve equation (2) allows us to construct a system of N equations of scientific research institutes, which, in the solution of which, in the general case, unknowns from 35

Carry on and continue to be located and fixed values of the coordinates of all sec-

lining support. Thus, according to the Lagrange polynomial (N-l) -ft degrees or the integral equation of the deflection of the elastic beam, the initial coordinates of all the driven sections of the support are determined.

Knowing the magnitude of necessary displacements of executive jacks of the trunk sections of the support, sum up them with the corresponding ordinates of the bases of the leading sections of the support and determine the final trajectory of the installation of the sections of the support in the form of the Langrange polynomial (Y – 1) degree or integral equation deflections of an elastic beam. At the final coordinates of the sections of the support, bend angles between all adjacent sections of the support, which correspond to the additional angles between the chords connecting the points, are determined and fixed. data points of coordinates.

Then, the obtained values of oi are compared with the value of the permissible angle

equal to the number nearest

bending of skidding, and if all the additional extrusions that were found, the control signals to the executive bodies, moving the guides of the driven and driving sections of the support by values equal to the difference between the final and initial ordinates of the corresponding support sections. Otherwise, if it is granted, the two corresponding amounts are corrected. For this purpose, by the value of i, the numbers of the closest to the place of possible emergency bending are determined, on the left and on the right, the leading sections of the lining, for the end of the whole

 m gt-1

on the left of the leading lining section. The number K. here corresponds to the number of slave sections placed between each pair of leading sections of the lining. The number of the nearest leading section of the lining is respectively equal to M + 1.

At the next stage of calculation, the average value of the received N sums is determined and the sum of the corresponding leading support sections nearest to the left or right is made.

The essence of the adjustment in the change of the corresponding amount by the value of AS, determined by the ratio of the difference Sjp and the specific value of the adjusted sum to, Thus, if the amounts for the left or right leading

lining sections less than S

R

then their

ten

35

Q

15

20

25

thirty

45

50

55

344

increase the value of iS, if the amounts to be adjusted are larger than S, then they are reduced by the value of iS, then the value of the bending angles of the sections of of is again determined; and compare them with the value. The calculation process is repeated until all angles are less than or equal to Ud. By the corrected amounts, the final values of the ordinates dp of all sections of the support and the values of control actions on the executive hydraulic jacks of the sections of the support of the complex are determined to be realized as the difference of the corrected final and Original coordinates of the corresponding sections of the support. After this, a command is issued permitting the processing of the generated signals.

FIG. 1 shows a measurement scheme for implementing a method for automatically controlling coal-producing plow complexes and aggregates in a formation profile; in fig. 2 is a control circuit of a plow complex in a formation profile.

FIG. 1 BC1, BC2, ..., BGN are the leading sections of the support, and they are equidistant from each other and equipped with sensors of the ordinates, which allow to measure the distances h, h, h,,., H from the bases of the sections of the support to direct the line connecting the outer sections of the lining, sensor 1-w of the latent boundary rock-coal DPU1, DPU2, ..., DPUK, measuring the average thickness of the coal pack h | j,, lc2,. .., huf, under the bases of the leading sections of the support in the process of its movement in the direction of advance of the bottom during the entire control cycle.

FIG. Figure 2 shows how the sensors of 1 ordinate are installed on the support post of each leading support section, providing a measurement of the distance from the straight line of reference to the base of the support support section, sensors 2 of the rock-coal latent border, enabling the rock-coal latent border to be monitored and measuring thickness of the coal pack above it. The actuator hydraulic jack of the lining unit 3 is equipped with a stem advance sensor, which makes it possible to monitor the value of the adjustment of the controlling action. The actuating hydraulic jack 3 is pivotally connected with the guide 4 of the cutting member 5. During the development of control actions, the position of the cutting member 5 is changed in the vertical plane, thereby ensuring control over the soil hypsometry. All sections of the support are equipped with electrohydraulic units 6, which provide control over the movement of the rods of the hydraulic jacks by an amount set by the first and second signals formed,

The method is implemented by the following sequence of operations.

In the process of moving the complex in the direction of movement, during the control cycle of sensors 2 of the hidden rock-coal boundary, the thickness of the coal pack is measured under the bases of the main support sections,

The obtained measurement results are compared with the threshold settings and form the first signals to the executive hydraulic jacks of the leading support sections. The threshold settings are the maximum allowable thickness of a coal pack left hg and the minimum allowable thickness of a coal pack left h comparing readings h

R

Based on gd DPU with

the values of the threshold settings receive the values of the first signal dG for all leading sections of the support:

b

if a

h

Hh 1

Oh, if h t h

 V

h

uh if

Ut. 6g-

At the same time, the distances h from the bases of the leading support sections to the straight line connecting the end sections of the support are measured. The measured trajectory of the complex along the length of the lava by the Lagrange polynomial (Y-1) -th degree or the integral equation of the deflection of an elastic beam is determined and measured by the measured distances, and the ordinates of all driven sections of the support are fixed.

The obtained values of the first signals are then summed with the corresponding measured distances h ,. :

S Dur + h °.

Using the obtained amounts, the trajectory of laying the lining sections of the complex is determined in a similar way. At the next step, the bending angles of X are calculated; between adjacent lining sections as arctangent of additional angle

Yu

is

0 5

between the chords connecting the corresponding coordinate points of the path. Compare the values obtained; osodop, and if oi is detected; "Dan, the amounts received earlier are adjusted. For this, the average Sjp value of the N amounts obtained is determined, and if the amounts to be adjusted for the left or right nearest to the place of emergency bending of the leading support section are smaller, then the corresponding

0

five

five

five

the amount is increased by the value of L5 equal to

Scg - 5c .... ,,

K - ™ K

respectively. If the left or right amount to be adjusted is greater than 8 ", then it is reduced accordingly by the value of l S, the bending angles between the lining sections are again determined and, if necessary, the above operations are repeated until all are less or equal to" additional According to the results of calculations, the final ordinates of all sections of the support are determined and fixed, and the control actions for all sections of the support are determined as the difference between the final and initial ordinates of the corresponding sections of support.

The selected algorithm provides a sufficiently rapid determination of the corrected amounts, the implementation of which "eliminates the possibility of unacceptable bending angles between adjacent lining sections, t, k, in the limit of the ordinates of the lining sections tends to SP, and the value of the bending angles between secties to O, .

All the above operations of calculating and storing intermediate information are performed by a micro-computer installed on the drift, which receives signals from all ordinate sensors and rock-coal hidden-border sensors at its input. On the bypass of a micro-computer, the first and second control signals are generated, which are fed to the corresponding electrical hydraulic blocks of the support sections. It should be noted that the speed of the micro-computer is sufficiently large and completely disproportionate to the speed of coal mining operations, so the time spent on performing arithmetic and logical operations does not have any influence on the coal mining technology,

Line

-Ahi

fezz

/// Z / Z ////// 7 //////////.

Breed 7777777

Editor M. Tsitkina

Compiled by I.Nazarkina

Tehred N. Bonkalo Proofreader A.Zimokosov

Order 1562/39 Circulation 470Subscription

VNIIPI USSR State Committee for Inventions and Discoveries 113035, Moscow, Zh-35, Raushsk nab, -, 4/5

Branch ShSh Patent, Uzhgorod, 4 Project St.

FIG. 2

Claims (1)

METHOD OF AUTOMATIC CONTROL IN THE LAYER PROFILE OF CARBON COMPLEX COMPLEXES AND UNITS OF THE FRONT ACTION, including the measurement of the thickness of the coal pack under the bases of the leading sections of the lining on each control cycle, the comparison of the measurement results with the threshold control signal comparing and the formation of the guiding actuator settings and the formation of guiding hydraulic guide settings lining, characterized in that, in order to increase the reliability of control by limiting the values of the bending angles one relative to another, define a rectangular coordinate system in the formation profile plane, the beginning of which is combined with the first leading lining section, and take the connection line of the extreme leading lining sections as the abscissa axis with a unit of scale equal to the width of the sections, determine the abscissas of all lining sections , measure and fix the ordinates of the bases of the leading lining sections, set the initial trajectory of laying the lining sections in the form of a function corresponding to the design features of the unit, from which the initial ordinates are determined of the supported lining sections, summarize the ordinate of the base of each leading lining section with the set displacement of the executive g hydraulic jack corresponding to the value of the control signal of this section, using the new ordinates obtained, establish the final trajectory of laying the lining sections, determine and fix the values of the bending angles of the lining sections relative to one another, compare the obtained values οί; with the value of the permissible bending angle (Хд _{0 (|} if all !; £ 96 _Extra ») ^then give out control signals and move the hydraulic jacks of the leading and driven sections by values equal to the difference between the final and initial ordinates of the corresponding sections, and if οί ·> in ( _additional , then determine the numbers of the leading lining sections closest to the left and right, determine and fix the average value S _C p of the received new ordinates and make corrections for the new ordinates for the closest leading sections to the left and right, if the new ordinates for the left or right sections are less than the average value of S _C p , then they are increased by SU., „1221344 an amount equal to S av Sm To where S _m h S _{M + 4} - the value of the new ordinates for the leading sections on the left and right; K is the number of driven sections between adjacent leading sections, if the new ordinates for the left or right sections are greater than the average value, then they are reduced by the same values, the bending angles of the support sections are again determined, compared with the value of the permissible bending angle, and the indicated operations until all the bending angles of the sections are less than or equal to the permissible value, according to the adjusted new ordinates, they set a new final trajectory for laying the support section and give control signals for moving the hydrodome krata of the leading and driven sections by values equal to the differences of the new final and initial ordinates of the corresponding sections.