SU1671801A1 - Method and device for control of digging process of single-bucket excavators - Google Patents

Abstract

The invention relates to the mining industry and is intended to control the working equipment of shovel excavators and draglines. The goal is to limit the dynamic loads in the working mechanisms. The method is based on measuring the forces in the elastic elements of the head and lift mechanism and forming the lift drive control signal, respectively. The method is carried out by a device consisting of converters 1 and 7 with engines 2 and 8 of the lifting and heading mechanisms, blocks 3 and 9 of controlling the lifting and heading electric drives, setting units 4, 10 of the speeds of the lifting and heading mechanisms, sensors 12, 6 force in the elastic elements of the lifting and heading mechanisms and regulators 5 and 11. The integrated signal from the sensor 12 characterizes the speed of the bucket in the direction of lifting and enters the input of the regulator 11, where it is corrected. The integrated signal from sensor 6 characterizes the bucket's speed in the direction of pressure and is adjusted in controller 5. Cross-feedbacks between lift and pressure drives more fully utilize the relationship between the excavator's digging mechanisms. 2 sec. f-ly, 2 ill.

Description

one

(21) 4456699/03 (22) P.07.88 (46) 08/23/91. Bul №31

(71) Krasnoyarsk Polytechnic Institute and the V. Sverdlovsk Mining Institute. Vakhrusheva

(72) V.P. Kochetkov, KM Sidorenko, L.А. Antropov and B.h. Semi-Falls (53) 621.879.34 (088.8)

(56) USSR Author's Certificate Nt 732465, cl. E 02 F 9/20, 1978.

USSR Author's Certificate No. 977623, cl. E 02 F 9/20, 1981.

USSR author's certificate N-1425276, cl. E 02 F 9/20, 1986.

(54) METHOD OF MANAGING THE PROCESS OF COPYING ON SINGLE BUCKET EXCAVATORS AND DEVICE FOR ITS IMPLEMENTATION

(57) The invention relates to mining promet and is intended to control the working equipment of shovels and draglines. The goal is to limit the dynamic loads in the working mechanisms. The method is based on the measurement of the forces in the elastic elements of the head and lift mechanism and the formation of the signalup of the lift drive control, respectively. The method is carried out by a device consisting of converters 1 and 7 with motors 2 and 8 of the lifting and pressure mechanisms, blocks 3 and 9 of controlling the lifting electric drives and pressure, setting devices 4, 10 of the speeds of the lifting and pressure mechanisms, sensors 12, 6 force in the elastic elements of the lifting and heading mechanisms and regulators 5 and 11. The integrated signal from sensor 12 characterizes the speed of the bucket in the direction of lifting and enters the input of the regulator 11, where it is corrected. The integrated signal from sensor 6 characterizes the bucket's speed in the direction of pressure and is adjusted in controller 5. Cross-feedbacks between lift and pressure drives more fully utilize the relationship between the excavator's digging mechanisms. 2 pp-ly, 2 ill.

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The invention relates to the mining industry and can be used to control the working equipment of shovel excavators and draglines.

The aim of the invention is to limit dynamic loads by introducing cross-feedbacks of the lifting and heading mechanisms (thrust rods).

Figure 1 shows a block diagram of a digging process control device; Fig. 2 is an electrical block diagram of cross-links.

The device consists of a drive mechanism for lifting, consisting of converter 1, engine 2, control unit 3, one of the inputs connected to lift actuator 4, and the other connected to the output of the first regulator 5, connected to the output of sensor b elastic elements of the mechanism of pressure. In addition, the device also includes a drive of the head mechanism, which includes a converter 7 with a motor 8, a control unit 9, one input connected to the output of the pressure actuator setting 10, and the second input to the output of the second regulator 11, which is connected to the input of force sensor 12 in the elastic elements of the lifting mechanism.

The method for automatically controlling the digging process on single-bucket excavators is carried out as follows.

In the process of digging, the forces arising in the mechanisms of pressure and lifting are sensed by sensors of force of the mechanism of pressure 6 and lifting 12. The integrated signal from sensor 12 of lifting force characterizes the speed of movement of the bucket in the direction of lifting. This signal is fed to the input of the controller 11, where this signal is corrected in accordance with the formula

 mi Р1нР ± 1 m

  Кн 0.05Р + 1 0,05Т „Р + 1 Ш

where T is the time constant determined by the ratio of the moment of inertia to the rigidity and the non-compensated permanent drive of the pressure head;

Cn is the transmission coefficient determined by the ratio of the moment of inertia and the uncompensated constant times of the pressure actuator;

mi2 is the bucket mass.

Similarly, the control of the electric lift.

The integrated signal from the sensor 6 force mechanism characterizes

bucket speed in the direction of pressure 3 go signal is fed to the input of controller 5, where this signal is corrected in accordance with the formula

m + 1J

w 21 TBL5R + PKP (ZHTPRTTU (2)

where Tn is the time constant defined by

0 by the ratio of the moment of inertia of the uncompensated constants and the rigidity of the drive; Kn is the transmission coefficient determined by the ratio of the moment of inertia of the actuator of the lift and the compensated constant.

5 times the speed contour.

The regulators of the lifting and heading mechanisms (ti gi) are made identical.

The electrical circuit of both controllers consists of series-connected

0 summing amplifier 13, input to amplifier 14, summing amplifier 15, amplifier 16, the output of which is the output of the regulators to which integrator-adder 17 is connected, output connected to the second inputs of the integrator-adder 17 and summing amplifier 15. In addition, the output of the amplifier 14 is connected to the integrator 18, the output connected to the second input of the summing amplifier 13.

0 Cross feedbacks between lift and head electric drives more fully utilize the relationship between the excavator's digging mechanisms and allow for more precise adjustment by these

5 drives depending on the processes passing through them. Cross feedbacks make it possible to obtain a system that is absolutely invariant to disturbing influences. This allows dynamic loads to be limited to values not exceeding the stopper value, as well as increasing productivity by reducing the digging time, which is achieved by eliminating the stopping of digging drives.

5 mechanisms even in case of bucket meeting with insurmountable obstacles (unblown outsized).

Claims (2)

1. A method of controlling the coping process on single-bucket excavators with direct current electric drives of the head and lift mechanisms, based on measuring the magnitude of the force in the elastic elements of the lifting mechanism and the formations of the control signal of the pressure actuator with regard to the magnitude of the force in the elastic elements of the lifting mechanism, characterized by . that, in order to limit the dynamic loads in the working mechanisms, the force is additionally measured in the elastic elements of the head mechanism and forms a control signal for the drive of the lifting mechanism taking into account the force in the elastic elements of the head mechanism. 2. A device for controlling the digging process of single-bucket excavators, containing adjustable DC electric drives of the lifting and pressure mechanisms, speed adjusters of the lifting mechanisms and pressure heads, control units for the lifting and pressure drives, force sensors in the elastic elements of the lifting mechanisms and pressure, characterized in that 0 In order to limit the dynamic loads in the working mechanisms, it is additionally equipped with two regulators, while the speed controllers of the lifting and pressure mechanisms are connected respectively to the first inputs of the control units of the lift drives and the pressure head, the force sensor in the elastic element of the pressure mechanism is connected to the second input through the corresponding controller the control unit of the lifting mechanism, and the output of the force sensor in the elastic element of the lifting mechanism is connected to the second input of the control unit through the corresponding controller anizma head. FIG. 2