SU1703797A1 - Automatic control system for wheel excavator operation - Google Patents

Abstract

This invention relates to the automation of production processes in open pit mining. The purpose of the invention is to increase the production of a rotary excavator by increasing the accuracy and stability of the control while ensuring the operation of the excavator within the prescribed limits of the loading modes of the aggregates and metal structures. The system contains the rotor drive load 3 meters, the level of 4 vibrations of metal structures and mass performance of 5, the outputs of which are connected to the inputs of the maximum signal selector 14 through scale setting blocks (BOOM) 8-10. The output of the selector 14 is connected to the input of the smoothing filter 15. Additionally, the system is equipped with sensors (D) of height 1 of sub-step, thickness 2 of chip, speed of turn 16 and angle of turn 24, setpoint 12 of performance, meter of load 6 of the turn drive, blocks 7, 18 multiplying , blocks 13, 17, 26 dividing, two BOOM 11, 20, switch 22, setter 19 for maximum signal of rotation speed setting, selector 23 for minimum signal, unit 25 for determining the cosine of rotation angle and threshold element 21. Signals from D 1 and 2 arrive at block 7. from the output of which the signal proportional to the product enters the input of the block 13, the second input of which receives a signal from the setter 12. The output signal of the block 13, proportional to the speed of rotation, goes to one of the inputs of the selector 23, to the other input of which comes the signal from the setter 19. With the output of the selector 23, the signal is fed to one input of block 26. The signals from the outputs of the meters 3-6 through the BOOM 8-11 are fed to the inputs of the selector 14, and its output through the filter 15 to the inputs of the threshold element 21 and block 17. 2 Il. VI O Sd XI Che XI

Description

The invention relates to the automation of production processes in open pit mining, in particular, to the automation of the working process of rotary excavators operating under complex structural faces.

The purpose of the invention is to improve the performance of a rotary excavator by increasing the accuracy and stability of the control while ensuring the operation of the excavator within the prescribed limits of the modes of loading the aggregates and metal structures.

FIG. Figure 1 shows a block diagram of an automated workflow management system for a rotary excavator; in fig. 2 shows an example of the implementation of a cosine angle determining unit.

The automated rotor excavator workflow management system includes a sub-step height sensor 1, chip thickness sensor 2, rotor drive load meters 3, metal structure vibration levels 4, mass productivity 5, and turn drive loads 6, first multiplication unit 7, first 8, second 9 , the third 10 and fourth 11 scale units, the unit 12 of volumetric capacity, the first block 13 division, the maximum signal selector 14, the smoothing filter 15, the rotation speed sensor 16, the second block 17 division, Torah multiplying unit 18, the maximum signal eadatchik 19 specifying rotation speed, a fifth unit 20 set the scale, the threshold element 21, the switch 22, the minimum signal selector 23, the rotation angle sensor 24, the unit 25 for determining the cosine of the angle of rotation and the third dividing unit 26. The input of the cosine angle determining unit 25 is connected to the output of the rotation angle sensor 24 and the output is connected to the first input of the third dividing unit 26, the output of which is the system output, and to the first input of the second multiplication unit 18, the second input of which is connected to the output of the speed sensor 16 rotation and the output is connected to the second input of the second dividing unit 17, the first input of which is connected to the output of the smoothing filter 15 and the input of the threshold element 21, and the output to the input of the fifth scale setting unit 20, the output of which is connected to the first m information input of the switch 22, the control input of which is connected to the output of the threshold element 21 and the output is connected to the first input of the minimum signal selector 23, the second input of which is connected to the second information input of the switch 22 and the output of the maximum speed setting signal 19

rotation, the third input is connected to the output of the first block 13 division, the second input of which is connected to the output of the unit 12 volumetric capacity and the first

the input is connected to the output of the first multiplication unit 7, the first input of which is connected to the output of the access height sensor 1 and the second input is connected to the output of the chip thickness sensor 2, the output of the minimum signal selector 23 is connected to the second input of the third dividing unit 26, and the outputs of the meters 3 -6 respectively rotor drive load, vibration level, mass performance and drive load

rotation through blocks 8-11 installation scale connected respectively to the first and fourth inputs of the selector 14 of the maximum signal, the output of which is connected to the input of the smoothing filter

15.

The cosine angle determining unit 25 includes a pulse generator 27, a permanent memory module 28, an output memory element 29 and a delay element 30. The address input of the fixed memory module 28 is the input of the block, the read input is connected to the output of the pulse generator 27 and the input of the delay element 30, the output of which is connected to the write input of the output storage element 29, the information input of which is connected to the fixed memory 28 and the output is the output of the block. Automated control system

Neither the working process of the rotor excavator works as follows.

The signals from the outputs of the sensors 1 and 2. prs are proportional to height, respectively; hny scarp and bc chip thickness

The inputs of the multiplication unit 7, from the output of which is a signal proportional to the production of hny be, are fed to the first input of the division 13, to the second input of which posts a signal from the output of the setting unit 12

performance. At the output of the division unit, a signal is formed that is proportional to the value of the speed of rotation, which is determined by the expression

hz

Vn

q3

 ny

Kg

(D

q $

where Vn is the value of the speed at which the nominal volumetric performance is ensured;

QVH is the nominal value volume1 of the capacity of the rotor excavator;

Кр- coefficient of loosening of the excreted fossil (КрЈ 1).

Thus, the magnitude of the reference signal from the output of the volumetric performance setpoint 12 must be such that

n

qv signal Xvn set the speed of rotation with

the output of dividing unit 13 ensured the nominal value of the volumetric capacity for any hny and be in the given ranges of their change.

The signals from the outputs of the meters 3-6 through the blocks 8-11 installation scale in the scale selected by the criterion of equal-intensity effects on the equipment in accordance with the expression

Ki HGR K2 H2 Kz xqm K4 X, np Xn, (2) where KL "2, Ks, K4 are scale factors; n n

Xip.XB, Xqm, X | P -signals at the outputs of the meters 3-6, respectively, of the rotor drive load, vibration level, mass performance and turn actuator load,

(corresponding to the nominal values of the measured parameters, respectively, go to the first to fourth inputs of the maximum signal selector 14, the output of which forms the signal defined by the expression, XmaxW - MAX KiXip (t), K2XB (t), 3 Xq ,.

K "Xin (t) J, (3) which is then fed to the input of a smoothing filter 15, from which the signal defined by the expression

Xmax (t) 4 / HMAX (t) Jt,

 t-r

(four)

where T is the sliding smoothing interval, is fed to the first input of dividing unit 17, to the second input of which a signal is received from the output of multiplying unit 18, to the first input of KOToporoJ is a signal from the output of block 25 of the cosine of determining the angle of rotation, to the input of which is a signal from the output rotation angle sensor 24, and a signal is received at the second input of multiplication unit 18

Xvn (t) from the output of the speed sensor 16. At the output of multiplication unit 18, a signal Xvn (t) is generated, defined by

by expression

Xvn (t) Xvn (t) cos, where f) n is the angle of rotation.

At the output of block 17, the division signal

(6)

which is scaled in block 20 according to the expression

 (7)

ten

(eight)

(“).

where Ks is the scale factor;

Хххн is the nominal value of the signal at the output of the smoothing filter 15, equal to Хн.

Such scaling is carried out so that, at the nominal value of the signal at the output of block 15, the signal of setting the speed of the rotational drive from the output of block 20 of the scale setting, formed as a function of the parameters X | p (t), XB (t), Xqm (t) and Xin (t), was equal to the current value of the signal for setting the speed of rotation. The coefficient Ks from formula (7) is equal to Хн.

When a rotary excavator is used to excavate a mineral, the required -. hoop (t) speed reference

rotation in the function of parameters Xip (t), Xs (t), Xqm (t) n Xin (t) is determined in accordance with the expression

trebYV (About

Xv "-K5Y | g

those. at XMax (t) XH, the signal Xvn (t) is reduced relative to Xvn (t) by the required 30 MUY S. the current time moment is magnitude, and at XMax (m), Xn increases. In this way, adaptation is made to formulate

my signal Xvn (t) to the current

35 signal value (0 set the speed of rotation.

The signal from the output of the scale setting unit 20 is fed to the first information input of the switch 22, the second information input of which receives the Hupmah signal - corresponding to the maximum permissible signal of the speed of rotation, from the output of the setter 19. The control input of the switch 22 goes

45 is a signal from the output of the threshold element 21, the threshold of which is equal to Hn. If the magnitude of the signal XMax (t), the input to the input of the threshold element 21 from the output of the smoothing filter 15, is less than XH, then

50 the signal at its output is equal to O, and the output of the switch 22 passes the signal HuPMah At Xmax (t) Xn threshold element 21 is triggered, and the signal G from its output, which enters the control input of the switch 22, provides passage to its output

require

The Xvn (t) signal from the output of the scale setting unit 20.

QVH

The signals Xvn from the output of block 13 division, Xvnmax from the output of the setpoint 19 and

I I Xvnmax or Xvn (t) j from the output of the switch 22 arrive at the corresponding inputs of the selector 23 of the minimum signal, from the output of which the signal defined by the expression

n

mmqv Xvn (t) t L Xvn, Xvn max At

Khmah (t) Xn (9)

or expression

mlnqf

Xvn (t) min Xvn, Xvn max,

tre6- XVn, Prikhmah (t) XH t (Yu)

01)

enters the second input of the third dividing block 26, the first input of which receives a signal corresponding to the cosine of the angle of rotation n, from the output of the block 25 of the cosine of the angle of rotation. At the output of dividing unit 26, a final rotation speed reference signal is generated, defined by the expression

min

total

XVn W COSpn cosine-corrected angle of rotation to compensate for the crescent of the cut. If none of the parameters X | p (t), Xe (t), Xqm (t) and Xin (t) is critical at the current time, i.e. as a signal to set the speed of rotation used qv4v

Xvn signal with Xvn max Xvn provides nominal volumetric performance. As soon as ХМах (t) becomes more than ХН, the signal

require

Xvn. The Xvn max signal is limiting and its magnitude is equal to the maximum possible rotation speed reference signal for an automated excavator type.

Thus, the system allows you to automatically generate the most rational signal for setting the speed of rotation.

The cosine angle determining unit 25 operates as follows.

The input of the block is a binary code proportional to the current value of the angle of rotation, which is the code address of the memory cell of the fixed memory module 28, in which the cosine value is written, about the angle. Upon receipt of the pulses from the generator output 27 pulses to the input

5 Yu

15

g 25

3Q 35 40

45 50

55

The readout of the constant memory module 28 is a code proportional to the cosine of the angle of rotation from the output of the module 28 to the input of the output memory element 29 and written into it by a pulse from the output of the delay element 30, to the input of which pulses are output from the generator 27 of pulses. The delay time is approximately 2 µs (the time required to set the readable code at the output of module 28). The delay element delays only the front of the pulse arriving at its input. The sections of the input and output pulses coincide in time.

If the system is implemented on digital blocks, the output storage element 29 is a register with parallel recording of information. If the system is implemented on analog blocks, the output storage element is a serially connected register with parallel recording of information and a digital-analog converter.

The analog version of the system can be implemented on the basis of the subblocks of the KM2201 complex (SUPS), commercially available software Tochelektropribor (Kiev) (scale setting units - Ф5173, maximum and minimum signal selectors - Ф5196, division and multiplication units - Ф5178, smoothing filter - Ф5197 ). As a switch, you can use the K561KP1 chip, which is an analog signal multiplexer,

Chip K573РФ2 or К1601РР1 chips with 2КХ8 organization, i.e., can be used as a module of a permanent memory included in block 25 of the definition of the cosine of the angle of rotation. containing 2048 8-bit memory cells and being non-volatile (storing information in the absence of a supply voltage).

The use of an automated control system for a rotor excavator will improve the performance of a rotor excavator by increasing the accuracy and stability of control while ensuring that the excavator operates within the specified limits of the loading modes of the aggregates and metal structures in specific mining and geological conditions with often varying physical and mechanical properties. the progress of the cutting, increasing the reliability and durability of the main components of the excavator, increasing the coefficient of The use of a rotary excavator in time due to the reduction of downtime associated with accidents or overhaul of some of the most important excavator components caused by frequent deviations of parameters characterizing equipment loading intensity beyond permissible limits, excluding the subjective influence of the operator of a rotary excavator on the excavation process.

Claims (1)

Claims An automated workflow control system for a rotor excavator, containing rotor drive load meters, metalworking vibration levels and mass performance, the outputs of which are respectively connected through the first, second and third scales setting units to the first signal selector, output which is connected to the input smoothing filter, characterized in that, in order to improve the performance of the rotary excavator by increasing the accuracy and stability of the control while ensuring that the excavator works within the specified limits of the loading modes of the units and metal structures, it is additionally equipped with a sub-height sensor, chip thickness sensor, rotation speed sensor, rotation angle sensor, volume output load gauge, first and second rotation drive load gauge units of multiplication, first, second and third division blocks, fourth and fifth scale setting nodes, switch, maximum driver rotation speed setting, minimum signal selector, cosine angle determining unit, whose input is connected to the output of the angle sensor, and the output is connected to the first input of the third dividing unit and to the first input of the second multiplication unit, the second input is connected to the output of the speed sensor and the output is connected to the second input of the second dividing unit, the first input of which is connected to the output of the smoothing filter and to the input of the threshold element, the output of the second dividing unit is connected to the input of the fifth scale setting unit, the output of which is connected to the first information input of the switch, the control input of which is connected to the output of the threshold element and the output is connected to the first input of the minimum signal selector, the second input of the latter is connected to the second information input of the switch and to the output of the setpoint of the maximum signal for setting the speed of rotation. moreover, the output of the sub-height sensor is connected to the first input of the first multiplication unit, the second input of which is connected to the output of the chip thickness sensor, and the output of the first multiplication unit is connected to the first input of the first division unit, the second input of which is connected to the output of the volume capacity setting device, and the output -C the input of the third dividing unit, the output of which is the system output, and the output of the rotational drive load meter through the fourth scale setting unit connected to the fourth input of the maximum signal selector la 28 - 29 - 74. fcZ