WO2007082328A1 - Procede de regulation de l'entrainement d'une machine de creusement ou d'extraction - Google Patents

Procede de regulation de l'entrainement d'une machine de creusement ou d'extraction Download PDF

Info

Publication number
WO2007082328A1
WO2007082328A1 PCT/AT2007/000021 AT2007000021W WO2007082328A1 WO 2007082328 A1 WO2007082328 A1 WO 2007082328A1 AT 2007000021 W AT2007000021 W AT 2007000021W WO 2007082328 A1 WO2007082328 A1 WO 2007082328A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
movement speed
drive
cutting
factors
Prior art date
Application number
PCT/AT2007/000021
Other languages
German (de)
English (en)
Inventor
Hubert Kargl
Helmut Haubmann
Original Assignee
Sandvik Mining And Construction G.M.B.H.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sandvik Mining And Construction G.M.B.H. filed Critical Sandvik Mining And Construction G.M.B.H.
Priority to DE112007000152.6T priority Critical patent/DE112007000152B4/de
Priority to US12/087,844 priority patent/US20090008984A1/en
Priority to CN2007800032833A priority patent/CN101375017B/zh
Publication of WO2007082328A1 publication Critical patent/WO2007082328A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
    • E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries

Definitions

  • the invention relates to a method for controlling the drive of a propulsion or extraction machine for cutting a knockdown in response to manipulated variables such as movement speed of the boom, position of the cutting tools and / or power consumption of the drive motors or pressure in hydraulic adjusting cylinders.
  • DE 29 19 499 C2 shows and describes a method for controlling the cutting horizon of Walzenschrämmaschinen, in which the chisel force is continuously detected on the rotating roller body and is compared with predetermined limits. If these limits are exceeded, a change in the height adjustment is initiated.
  • EP 0 807 203 Bl shows and describes a system for the continuous control of a mining or tunneling machine which comprises a series of measuring sensors and in particular includes special angle encoder and linear encoder to detect the position of the cutting head of a cantilever arm.
  • Setting values for the proportional control valves of the drive units such as, for example, the swivel cylinder of the trimming jib or the linear propulsion of the cutting head, are generated via a defined computer program, in which way compliance with a preselected profile is to be ensured.
  • the invention now aims to provide a method of the type mentioned above, which manages with a minimum of each machine-specific parameters to be defined and can be used universally for different types of mining or tunneling machinery used.
  • the method according to the invention of the type mentioned initially consists essentially in determining a minimum and a maximum setpoint value for the movement speed of the extension arm, that at least two factors with values between 0 and 1, depending on measured values for the Manipulated variables are calculated, wherein the measured values at least position data of the cutting tools compared to the desired profile corresponding target data, engine load measurement data and Auslegerarm kies Anlagensmessoire include and that the movement speed of the boom is controlled depending on the product of the target speed and the respective calculated factors.
  • a minimum and a maximum setpoint value of the movement speed it is sufficient to set these values once, for example, with the aid of a valve description.
  • the minimum setpoint for the swing speed corresponds to that control current for proportional control valves, which causes a movement in the first place.
  • the respective maximum nominal value for the movement of the cutting unit is generally 100% of the machine-specific maximum pivoting speed, but can also be set to a specific speed based on cutting criteria.
  • the calculation of the individual factors is carried out such that the individual factors each take into account a separate measured value for the manipulated variables such as engine load, distance of the position coordinates of target coordinates for the profile to be dismantled, swivel speed of the boom and / or rotation speed of the excavation tools.
  • a factor k can take a value between 0 and 1 and retract the movement as soon as more than the nominal load is absorbed.
  • Another multiplicatively linked factor k which can also assume values between 0 and 1, can hereby cancel the movement as soon as the cutting unit approaches a target point in order to be able to stop the movement in good time or to reverse the direction of movement.
  • a further k value can be determined as a function of time measurement values, which becomes effective after an imminent blockade or when a blockage occurs and subsequently triggers a complex blocking algorithm for start-up control.
  • the method is carried out in such a way that measured values for the changes in the engine load, the swivel speed and / or the rotational speed over time are determined and supplied as separate manipulated variables to a freely programmable rear derailleur and to the drive control, whereby the possibility is created Not only to detect the current load of the drive, such as the current of the cutting motor, but also time-dependent changes of this load safely.
  • appropriate k values for a particular machine type appropriate limits can be specified and the nominal load of the drive, which is sought during the cutting process, are specified by a nominal value.
  • the load on the drive which should cause the controller to start the blockage protection algorithm can also be defined individually and, if this limit load is stopped for a certain time, trigger the corresponding protective mechanisms.
  • the design is advantageously such that at least one delay time can be fed to the freely programmable switching mechanism as a manipulated variable via which the approach speed is maintained at or near the minimum setpoint movement speed after a blockage has been detected.
  • the combination of the setpoint values for the movement speed which in principle can be setpoint values of the control flow for proportional control valves of the hydraulic drive, with individually defined factors, can be supplemented accordingly by incorporating further factors in order to achieve a higher accuracy of the control.
  • the movement speed of the cutting unit should always be controlled so that the cutting drives are operated as close as possible in the nominal load range, ie at optimum power consumption and correct operating pressure, which cutting-relevant maximum speeds should not be exceeded.
  • the regulation made in accordance with the invention as a function of the nominal load serves to equalize the speed of movement of the cutting unit, so that the cutting motor itself can be operated as far as possible in the nominal load range.
  • the feed movement only has to be stopped, whereupon, depending on the predetermined time values, a slow start can be made, with which the cutting unit again fully engages only after a delay time.
  • the k-factor can be used to define a real speed component to which the cutting unit is to be delayed when it comes into engagement again after a blockade at the blockage point.
  • the cutting speed can thus initially be reduced after the delay time and can only be increased again to full speed after a further time interval
  • Delay time is usually the time that drives the cutting unit after passing the blockage point still at minimum speed, before the movement can be accelerated again to maximum speed.
  • the relevant time that is to trigger such a blockage protection algorithm can be specified individually and means the time over which the load on the drive must be exceeded, so that the blocking algorithm is triggered for the subsequent control.
  • a distance to the cutting unit to the target point can be defined for the approach to the target point on the basis of the determined position measurement data, from which the movement of the boom is resumed, but also a tolerance value can be set with which the target point reaches must be before the next movement is released.
  • the respective position coordinates of the blockage point can be determined and a separate period of time can be set, in which the unit of time after renewed passage of the blockage point accelerates the movement to maximum speed and thus releases the usual control again.
  • the control algorithm Due to the independence from current conditions on site, the control algorithm reacts to changing mountain or engagement conditions during the reduction as far as possible insensitive, the algorithm described allows a standardization of the control concept for different machine types, which significantly improves the maintainability of the systems. At the same time, due to the multiplicative linking of the individual parameters, a highly secure and sensitive detection of critical limit values is made possible, so that damage and long downtimes can be avoided with certainty.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

L'invention concerne un procédé de régulation de l'entraînement d'une machine de creusement ou d'extraction destinée à haver un matériau d'abattage, en fonction de grandeurs de réglage telles que la vitesse de déplacement du bras, la position des outils de havage et/ou la puissance consommée par les moteurs d'entraînement ou la pression dans des vérins hydrauliques. Selon ledit procédé, une valeur minimale et une valeur maximale de consigne de la vitesse de déplacement du bras sont déterminées et au moins deux facteurs dont la valeur est comprise entre 0 et 1 sont calculés pour les grandeurs de réglage en fonction de valeurs de mesure. Les valeurs de mesure comprennent au moins des données de position des outils de havage par rapport à des données de consigne qui correspondent à un profil de consigne, des données de mesure de la charge des moteurs et des données de mesure de la vitesse de déplacement du bras, et la vitesse de déplacement du bras est régulée en fonction du produit de la vitesse de consigne et des facteurs respectivement calculés.
PCT/AT2007/000021 2006-01-19 2007-01-18 Procede de regulation de l'entrainement d'une machine de creusement ou d'extraction WO2007082328A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112007000152.6T DE112007000152B4 (de) 2006-01-19 2007-01-18 Verfahren zum Regeln des Antriebs einer Vortriebs- oder Gewinnungsmaschine
US12/087,844 US20090008984A1 (en) 2006-01-19 2007-01-18 Method For Regulating the Drive of a Shearing or Heading Machine
CN2007800032833A CN101375017B (zh) 2006-01-19 2007-01-18 用于调节掘进机或采掘机的驱动器的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0009006A AT503378B1 (de) 2006-01-19 2006-01-19 Verfahren zum regeln des antriebs einer vortriebs- oder gewinnungsmaschine
ATA90/2006 2006-01-19

Publications (1)

Publication Number Publication Date
WO2007082328A1 true WO2007082328A1 (fr) 2007-07-26

Family

ID=37907363

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2007/000021 WO2007082328A1 (fr) 2006-01-19 2007-01-18 Procede de regulation de l'entrainement d'une machine de creusement ou d'extraction

Country Status (5)

Country Link
US (1) US20090008984A1 (fr)
CN (1) CN101375017B (fr)
AT (1) AT503378B1 (fr)
DE (1) DE112007000152B4 (fr)
WO (1) WO2007082328A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009009000B4 (de) * 2009-02-14 2011-01-05 Rag Aktiengesellschaft Verfahren zur Regelung der Schnitthöhe bei Walzenschrämladern
CN101603559B (zh) * 2009-06-25 2011-10-19 三一重工股份有限公司 检测液压系统效率参数的方法和装置及工程机械
US20180298753A1 (en) * 2017-04-18 2018-10-18 Caterpillar Global Mining Europe Gmbh Control system and method for controlling operation of an underground mining machine

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3323839A (en) * 1964-01-15 1967-06-06 British Jeffrey Diamond Ltd Cutting apparatus having speed and load controlled hydraulic drive
US3489461A (en) * 1967-04-12 1970-01-13 Habegger Ag Maschf Cutter-speed and feed-rate regulator for tunnel excavator
DE2426815A1 (de) * 1974-06-04 1976-01-02 Eickhoff Geb Verfahren und vorrichtung zum regeln der stufenlos verstellbaren schnitt- und vorschubgeschwindigkeit von gewinnungsmaschinen des untertagebergbaues, insbesondere von walzenschraemmaschinen
DE3041133A1 (de) * 1979-10-31 1981-06-19 The Valeron Corp., 48084 Troy, Mich. Prozesssteuerung fuer eine maschine, insbesondere werkzeugmaschine
EP0204429A1 (fr) * 1985-05-31 1986-12-10 Coal Industry (Patents) Limited Commande de vitesse résultante pour membres étant capables d'être dirigés simultanément en direction de deux components
WO1996019639A1 (fr) * 1994-12-19 1996-06-27 Hdrk Mining Research Limited Commande automatique de machine servant a excaver galeries, tunnels, chambres, cavernes ou analogues
WO1998025007A1 (fr) * 1996-12-04 1998-06-11 Tamrock Voest-Alpine Bergtechnik Gesellschaft Mbh Dispositif destine a amortir les vibrations de haveuses de taille partielle
DE19954236A1 (de) * 1998-11-18 2000-05-25 Tamrock Voest Alpine Bergtech Einrichtung zum Erfassen und Kompensieren von Schwingungen von Teilschnittschrämmaschinen

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2919499C2 (de) * 1979-05-15 1983-06-30 Bergwerksverband Gmbh, 4300 Essen Verfahren zur Regelung des Schnitthorizontes von Walzenschrämmaschinen
DE2927919C2 (de) * 1979-07-11 1983-03-24 Gebr. Eickhoff, Maschinenfabrik U. Eisengiesserei Mbh, 4630 Bochum Tragarm für Walzenschrämmaschinen
JPS60175697A (ja) * 1984-02-23 1985-09-09 財団法人石炭技術研究所 映像処理方式による岩盤センサ−を有するダブルレンジング・ドラムカツタ
JPS60181487A (ja) * 1984-02-24 1985-09-17 財団法人石炭技術研究所 負荷制御装置を有するダブルレンジング・ドラムカツタ
AU557183B2 (en) * 1984-11-05 1986-12-11 Conoco Inc. Hydraulic mining
GB8605261D0 (en) * 1986-03-04 1986-04-09 Dawson G B Cutting machines
DE3631087A1 (de) * 1986-09-12 1988-03-24 Eickhoff Geb Verfahren zum betreiben von im untertagebergbau eingesetzten gewinnungsmaschinen oder teilschnittmaschinen
US5402879A (en) * 1992-12-12 1995-04-04 Dorstener Maschinenfabrik Aktiengesellschaft Drive system for flight conveyors and method of operating same
CA2141984C (fr) * 1995-02-07 2002-11-26 Herbert A. Smith Systeme de commande continue pour materiel d'exploration miniere
AU2003280144A1 (en) * 2002-10-15 2004-05-04 Her Majesty The Queen In Right Of Canada As Represented By The Minister Of Natural Resources Automated excavation machine

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3323839A (en) * 1964-01-15 1967-06-06 British Jeffrey Diamond Ltd Cutting apparatus having speed and load controlled hydraulic drive
US3489461A (en) * 1967-04-12 1970-01-13 Habegger Ag Maschf Cutter-speed and feed-rate regulator for tunnel excavator
DE2426815A1 (de) * 1974-06-04 1976-01-02 Eickhoff Geb Verfahren und vorrichtung zum regeln der stufenlos verstellbaren schnitt- und vorschubgeschwindigkeit von gewinnungsmaschinen des untertagebergbaues, insbesondere von walzenschraemmaschinen
DE3041133A1 (de) * 1979-10-31 1981-06-19 The Valeron Corp., 48084 Troy, Mich. Prozesssteuerung fuer eine maschine, insbesondere werkzeugmaschine
EP0204429A1 (fr) * 1985-05-31 1986-12-10 Coal Industry (Patents) Limited Commande de vitesse résultante pour membres étant capables d'être dirigés simultanément en direction de deux components
WO1996019639A1 (fr) * 1994-12-19 1996-06-27 Hdrk Mining Research Limited Commande automatique de machine servant a excaver galeries, tunnels, chambres, cavernes ou analogues
WO1998025007A1 (fr) * 1996-12-04 1998-06-11 Tamrock Voest-Alpine Bergtechnik Gesellschaft Mbh Dispositif destine a amortir les vibrations de haveuses de taille partielle
DE19954236A1 (de) * 1998-11-18 2000-05-25 Tamrock Voest Alpine Bergtech Einrichtung zum Erfassen und Kompensieren von Schwingungen von Teilschnittschrämmaschinen

Also Published As

Publication number Publication date
AT503378B1 (de) 2008-09-15
CN101375017B (zh) 2013-03-27
CN101375017A (zh) 2009-02-25
DE112007000152B4 (de) 2015-10-29
US20090008984A1 (en) 2009-01-08
DE112007000152A5 (de) 2008-11-13
AT503378A1 (de) 2007-09-15

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