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)
• Excavating Of Shafts Or Tunnels (AREA)
• Fluid-Pressure Circuits (AREA)

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Publications (1)

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Citations (8)

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• 2006
  • 2006-01-19 AT AT0009006A patent/AT503378B1/de not_active IP Right Cessation
• 2007
  • 2007-01-18 US US12/087,844 patent/US20090008984A1/en not_active Abandoned
  • 2007-01-18 DE DE112007000152.6T patent/DE112007000152B4/de not_active Expired - Fee Related
  • 2007-01-18 WO PCT/AT2007/000021 patent/WO2007082328A1/de active Application Filing
  • 2007-01-18 CN CN2007800032833A patent/CN101375017B/zh not_active Expired - Fee Related

Patent Citations (8)

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