CN114476578B - Automatic tensioning control method for scraper chain based on load following control - Google Patents
Automatic tensioning control method for scraper chain based on load following control Download PDFInfo
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- CN114476578B CN114476578B CN202210052417.7A CN202210052417A CN114476578B CN 114476578 B CN114476578 B CN 114476578B CN 202210052417 A CN202210052417 A CN 202210052417A CN 114476578 B CN114476578 B CN 114476578B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000003245 coal Substances 0.000 claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 238000005065 mining Methods 0.000 claims description 19
- 238000007405 data analysis Methods 0.000 claims description 10
- 230000006855 networking Effects 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 230000003631 expected effect Effects 0.000 abstract 1
- 238000004891 communication Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009828 non-uniform distribution Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
- Control Of Conveyors (AREA)
Abstract
The automatic tension control method for the scraper chain based on load following control comprises the steps of acquiring scraper torque, coal cutter position and coal cutter direction information, acquiring tail oil cylinder pressure and oil cylinder displacement information, analyzing and calculating data, and outputting an analysis result to a hydraulic control system, wherein the hydraulic control system controls the tail jack to act according to the output result so as to control the chain tension to achieve an expected effect. The system analyzes the influence of the load on the chain tension, combines the information of pressure, displacement and the like to form a specific control method, and controls the scraper chain to be always in ideal tension, thereby reducing the occurrence probability of chain breakage accidents of the chain and prolonging the service lives of the chain and the chain wheel shaft group.
Description
Technical Field
The invention relates to the field of chain control of scraper conveyors of coal faces, in particular to an automatic tensioning control method of scraper conveyor chains based on load following control.
Background
The working face scraper conveyor is one of the most important coal conveying equipment of the whole underground coal mining working face, and has the main functions of unloading coal onto a crossheading transfer conveyor, wherein the coal mining machine is used as a coal input equipment of the scraper conveyor, the scraper conveyor circularly moves at the head and the tail of the scraper conveyor, the coal mining machine changes at the moment of a coal falling point of a scraper conveyor, the coal mining amount is not uniform, a certain section of coal is quite many frequently generated, and the condition that the coal amount of a certain section of coal is quite small is caused, so that the nonuniform distribution changes at the moment of elongation and deformation of a scraper conveyor chain. In addition, most of the existing chain tensioning control technology is adjusted according to the pressure of a tail oil cylinder, so that the situation of too loose or too tight of a scraper chain is caused, and accidents such as chain breakage and the like occur when the service lives of the chain and a driving shaft group are seriously influenced.
Disclosure of Invention
In order to solve the technical problems in the prior art, in view of the foregoing, it is necessary to provide an automatic tensioning control method for a scraper chain based on load following control.
An automatic tensioning control method of scraper chain based on load following control comprises the following steps,
(1) Judging whether the control system is networked or not, if the control system is in a networking state, entering a networking mode, and if the control system is not networked, entering an adaptive control mode;
(2) In a networking mode, the control system acquires start-stop information of the scraper conveyor, motor torque, the position of the coal mining machine, the travelling direction of the coal mining machine, and oil cylinder displacement and pressure information;
(3) Carrying out data analysis on the acquired start-stop information of the scraper conveyor, the torque of the motor, the position of the coal mining machine, the advancing direction of the coal mining machine, the displacement of the oil cylinder and the pressure information, so as to control the extension and retraction of the tail telescopic oil cylinder and adjust the tension of the chain to be in a normal tensioning range;
(4) In the self-adaptive control mode, the control system directly collects the displacement and pressure information of the oil cylinder;
(5) And analyzing the data of the acquired oil cylinder displacement and pressure information, and combining with preset parameters of a system, so as to control the extension and retraction of the tail telescopic oil cylinder and adjust the chain tension to be in a normal tensioning range.
Preferably, after the control system acquires data and analyzes the data, the telescopic oil cylinder is controlled through double closed-loop control, so that the chain tension is in a normal tensioning range.
Preferably, the double closed loops are an outer loop and an inner loop, the outer loop is a position loop, the position loop performs data analysis on collected torque, the position and the direction of the coal mining machine and the displacement information of the oil cylinder, and then the oil cylinder displacement controller inputs a hydraulic setting value to the hydraulic regulator according to a data analysis result; the inner ring is a hydraulic ring, the hydraulic ring compares a hydraulic set value given by the hydraulic regulator with an acquired hydraulic actual value, and then the hydraulic regulator is iterated through a fuzzy sliding mode to compare, so that proper hydraulic pressure is injected into the hydraulic system, and further the aim of controlling the scraper chain to be always in ideal tension is achieved.
Preferably, the fuzzy sliding mode iterative hydraulic regulator comprises a sliding film controller, a fuzzy controller and an iterative learning controller, wherein the error and the change rate of a set value and a feedback value of hydraulic pressure are firstly sent into the sliding film controller for operation; then sending the obtained operation result to a fuzzy controller for fuzzification and defuzzification treatment; and finally, implementing control and adjustment on the hydraulic system through the iterative learning controller.
Preferably, when the tightness of the chain is adjusted, the extending amount of the oil cylinder is determined by adopting a torque stepping mode, and a four-stepping control mode is adopted.
Preferably, the four-gear control mode is that the load is set as T,
T1=0%-30%，T2=30%-50%，T3=50%-80%，T4=80%-100%。
according to the automatic tension control method for the scraper chain based on the load following control, provided by the invention, the influence of the load on the chain tension is analyzed, and the specific control method is formed by combining the information such as pressure, displacement and the like, so that the scraper chain is controlled to be always in ideal tension, the occurrence probability of chain breakage accidents is reduced, and the service lives of the chain and the chain wheel shaft group are prolonged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a control flow chart of the present invention.
Fig. 2 is a schematic diagram of a dual closed loop control.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "middle," "outer," "inner," "lower," and the like are used for indicating orientations or positional relationships, merely to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present invention.
Referring to fig. 1 to 2, an embodiment of the present invention provides a method for controlling automatic tensioning of a scraper chain based on load following control,
firstly judging whether a control system is networked or not, if so, entering a networking mode, and carrying out data analysis on the starting and stopping information of the scraper conveyor, the motor torque, the position of the coal mining machine and the travelling direction of the coal mining machine which are transmitted by a communication module, and the displacement and pressure information of the oil cylinder which are acquired by an analog acquisition module; if the control system is not networked, the control system enters a self-adaptive control mode, under the self-adaptive control mode, the control system cannot obtain the starting and stopping information of the scraper conveyor, the motor torque, the position of the coal mining machine and the working condition information of the advancing direction of the coal mining machine, which are transmitted by the communication module, the control system performs data analysis according to the oil cylinder displacement and the pressure information acquired by the analog acquisition module, and controls the extension and retraction of the telescopic oil cylinder at the tail of the machine to adjust the tension of the chain to be in a normal tensioning range in combination with the preset parameters of the system.
After the control system acquires data, the telescopic oil cylinder is controlled through double closed-loop control, so that the chain tension is in a normal tension range. The outer ring is a position ring, the position ring is used for carrying out data analysis on the torque acquired by the communication module, the position and the direction of the coal mining machine and the oil cylinder displacement information acquired by the analog acquisition module, and then the oil cylinder displacement controller inputs a hydraulic setting value to the hydraulic regulator according to the data analysis result; the inner ring is a hydraulic ring, the hydraulic ring compares a hydraulic set value given by the hydraulic regulator with a hydraulic actual value acquired by the analog acquisition module, and then the hydraulic regulator is iterated through the fuzzy sliding mode to compare, so that proper hydraulic pressure is injected into the hydraulic system, and further the aim of controlling the scraper chain to be always in ideal tension is achieved, thereby reducing the occurrence probability of chain breakage accidents of the chain and prolonging the service lives of the chain and the chain wheel shaft group.
Various data information in the control system is displayed by a configuration man-machine interaction interface, wherein the configuration man-machine interaction interface comprises a control mode of the control system, upper and lower limit set values of oil cylinder pressure, starting and stopping information of the scraper conveyor, motor torque, coal cutter position and traveling direction of the coal cutter which are transmitted by a communication module, oil cylinder displacement and pressure information acquired by an analog acquisition module, fault alarm information and the like.
The fuzzy sliding mode iterative hydraulic regulator comprises a sliding film controller, a fuzzy controller and an iterative learning controller, wherein the error and the change rate of a set value and a feedback value of hydraulic pressure are firstly sent into the sliding film controller for operation; then sending the obtained operation result to a fuzzy controller for fuzzification and defuzzification treatment; and finally, implementing control and adjustment on the hydraulic system through the iterative learning controller.
When the tightness of the chain is adjusted, the extension amount of the oil cylinder is required to be determined by adopting a torque stepping mode, a four-stepping control mode is adopted, equipment is used, the length of the chain is ¢ multiplied by 152 and is 500 meters, the load is set as T, and the deformation characteristics are as follows:
t1=0% -30% of the chain length 500 m+0.01 m;
t2=30% -50% of the chain length 500.01 m+0.03 m;
t3=50% -80% of the chain length 500.04 m+0.04 m;
t4=80% -100% of the chain length 500.08 m+0.05 m;
setting the initial displacement of the tail oil cylinder as L;
t1=0% -30% cylinder displacement is controlled to L-l+0.005;
t2=30% -50% of cylinder displacement is controlled to be l+0.005-l+0.015;
t3=50% -80% of cylinder displacement is controlled to be l+0.015-l+0.02;
t4=80% -100% cylinder displacement is controlled to l+0.02-l+0.025.
The foregoing disclosure is illustrative of the preferred embodiments of the present invention, and is not to be construed as limiting the scope of the invention, as it is understood by those skilled in the art that all or part of the above-described embodiments may be practiced with equivalents thereof, which fall within the scope of the invention as defined by the appended claims.
Claims (6)
1. The automatic tensioning control method for the scraper chain based on the load following control is characterized by comprising the following steps of: comprises the steps of,
(1) Judging whether the control system is networked or not, if the control system is in a networking state, entering a networking mode, and if the control system is not networked, entering an adaptive control mode;
(2) In a networking mode, the control system acquires start-stop information of the scraper conveyor, motor torque, the position of the coal mining machine, the travelling direction of the coal mining machine, and oil cylinder displacement and pressure information;
(3) Carrying out data analysis on the acquired start-stop information of the scraper conveyor, the torque of the motor, the position of the coal mining machine, the advancing direction of the coal mining machine, the displacement of the oil cylinder and the pressure information, so as to control the extension and retraction of the tail telescopic oil cylinder and adjust the tension of the chain to be in a normal tensioning range;
(4) In the self-adaptive control mode, the control system directly collects the displacement and pressure information of the oil cylinder;
(5) And analyzing the data of the acquired oil cylinder displacement and pressure information, and combining with preset parameters of a system, so as to control the extension and retraction of the tail telescopic oil cylinder and adjust the chain tension to be in a normal tensioning range.
2. The automatic tension control method for a scraper chain based on load following control according to claim 1, wherein: after the control system acquires data and analyzes the data, the telescopic oil cylinder is controlled through double closed-loop control, so that the chain tension is in a normal tensioning range.
3. The automatic tension control method for a scraper chain based on load following control according to claim 2, wherein: the double closed loops are an outer loop and an inner loop, the outer loop is a position loop, the position loop performs data analysis on collected torque, the position and the direction of the coal mining machine and the displacement information of the oil cylinder, and then the oil cylinder displacement controller inputs a hydraulic pressure set value to the hydraulic regulator according to a data analysis result; the inner ring is a hydraulic ring, the hydraulic ring compares a hydraulic set value given by the hydraulic regulator with an acquired hydraulic actual value, and then the hydraulic regulator is iterated through a fuzzy sliding mode to compare, so that proper hydraulic pressure is injected into the hydraulic system, and further the aim of controlling the scraper chain to be always in ideal tension is achieved.
4. The automatic tension control method for a scraper chain based on load following control according to claim 3, wherein: the fuzzy sliding mode iterative hydraulic regulator comprises a sliding film controller, a fuzzy controller and an iterative learning controller, wherein the error and the change rate of a set value and a feedback value of hydraulic pressure are firstly sent into the sliding film controller for operation; then sending the obtained operation result to a fuzzy controller for fuzzification and defuzzification treatment; and finally, implementing control and adjustment on the hydraulic system through the iterative learning controller.
5. The automatic tension control method for a scraper chain based on load following control according to claim 1, wherein: when the tightness of the chain is adjusted, the extending amount of the oil cylinder is determined by adopting a torque stepping mode, and a four-stepping control mode is adopted.
6. The automatic tension control method for a scraper chain based on load following control according to claim 5, wherein: the fourth gear control mode is that the load is set as T,
T1=0%-30%，T2=30%-50%，T3=50%-80%，T4=80%-100%。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210052417.7A CN114476578B (en) | 2022-01-18 | 2022-01-18 | Automatic tensioning control method for scraper chain based on load following control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210052417.7A CN114476578B (en) | 2022-01-18 | 2022-01-18 | Automatic tensioning control method for scraper chain based on load following control |
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| CN114476578B true CN114476578B (en) | 2024-02-06 |
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