CN115289956B - Fault detection method and system for stroke sensor of mining hydraulic support - Google Patents
Fault detection method and system for stroke sensor of mining hydraulic support Download PDFInfo
- Publication number
- CN115289956B CN115289956B CN202211235510.8A CN202211235510A CN115289956B CN 115289956 B CN115289956 B CN 115289956B CN 202211235510 A CN202211235510 A CN 202211235510A CN 115289956 B CN115289956 B CN 115289956B
- Authority
- CN
- China
- Prior art keywords
- stroke sensor
- fault
- hydraulic support
- stroke
- judging whether
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention provides a fault detection method and a fault detection system for a stroke sensor of a mining hydraulic support, and belongs to the technical field of fault detection of stroke sensors; the method solves the problems of poor timeliness, high requirement on experience of maintainers and the like in the manual method for checking the faults of the travel sensor of the mining hydraulic support, and comprises the following steps: judging whether the stroke sensor circuit is disconnected or not; judging whether a transmission fault exists or not; judging whether the numerical value read by the travel sensor has a null value or a missing value; judging whether the value read by the travel sensor exceeds a theoretical or actual range; judging whether a signal short circuit fault exists in the stroke sensor; judging whether pushing, sliding and pulling actions exist; judging whether a circuit failure fault exists in a bracket travel sensor with/without pushing and pulling actions; calculating the accumulated propulsion amount and the inertial navigation track longitudinal coordinate variation after the n-cutter coal cutting process is finished; judging whether the stroke sensor has an effective stroke shortening fault: the invention is applied to the fault detection of the travel sensor.
Description
Technical Field
The invention provides a fault detection method and system for a stroke sensor of a mining hydraulic support, and belongs to the technical field of fault detection of stroke sensors.
Background
The mining hydraulic support stroke sensor is a mining hydraulic support pushing oil cylinder stroke sensor, and the types of the stroke sensor mainly include a dry reed pipe type and a hysteresis telescopic type. During the long-term reciprocating motion process of the hydraulic support pushing oil cylinder, the measuring rod of the stroke sensor is easy to rub to cause damage of the measuring rod, and high-pressure liquid permeates into the measuring rod to cause electric leakage and circuit failure of the stroke sensor, so that the output signal of the stroke sensor is fixed and unchanged. The stroke sensor is easily influenced by vibration to cause the dry reed pipe to be broken, so that the effective stroke is shortened. Meanwhile, the stroke sensor is easy to enter water and damp, so that signal short circuit faults are generated, and the output signals of the stroke sensor frequently jump between 0 and the maximum measuring range.
At present, faults of a mining hydraulic support stroke sensor are mainly checked manually, but problems of poor timeliness, high experience requirements on maintenance personnel and the like exist in the process of checking the faults of the mining hydraulic support stroke sensor by a manual method, and some fault automatic detection methods of the stroke sensor exist.
Disclosure of Invention
The invention provides a method and a system for detecting faults of a stroke sensor of a mining hydraulic support, aiming at solving the problems of poor timeliness, high requirement on experience of maintainers and the like in the process of manually checking the faults of the stroke sensor of the mining hydraulic support.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a fault detection method for a mining hydraulic support stroke sensor comprises the following steps:
step 1: judging whether the stroke sensor circuit is disconnected: if the disconnection is carried out, the detection is quitted, and if the disconnection is not carried out, the step 2 is carried out;
and 2, step: judging whether a transmission fault exists: if the transmission fault exists, exiting the detection; if no transmission fault exists, entering the step 3;
and 3, step 3: judging whether the numerical value read by the stroke sensor has a null value or a missing numerical value, if so, judging that the stroke sensor is abnormal, and if not, executing the step 4;
and 4, step 4: judging whether the value read by the stroke sensor exceeds a theoretical or actual range, namely whether the read value exceeds a set threshold interval, if so, judging that the stroke sensor is abnormal, and if not, executing a step 5;
and 5: judging whether the stroke sensor has a signal short-circuit fault or not, if so, judging that the stroke sensor has the signal short-circuit fault, and if not, executing the step 6;
step 6: judging whether pushing, sliding and pulling actions exist or not, if so, executing a step 7, and if not, executing a step 8;
and 7: judging whether a stroke sensor of the hydraulic support with the pushing and pulling actions has a circuit failure fault or not, if so, judging that the stroke sensor of the hydraulic support has the circuit failure fault, and judging that the stroke sensor is abnormal; if not, executing step 9;
and 8: judging whether a stroke sensor of the hydraulic support without pushing and pulling actions has a circuit failure fault or not, if so, judging that the stroke sensor of the hydraulic support has the circuit failure fault, and judging that the stroke sensor is abnormal; if not, executing step 9;
and step 9: calculating the accumulated propelling quantity after the coal cutting process of n cutters is finished;
step 10: calculating the variation of the vertical coordinate of the inertial navigation track after the coal cutting process of n cutters is finished;
step 11: judging whether the stroke sensor has an effective stroke shortening fault: and after n-edge coal cutting is finished, calculating the ratio of the accumulated propulsion amount to the variation of the vertical coordinate of the inertial navigation track, and if a certain numerical value in the calculation result list is lower than a set value, an effective stroke shortening fault exists in the support at the corresponding position.
The judgment basis of the transmission fault of the stroke sensor in the step 2 is as follows: if the travel data are 0 and the action data do not exist, a transmission fault exists, and the detection is quitted; if the travel data is not all 0 or the action data exists, no transmission fault exists.
The judgment basis of the stroke sensor signal disconnection fault in the step 3 is as follows: the short-circuit fault characteristic of the stroke sensor signal is that the stroke detection value frequently jumps between 0 and the maximum measuring range, and whether the following conditions exist in the stroke sensor value in the detection window is judged; (1) the method has two values of 0 and maximum measuring range; (2) and if the mean square error of each hour period is larger than a specified threshold value, the stroke sensor has a signal short-circuit fault if the two conditions are met.
The judgment basis for judging whether the stroke sensor of the hydraulic support with the pushing and pulling actions has the circuit failure fault in the step 7 is as follows:
and intercepting the pushing and pulling frame action time period, and judging whether the change of the stroke numerical value in the pushing and pulling frame action time period is less than a threshold value, wherein if the change of the stroke numerical value in the pushing and pulling frame action time period is less than the threshold value, a circuit failure fault exists in a stroke sensor of the hydraulic support.
The judgment basis for judging whether the circuit failure fault exists in the stroke sensor of the hydraulic support without pushing, sliding and pulling actions in the step 8 is as follows:
under the condition that a current detection window of a certain hydraulic support does not have the pushing and sliding actions, whether the left and right adjacent hydraulic supports have the pushing and sliding actions is further detected; if so, judging whether the value of the stroke sensor in the whole detection window is kept unchanged or not when the current hydraulic support is lost; if yes, a circuit failure fault exists in the stroke sensor of the hydraulic support.
The step 9 of calculating the accumulated advance amount after the n-blade coal cutting process is completed comprises the following steps:
intercepting the continuous pulling frame action time period, and taking the stroke measured value recorded at the pulling frame starting moment as the initial stroke d of the pulling frame a ，d a =[da 1 ，da 2 ，da 3 ，···，da m ]M is the number of hydraulic supports on the working face; to be provided withTaking the stroke measured value recorded at the moment of the first column lifting action after the end of the pulling frame action as the end stroke d of the pulling frame b =[db 1 ，db 2 ，db 3 ，···，db m ]M is the number of hydraulic supports on the working face;
the rack pulling quantity delta di = d in the ith coal cutting process a –d b Because the pushing process defaults to full scale pushing, the accumulated rack pulling amount is equal to the accumulated pushing amount, and the accumulated pushing amount between the 1 st coal cutting process and the n th coal cutting process is
。
The step 10 of calculating the variation of the ordinate of the inertial navigation track after the n-blade coal cutting process is completed comprises the following steps:
debugging an inertial navigation system, wherein the Y direction of a vertical coordinate is the propelling direction of a working face and is parallel to two lanes, and the X direction of a horizontal coordinate is horizontally vertical to the Y direction of the vertical coordinate;
when the coal mining machine travels to a certain hydraulic support, the stroke encoder acquires the frame number of the hydraulic support at the current position and returns a real-time inertial navigation value to obtain the longitudinal coordinate value of the corresponding inertial navigation track when the coal mining machine travels to each hydraulic support in the coal cutting process;
the ordinate of the inertial navigation track after the 1 st coal cutting process is finished is Y 1 =[y 11 ，y 12 ，y 13 ，···，y 1m ]M is the number of hydraulic supports on the working face, and the ordinate of the inertial navigation track is Y after the nth coal cutting process is finished n =[y n1 ，y n2 ，y n3 ，···，y nm ]And m is the number of hydraulic supports on the working face, the variation quantity delta Y = Y of the vertical coordinate of the inertial navigation track after the nth coal cutting process is finished n -Y 1 。
The judgment basis for judging whether the stroke sensor circuit is disconnected in the step 1 is as follows:
and detecting the current of the power supply circuit of the stroke sensor, and if the current of the power supply circuit of the stroke sensor is 0, quitting the detection.
A fault detection system for a stroke sensor of a mining hydraulic support comprises a crossheading main control computer, an electro-hydraulic control server arranged on a working face end head support, an electro-hydraulic controller arranged on each hydraulic support, a voltage and current detection device of a stroke sensor and a stroke sensor power supply circuit, a coal mining machine, an inertial navigation system and a coal mining machine walking encoder, wherein the inertial navigation system is communicated with a switch in a wired mode, the switch is communicated with the crossheading main control computer through a CAN (controller area network) bus, and the coal mining machine walking encoder is communicated with the inertial navigation system through the switch; the crossheading main control computer is communicated with the electro-hydraulic control server through a CAN bus, and the electro-hydraulic control server is communicated with the electro-hydraulic controller through the CAN bus;
and a computer program executed by a fault detection method of a mining hydraulic support stroke sensor is arranged in the gate main control computer.
Compared with the prior art, the invention has the beneficial effects that: compared with the existing automatic detection method for the faults of the stroke sensor of the hydraulic support for the mine, the method for detecting the faults of the stroke sensor of the hydraulic support for the mine integrates push-slip and pull-frame action data for judgment in the process of detecting the faults of circuit failure, improves the detection accuracy, provides a method for detecting the short circuit faults of signals of the stroke sensor and a method for detecting the short circuit faults of effective stroke, and improves the fault detection and judgment accuracy; compared with a sensor fault detection method completely relying on manual work, the automatic detection method for the fault of the stroke sensor provided by the invention has the advantages of high timeliness, low experience dependence and the like.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a flow chart of a fault detection method for a mining hydraulic support stroke sensor according to the invention;
fig. 2 is a schematic structural diagram of a fault detection system of a mining hydraulic support stroke sensor.
Detailed Description
As shown in fig. 1 to 2, the invention provides a fault detection method and system for a stroke sensor of a mining hydraulic support, which can realize rapid detection of faults such as circuit failure, signal short circuit, effective stroke shortening and the like of the stroke sensor.
The invention provides a fault detection system for a travel sensor of a mining hydraulic support, which comprises a gate main control computer, an electro-hydraulic control server arranged on a working face end head support, an electro-hydraulic controller, a travel sensor and a travel sensor power supply circuit voltage and current detection device arranged on each hydraulic support, a coal mining machine, an inertial navigation system and a coal mining machine walking encoder arranged on the coal mining machine. The inertial navigation system is communicated with the switch in a wired mode, the switch is communicated with the gate main control computer through a CAN (controller area network), and the coal mining machine walking encoder is communicated with the inertial navigation system through the switch; the crossheading main control computer is communicated with an electro-hydraulic control server through a CAN network, the electro-hydraulic control server is communicated with an electro-hydraulic controller through the CAN network, and a voltage and current detection device is arranged on a travel sensor power supply circuit.
The invention provides a fault detection method for a stroke sensor of a mining hydraulic support, which comprises the following steps
Step 1: determining whether the travel sensor circuit is open
Detecting the current of the stroke sensor power supply circuit, and if the current of the stroke sensor power supply circuit is 0, quitting the detection; if not, the step 2 is entered.
And 2, step: determining whether there is a transmission failure
Detecting stroke sensor data and hydraulic support action data, if the stroke data are both 0 and the action data do not exist, determining that a transmission fault exists, and quitting the detection; if the travel data is not all 0 or the action data exists, no transmission fault exists, and the process goes to step 3.
And step 3: judging whether the numerical value read by the travel sensor has null value or not and whether the numerical value is missing or not
If yes, judging that the stroke sensor is abnormal, and if not, executing the step 4.
And 4, step 4: judging whether the value read by the travel sensor exceeds the theoretical or actual range, namely whether the read value exceeds the set threshold interval
If yes, judging that the stroke sensor is abnormal, and if not, executing the step 5.
And 5: judging whether the stroke sensor has signal short circuit fault
The short-circuit fault characteristic of the stroke sensor signal is that the stroke detection value frequently jumps between 0 and the maximum measuring range, and whether the following conditions exist in the stroke sensor value in the detection window is judged; (1) the method has two values of 0 and maximum measuring range; (2) the mean square error for each hour period is greater than a specified threshold. If the two conditions are met, a signal short-circuit fault exists in the stroke sensor, and if the two conditions are not met, the step 6 is executed.
And 6: judging whether the detection window has pushing, sliding and pulling actions
And (4) judging whether the pushing and sliding and the pulling are carried out in the detection window, if so, executing a step 7, and if not, executing a step 8.
And 7: judging whether a hydraulic support stroke sensor with push-slide and pull actions has circuit failure fault
Intercepting the pushing and pulling frame action time period, and judging whether the change of the stroke value is smaller than a threshold value in the pushing and pulling frame action time period, if so, determining that the hydraulic support stroke sensor has a circuit failure fault; if not, go to step 9.
And 8: judging whether circuit failure fault exists in hydraulic support stroke sensor without pushing and pulling actions
Under the condition that a current detection window of a certain hydraulic support does not have the pushing and sliding actions, whether the left and right adjacent hydraulic supports have the pushing and sliding actions is further detected; if so, judging whether the value of the stroke sensor in the whole detection window is kept unchanged or not when the current hydraulic support is lost; if yes, the hydraulic support stroke sensor has circuit failure faults; if not, go to step 9.
And step 9: calculating the accumulated propelling quantity after the coal cutting process of n cutters is finished
Intercepting the continuous pulling frame action time period, and taking the stroke measured value recorded at the pulling frame starting moment as the initial stroke d of the pulling frame a ，d a =[da 1 ，da 2 ，da 3 ，···，da m ]M is the number of hydraulic supports on the working face; taking a stroke measured value recorded at the moment of the first column lifting action after the end of the pulling frame action as a pulling frame end stroke d b =[db 1 ，db 2 ，db 3 ，···，db m ]M is the number of hydraulic supports on the working face; the rack pulling quantity delta di = d in the ith coal cutting process a –d b Because the pushing process defaults to full scale pushing, the accumulated rack pulling amount is equal to the accumulated pushing amount, and the accumulated pushing amount between the 1 st coal cutting process and the n th coal cutting process is
。
Step 10: calculating the variation of the vertical coordinate of the inertial navigation track after the completion of the coal cutting process by n cutters
Debugging an inertial navigation system, wherein the Y direction of a vertical coordinate is the propelling direction of a working face and is parallel to two lanes, and the X direction of a horizontal coordinate is horizontally vertical to the Y direction of the vertical coordinate; when the coal mining machine travels to a certain hydraulic support, the stroke encoder acquires the frame number of the hydraulic support at the current position and returns a real-time inertial navigation value, and the longitudinal coordinate value of the corresponding inertial navigation track when the coal mining machine travels to each hydraulic support in the coal cutting process is acquired; the ordinate of the inertial navigation track after the 1 st coal cutting process is finished is Y 1 =[y 11 ，y 12 ，y 13 ，···，y 1m ]M is the number of hydraulic supports on the working face, and the ordinate of the inertial navigation track is Y after the nth coal cutting process is finished n =[y n1 ，y n2 ，y n3 ，···，y nm ]And m is the number of hydraulic supports on the working face, the variation quantity delta Y = Y of the vertical coordinate of the inertial navigation track after the nth coal cutting process is finished n -Y 1 。
Step 11: judging whether the stroke sensor has an effective stroke shortening fault or not
After n-edge coal cutting is finished, calculating the ratio of the accumulated propulsion amount to the variation of the vertical coordinate of the inertial navigation track, namely
And/Δ Y, if a certain value in the calculation result list is lower than 0.8, the bracket at the corresponding position has an effective stroke shortening fault.
The fault detection method and the fault detection system for the stroke sensor of the mining hydraulic support, provided by the invention, are used for judging the fault of the circuit of the stroke sensor by combining the actions of pushing and pulling the support and are used for judging the fault of the circuit of the stroke sensor under the situation that the action of the support is lost by combining the action data of the adjacent support. And calculating the accumulated propulsion amount through the stroke data of the multi-cutter coal cutting process, calculating the variation of a vertical coordinate through the inertial navigation data of the multi-cutter coal cutting process, and comparing the accumulated propulsion amount with the variation of the vertical coordinate to judge the effective stroke shortening fault of the stroke sensor.
It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules adopted in the present invention is determined and can be realized, except for the specific description in the embodiment, the specific connection relationship can bring the corresponding technical effect, and the technical problem proposed by the present invention is solved on the premise of not depending on the execution of the corresponding software program.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A fault detection method for a stroke sensor of a mining hydraulic support is characterized by comprising the following steps: the method comprises the following steps:
step 1: judging whether the stroke sensor circuit is disconnected: if the disconnection is caused, the detection is quitted, and if the disconnection is not caused, the step 2 is entered;
and 2, step: judging whether a transmission fault exists: if the transmission fault exists, exiting the detection; if no transmission fault exists, entering step 3;
and 3, step 3: judging whether the numerical value read by the stroke sensor has a null value or a missing numerical value, if so, judging that the stroke sensor is abnormal, and if not, executing the step 4;
and 4, step 4: judging whether the value read by the travel sensor exceeds a theoretical or actual range, namely whether the read value exceeds a set threshold interval, if so, judging that the travel sensor is abnormal, and if not, executing the step 5;
and 5: judging whether the stroke sensor has a signal short-circuit fault or not, if so, judging that the stroke sensor has the signal short-circuit fault, and if not, executing the step 6;
and 6: judging whether pushing, sliding and pulling actions exist or not, if so, executing a step 7, and if not, executing a step 8;
and 7: judging whether a stroke sensor of the hydraulic support with the pushing and pulling actions has a circuit failure fault or not, if so, judging that the stroke sensor of the hydraulic support has the circuit failure fault, and judging that the stroke sensor is abnormal; if not, executing step 9;
and step 8: judging whether a stroke sensor of the hydraulic support without pushing and pulling actions has a circuit failure fault or not, if so, judging that the stroke sensor of the hydraulic support has the circuit failure fault, and judging that the stroke sensor is abnormal; if not, executing step 9;
and step 9: calculating the accumulated propelling quantity after the coal cutting process of n cutters is finished;
step 10: calculating the variation of the vertical coordinate of the inertial navigation track after the coal cutting process of n cutters is finished;
step 11: judging whether the stroke sensor has an effective stroke shortening fault: and after n-cutter coal cutting is finished, calculating the ratio of the accumulated propulsion amount to the variation of the vertical coordinate of the inertial navigation track, and if a certain numerical value in the calculation result list is lower than a set value, an effective stroke shortening fault exists in the corresponding position support.
2. The fault detection method for the stroke sensor of the mining hydraulic support according to claim 1, characterized by comprising the following steps: the judgment basis of the transmission fault of the stroke sensor in the step 2 is as follows: if the travel data are 0 and the action data do not exist, a transmission fault exists, and the detection is quit; if the travel data is not all 0 or the action data exists, no transmission fault exists.
3. The fault detection method for the stroke sensor of the mining hydraulic support according to claim 1, characterized by comprising the following steps: the judgment basis of the stroke sensor signal short circuit fault in the step 3 is as follows: the short-circuit fault characteristic of the stroke sensor signal is that the stroke detection value frequently jumps between 0 and the maximum measuring range, and whether the following conditions exist in the stroke sensor value in the detection window is judged; (1) the method has two values of 0 and maximum measuring range; (2) and if the mean square error of each hour period is larger than a specified threshold value, the stroke sensor has a signal short-circuit fault if the two conditions are met.
4. The fault detection method for the stroke sensor of the mining hydraulic support according to claim 1, characterized by comprising the following steps: the judgment basis for judging whether the circuit failure fault exists in the stroke sensor of the hydraulic support with the pushing, sliding and pulling actions in the step 7 is as follows:
and intercepting the pushing and pulling frame action time period, and judging whether the change of the stroke numerical value in the pushing and pulling frame action time period is less than a threshold value, wherein if the change of the stroke numerical value in the pushing and pulling frame action time period is less than the threshold value, a circuit failure fault exists in a stroke sensor of the hydraulic support.
5. The fault detection method for the stroke sensor of the mining hydraulic support according to claim 1, characterized by comprising the following steps: the judgment basis for judging whether the circuit failure fault exists in the stroke sensor of the hydraulic support without pushing, sliding and pulling actions in the step 8 is as follows:
under the condition that a current detection window of a certain hydraulic support does not have the pushing and sliding actions, whether the left and right adjacent hydraulic supports have the pushing and sliding actions is further detected; if yes, the current hydraulic support has action loss, and whether the value of the stroke sensor in the whole detection window is kept unchanged is continuously judged; if yes, the stroke sensor of the hydraulic support has circuit failure faults.
6. The fault detection method for the stroke sensor of the mining hydraulic support according to claim 1, characterized by comprising the following steps: the step 9 of calculating the accumulated pushing amount after the n-blade coal cutting process is completed comprises the following steps:
intercepting the continuous pulling frame action time period, and taking the stroke measured value recorded at the pulling frame starting moment as the initial stroke d of the pulling frame a ，d a =[da 1 ，da 2 ，da 3 ，···，da m ]M is the number of hydraulic supports on the working face; taking a stroke measured value recorded at the moment of the first column lifting action after the end of the pulling frame action as a pulling frame end stroke d b =[db 1 ，db 2 ，db 3 ，···，db m ]M is the number of hydraulic supports on the working face;
the rack pulling quantity delta di = d in the ith coal cutting process a –d b Because the pushing process defaults to full scale pushing, the accumulated rack pulling amount is equal to the accumulated pushing amount, and the accumulated pushing amount between the 1 st coal cutting process and the n th coal cutting process is
。
7. The fault detection method for the stroke sensor of the mining hydraulic support according to claim 6, characterized by comprising the following steps: in the step 10, the calculation steps of the variation of the ordinate of the inertial navigation track after the n-knife coal cutting process is completed are as follows:
debugging an inertial navigation system, wherein the Y direction of a vertical coordinate is the propelling direction of a working face and is parallel to two lanes, and the X direction of a horizontal coordinate is horizontally vertical to the Y direction of the vertical coordinate;
when the coal mining machine travels to a certain hydraulic support, the stroke encoder acquires the frame number of the hydraulic support at the current position and returns a real-time inertial navigation value to obtain the longitudinal coordinate value of the corresponding inertial navigation track when the coal mining machine travels to each hydraulic support in the coal cutting process;
the ordinate of the inertial navigation track after the 1 st coal cutting process is finished is Y 1 =[y 11 ，y 12 ，y 13 ，···，y 1m ]M is the number of hydraulic supports on the working face, and the ordinate of the inertial navigation track is Y after the nth coal cutting process is finished n =[y n1 ，y n2 ，y n3 ，···，y nm ]And m is the number of hydraulic supports on the working face, the variation quantity delta Y = Y of the vertical coordinate of the inertial navigation track after the nth coal cutting process is finished n -Y 1 。
8. The fault detection method for the stroke sensor of the mining hydraulic support according to claim 1, characterized by comprising the following steps: the judgment basis for judging whether the stroke sensor circuit is disconnected in the step 1 is as follows:
and detecting the current of the power supply circuit of the stroke sensor, and if the current of the power supply circuit of the stroke sensor is 0, quitting the detection.
9. The utility model provides a mining hydraulic support stroke sensor fault detection system which characterized in that: the system comprises a crossheading main control computer, an electro-hydraulic control server arranged on a working face end head support, a voltage and current detection device of an electro-hydraulic controller, a stroke sensor and a stroke sensor power supply circuit arranged on each hydraulic support, a coal mining machine, an inertial navigation system and a coal mining machine walking encoder, wherein the inertial navigation system is communicated with an exchanger in a wired mode, the exchanger is communicated with the crossheading main control computer through a CAN (controller area network) bus, and the coal mining machine walking encoder is communicated with the inertial navigation system through the exchanger; the crossheading main control computer is communicated with the electro-hydraulic control server through a CAN bus, and the electro-hydraulic control server is communicated with the electro-hydraulic controller through the CAN bus;
the gate main control computer is internally provided with a computer program executed by the mining hydraulic support stroke sensor fault detection method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211235510.8A CN115289956B (en) | 2022-10-10 | 2022-10-10 | Fault detection method and system for stroke sensor of mining hydraulic support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211235510.8A CN115289956B (en) | 2022-10-10 | 2022-10-10 | Fault detection method and system for stroke sensor of mining hydraulic support |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115289956A CN115289956A (en) | 2022-11-04 |
| CN115289956B true CN115289956B (en) | 2022-12-23 |
Family
ID=83819426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211235510.8A Active CN115289956B (en) | 2022-10-10 | 2022-10-10 | Fault detection method and system for stroke sensor of mining hydraulic support |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115289956B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000272498A (en) * | 1999-03-25 | 2000-10-03 | Mazda Motor Corp | Abnormality detecting device for travelling condition detecting sensor for vehicle and vehicle behaviour control device |
| JP2004294132A (en) * | 2003-03-26 | 2004-10-21 | Univ Of Fukui | Abrasion quantity measuring method, cutting quantity measuring method, abrasion quantity measuring sensor, cutting quantity measuring sensor, abrasion quantity measuring device cutting quantity measuring device, and device equipped with bearing and abrasion quantity measuring sensor |
| JP2009067377A (en) * | 2007-08-21 | 2009-04-02 | Denso Corp | Vehicle determination device |
| CN102289227A (en) * | 2011-07-09 | 2011-12-21 | 无锡隆盛科技有限公司 | Fault diagnosis instrument and diagnosis method for hand-held electric control VE pump controller |
| CN102353962A (en) * | 2011-08-25 | 2012-02-15 | 北京天地玛珂电液控制系统有限公司 | Wireless distance measuring device and wireless distance measuring method for hydraulic supports, and hydraulic support using device and method |
| EP2418478A1 (en) * | 2010-08-12 | 2012-02-15 | General Electric Company | System and method for performing electrical impedance tomography |
| CN102519350A (en) * | 2011-12-27 | 2012-06-27 | 北京天地玛珂电液控制系统有限公司 | Stroke sensor testing apparatus |
| CN103993897A (en) * | 2014-03-19 | 2014-08-20 | 北京天地玛珂电液控制系统有限公司 | Method for correcting linearity of working surface hydraulic supporting frame set through tension sensors |
| JP2015021745A (en) * | 2013-07-16 | 2015-02-02 | 日立オートモティブシステムズ株式会社 | Stroke detection device |
| CN105404171A (en) * | 2015-09-24 | 2016-03-16 | 北京天地玛珂电液控制系统有限公司 | Simulation test system of hydraulic support electro-hydraulic control system |
| CN111502723A (en) * | 2020-05-29 | 2020-08-07 | 国家能源集团宁夏煤业有限责任公司枣泉煤矿 | Hydraulic support state detection cluster control system and method |
| CN112630682A (en) * | 2020-11-18 | 2021-04-09 | 深圳市宏电技术股份有限公司 | Fault detection method, device and equipment of sensor |
| CN113959319A (en) * | 2021-10-20 | 2022-01-21 | 广西柳州钢铁集团有限公司 | Logic protection method based on displacement detection sensor |
| CN114384377A (en) * | 2021-12-21 | 2022-04-22 | 太原向明智控科技有限公司 | Cable insulation condition monitoring method and system based on QGA-VMD |
-
2022
- 2022-10-10 CN CN202211235510.8A patent/CN115289956B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000272498A (en) * | 1999-03-25 | 2000-10-03 | Mazda Motor Corp | Abnormality detecting device for travelling condition detecting sensor for vehicle and vehicle behaviour control device |
| JP2004294132A (en) * | 2003-03-26 | 2004-10-21 | Univ Of Fukui | Abrasion quantity measuring method, cutting quantity measuring method, abrasion quantity measuring sensor, cutting quantity measuring sensor, abrasion quantity measuring device cutting quantity measuring device, and device equipped with bearing and abrasion quantity measuring sensor |
| JP2009067377A (en) * | 2007-08-21 | 2009-04-02 | Denso Corp | Vehicle determination device |
| EP2418478A1 (en) * | 2010-08-12 | 2012-02-15 | General Electric Company | System and method for performing electrical impedance tomography |
| CN102289227A (en) * | 2011-07-09 | 2011-12-21 | 无锡隆盛科技有限公司 | Fault diagnosis instrument and diagnosis method for hand-held electric control VE pump controller |
| CN102353962A (en) * | 2011-08-25 | 2012-02-15 | 北京天地玛珂电液控制系统有限公司 | Wireless distance measuring device and wireless distance measuring method for hydraulic supports, and hydraulic support using device and method |
| CN102519350A (en) * | 2011-12-27 | 2012-06-27 | 北京天地玛珂电液控制系统有限公司 | Stroke sensor testing apparatus |
| JP2015021745A (en) * | 2013-07-16 | 2015-02-02 | 日立オートモティブシステムズ株式会社 | Stroke detection device |
| CN103993897A (en) * | 2014-03-19 | 2014-08-20 | 北京天地玛珂电液控制系统有限公司 | Method for correcting linearity of working surface hydraulic supporting frame set through tension sensors |
| CN105404171A (en) * | 2015-09-24 | 2016-03-16 | 北京天地玛珂电液控制系统有限公司 | Simulation test system of hydraulic support electro-hydraulic control system |
| CN111502723A (en) * | 2020-05-29 | 2020-08-07 | 国家能源集团宁夏煤业有限责任公司枣泉煤矿 | Hydraulic support state detection cluster control system and method |
| CN112630682A (en) * | 2020-11-18 | 2021-04-09 | 深圳市宏电技术股份有限公司 | Fault detection method, device and equipment of sensor |
| CN113959319A (en) * | 2021-10-20 | 2022-01-21 | 广西柳州钢铁集团有限公司 | Logic protection method based on displacement detection sensor |
| CN114384377A (en) * | 2021-12-21 | 2022-04-22 | 太原向明智控科技有限公司 | Cable insulation condition monitoring method and system based on QGA-VMD |
Non-Patent Citations (2)
| Title |
|---|
| 基于数据融合技术的液压支架故障诊断专家系统设计;赵俊杰;《自动化应用》;20191125(第11期);全文 * |
| 液压支架电液控制系统故障诊断技术研究;王书明等;《煤炭科学技术》;20180215(第02期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115289956A (en) | 2022-11-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204512069U (en) | The test bed hydraulic control system of energy saving excavator oil hydraulic cylinder | |
| CN114329810B (en) | Real-time prediction method for working posture of shield tunneling machine based on big data | |
| CN111352449B (en) | Leveling method and system for heavy-load transmitting device | |
| CN115289956B (en) | Fault detection method and system for stroke sensor of mining hydraulic support | |
| CN202849942U (en) | Displacement sensor installation assembly in intelligent stretch-draw system | |
| CN102052912B (en) | T-shaped guide rail straightness automatic detection system based on characteristic points | |
| CN103557837A (en) | On-line tower inclination monitoring method capable of correcting installation error of sensor | |
| CN111275939A (en) | Bridge construction equipment safety monitoring and early warning method and system | |
| CN113338826B (en) | Automatic rod feeding and discharging method and control system for rock drill | |
| CN202416853U (en) | Novel synchronous jacking control system based on CAN (control area network) bus | |
| CN102720540A (en) | Roof disaster monitoring system | |
| CN219016814U (en) | Safety monitoring device for high formwork system | |
| CN102285565A (en) | Automatic recognition method for overhaul running state of elevator | |
| CN102864794B (en) | Method for monitoring displacement of anchor structure by utilizing pressure difference | |
| CN202903164U (en) | Hook height measurement system used for petroleum drilling machine | |
| CN102145869B (en) | Safety limit system for amplitude limit and torque limit redundancy | |
| CN114382447A (en) | Intelligent control method and device for intermittent pumping of pumping unit | |
| CN205068133U (en) | Hydrometric cableway control system | |
| CN103513648B (en) | The performance test methods of control system and system | |
| CN110500945B (en) | Detection method for non-uniform settlement of machine tool foundation | |
| CN207479201U (en) | A kind of milling train kink pressure detecting redundant apparatus | |
| CN112986146A (en) | Image recognition-based guide rail frame bolt connection reliability detection device | |
| CN203443568U (en) | Thermal power plant high temperature and high pressure pipeline three-direction displacement measurement system | |
| CN111060594A (en) | Real-time monitoring device and method for road and bridge concrete structure | |
| CN107024915A (en) | A kind of power system controller board faults detecting system and detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |