The method of automatic control of the feed rate of coal combines
The invention relates to mining and can be used for drive control of the supply of coal Shearer mining the coal. The method includes adjustment of current equal to the nominal definition of the effective current, comparing it with the current setup, the definition of an amendment to the set feed speed when the deviation of the effective current from the current installation and commissioning of the amendment in the form of negative feedback summed with the set speed. The amendment is determined by the mathematical expression. The technical result is to increase the reliability of the automatic control of feed speed and load control motor mechanism for cutting coal combine, maintain it at the level that defines the permissible heating of the engine. 6 Il.The invention relates to the automatic control system of the process of coal extraction combines and automates the process of coal extraction machines and, in particular, to automatically control the drive of the feed coal combine.Known way to control the mining machine to regulate the load by changing the feeding speed,the body drive cutting mining machine. Control of the feed rate is a function of the deviation of the instantaneous value of the consumed current from the reference current. This method can cause self-oscillations of the feed speed, which are determined by the low speed hydraulic supply systems [B. I. Starikov, V. L. Azar, H. M. Rabinovich. Asynchronous electric treatment combines. M.: Nedra, 1996].Closest to the proposed method is a method of control [RF Patent 2057931, IPC 7 E 21 35/24, publ. 1996], including the setpoint motor current equal to its nominal, and current cutoff, the definition of the effective motor current and compares it with the setpoint current and maintain their equality by changing the feeding speed of the harvester adopted for the prototype.However, this method has the disadvantage that it is not based upon a functional relationship between the feed rate and the effective current of the drive motor of the cutting harvester, which affects the reliability and accuracy of the system.The technical result of the invention is to improve the reliability of automatic control of feed speed and load control motor mechanism for cutting coal combine.Technical causam the setpoint reference current, equal to the nominal definition of the effective current, comparing it with the current setpoint, according to the invention determines a correction to a given feed speed when the deviation of the effective current from the current setpoint by the formula:whereIe- the deviation of the effective current from the current setpoint;Ie- the current value of the effective current;I0- the motor current cutting harvester when the feed speed is equal to 0;Vp- set speed ShearerVp- amendment to the feeding speed,and introduce an amendment in the form of negative feedback, summarizing a given speed.Thus supported, the value of the effective motor current cutting equal.The method is illustrated by drawings, where Fig.1 - diagram of the device for implementing the method of Fig.2 - scheme of the set of models of the automated actuator feed coal harvester; Fig.3, 4, 5, 6 - results of mathematical modeling of the proposed system automation coal miners.The essence of the method consists in using the automatic regulation of the feed rate in function of the effective motor current cutting, podesti Shearer is defined by:where Ie- effective motor current cutting, And;I0- the motor current cutting at Vp=0;k - coefficient depending on the physico-mechanical properties of fractured material.The derivative of the current feed rate in increments can be writtenThenSubstituting the value of k(1) (2), we obtainwhereIe=Ie-Isetpoint;Isetpointsetpoint current, And;Vpthe actual feed rate.In Fig.1 shows the order of evaluation of the amendment to the feeding speed. The adder 1 calculates a difference between the current setpoint and the actual value of the RMS current. The multiplier 2 the resulting difference is multiplied by a predetermined feed speed Vunder.ass.The adder 3 calculates a difference between the RMS current and the load current of the motor. The multiplier 4, the signal from the element 2 is divided by the difference between the RMS voltage and current idling of the engine cutting obtained at the adder 3. Quotient is integrated in the integrator 5 and usadance feed speed. From the output of the adder 7, the signal corrected velocity Vfactbeing supplied to the system control feed rate.These calculations can be done programmatically, as currently all harvesters are equipped with microprocessors for diagnosis of the elements combine.The negative feedback signal is supplied to the adder 7 in the channel set the feed speed and reduces it until the effective motor current cutting harvester will not be equal to the current setpoint.To eliminate the static error signal is negative feedback (Vpalso integrated and summed with the proportional part of the feedback. In this case, the system of automatic control of the feed speed becomes static. The proposed method of automatic control of the feed rate of the coal Shearer was simulated in the environment of MATLAB.The simulation results shown in Fig.3, 4, 5, 6.In Fig.3, 4 shows graphs of Vpand Iewhen disabled feedback Ie. In Fig.5, 6 enabled feedback. In these drawings clearly shows that the inclusion of a feedback system to automatically control the feed rate of the tyle="text-align:center; margin-top:2mm;">ClaimsThe method of automatic control of the feed rate of coal combines, including the setpoint reference current equal to the nominal definition of the effective current, comparing it with the current setpoint, wherein define an amendment to the set feed speed when the deviation of the effective current from the current setpoint by the formulawhereIe- the deviation of the effective current from the current setpoint;Ie- the current value of the effective current;I0- the motor current cutting harvester when the feed speed is equal to 0;Vp- set speed Shearerand take the amendment in the form of negative feedback, summarizing a given speed.
FIELD: mining industry.
SUBSTANCE: device has two asynchronous electric engines, connected via reducers to drive sprockets of continuous traction chain, provided with plane carriages with their possible displacement along the guide, and hydraulic cylinders for displacing guide on pit-face. To windings of stators of first and second electric engines connected respectively are outputs of first and second frequency converters, inputs of which are connected to power grid and control inputs of which are connected respectively to outputs of first and second frequency adjusters. To frequency adjusters also connected are inputs of load detectors, to outputs of which load balancing block is connected, outputs of which are connected to inputs of first frequency adjuster. To inputs of both frequency adjusters output of load adjuster is connected, inputs of which are connected to load-setting block and load sensor for second engine. To output of second frequency converter connected are input of control block, other input of which is connected to signal block of base plant, and stator winding of third asynchronous engine, which via mechanical link is connected to first and second hydraulic pumps, having constant working volumes. Output of first hydraulic pump is connected to force hydro-main and input of second preventing hydraulic valve and to first inputs of two-position hydraulic distributors with electromagnetic control, to electromagnets of which outputs of control block are connected. Second inputs of two-positional hydraulic distributors with electromagnetic control are connected to control chambers of hydro-controlled two-positional hydro-distributors, which are part of hydro-blocks. Outputs of hydro-controlled two-positional distributors are connected to opposite hollows of volumetric dosing device of each hydro-block, and their inputs are connected respectively to outputs of hydro-distributors for controlling hydro-cylinder for moving the guide on pit-face, inputs of each of which are connected to force and drain hydro-mains, and outputs are connected to piston and rod hollows of appropriate hydro-cylinder.
EFFECT: higher efficiency.
FIELD: mining industry.
SUBSTANCE: mining combine has extraction means, on which a body is mounted, having at least one first liquid outlet, for supplying liquid to material. Pipeline, through which liquid is fed to first liquid outlet, contains means for measuring flow and/or pressure of liquid in pipeline, for determining, in which of to layers outlet is positioned. Combine can have at least one second liquid outlet, placed in such a way, that first liquid outlet is in lower layer, and second liquid outlet is placed in upper layer. First liquid outlet can have one of multiple first liquid outlets spaced from each other, and second liquid outlet - one of multiple spaced from each other second liquid outlets. Efficiency of liquid flow through multiple spaced first outlets can surpass those of multiple spaced from each other second liquid outlets. Placement of second liquid outlet in separate body cover is possible. First and second liquid outlets can be directed downwardly relatively to direction of mining combine displacement. Method for controlling depth of position of mining combine extraction means includes placing two liquid outlets, interacting with material extraction means, in a material, while second liquid outlet is placed above first liquid outlet, liquid is fed to first and second liquid outlets and flow and/or pressure of liquid is measured. Layer, wherein liquid outlet lies, is detected, and first liquid outlet is placed in lower layer and second liquid outlet is placed in upper layer, to determine depth of position of extraction means relatively to two layers.
EFFECT: higher precision.
2 cl, 9 dwg
FIELD: mechanical engineering, particularly to perform remote control specially adapted for machines for slitting or completely freeing the mineral.
SUBSTANCE: system includes electric drive for cutting tools, hydraulic drive for feeder legs and crawler, two-stage control hydroblock to operate the hydraulic drive having inlet channel, hydrocylinder with piston cavity for support erector, control hydroblock adapted to operate support erector hydrocylinder, blocking hydrocylinder having spring-loaded shaft return means, two-positioned pilot spool, pumps, pressurizing means and discharge means. Pilot spool has outlet channel and hydrocontrol cavity to provide pilot spool fixation in two working positions. Outlet channel of pilot spool communicates with outlet channel of two-stage control hydroblock adapter to operate the hydraulic drive of feeder legs and crawler to provide alternate communication between outlet pilot spool channel and pressurizing and discharge means. Hydrocontrol cavity of pilot spool communicates with blocking hydrocylinder and piston cavity of support erector hydrocylinder.
EFFECT: increased safety for people present in zone of moving mining machine parts action.
FIELD: mining industry, particularly for drilling exploratory and pressure-relief wells before mineral extraction from formations, including outburst-dangerous formations and ones characterized with high gas content.
SUBSTANCE: drilling rig comprises housing, support, drive to rotate drilling rod provided with cutting tool and hydraulic cylinder for cutting tool pulldown. Electrohydraulic valve is installed in hydraulic cylinder circuit. Electric drive of electrohydraulic valve is linked with load-sensing unit, which detects load applied to drilling rod rotation drive. The electric drive is connected to load-sensing unit through amplifier relay to provide bringing amplifier relay into operation when load applied to rotation drive exceeds nominal load by 20-30%. Cutting tool is made as symmetric screw conveying surfaces defining forward and reverse strokes connected one with another through generatrix. Side cutting edges of surfaces defining forward and reverse strokes are spaced apart.
EFFECT: increased operational reliability along with reduced power inputs for drilling, possibility to remove rod from well with negligible deviation thereof from predetermined direction of drilling.
2 cl, 3 dwg
FIELD: mining, particularly remote control specially adapted for machines for slitting or completely freeing the mineral.
SUBSTANCE: device comprises the first, the second and the third asynchronous motors. The first and the second electric drives are connected to drive sprocket of closed pull chain provided with plough carriages, which may move along guiding means. Device also has hydraulic cylinders to move guiding means to face, mechanical gear, the first and the second safety hydraulic valves, the first and the second hydraulic pumps, the first and the second frequency converters, the first and the second frequency regulators, load sensors, load balancing unit, load regulator, load assignment unit, control unit, initial setting signaling unit, hydraulic distribution means, which control hydraulic cylinders to move guiding means to face, hydraulic units, electrohydraulic unit, channel switching unit, flow meter, excavated seam thickness setting unit, breakage face length setting unit, multiplication unit, divider, optimizing peak-holding controller, control signal generation unit, asynchronous single-phase motor and screw gear made as a nut and screw. The first and the second hydraulic pumps include volume regulation means.
EFFECT: reduced specific energy consumption along with increased front plant output.
SUBSTANCE: invention relates to mining, in particular, to navigation system of combined cutter-loader intended for operations in open-pit bench. This mining equipment includes a combined cutter-loader, a conveyor assembly, and a steering assembly, which joins said combined cutter-loader and conveyor assembly. In addition, this equipment includes a course sensor and a steering device, which is sensitive to signals from said course sensor. The first drive is located in combined cutter-loader, in conveyor assembly, or in steering assembly. The first drive is placed on one side of combined cutter-loader centreline. In addition, the second drive is located either in combined cutter-loader, or in conveyor assembly, or in steering assembly. The second drive is placed on another side of combined cutter-loader centreline. The first and the second drives are used to adjust angle of joint between combined cutter- loader and conveyor assembly on either side of parallel line in order to keep pre-defined direction of combined cutter-loader advancing.
EFFECT: precise driving of combined cutter-loader in order to increase coal cutting from mining zone.
22 cl, 13 dwg
SUBSTANCE: device for control over arrow of operating member of mining machine consists of hydro-cylinders of vertical lifting an horizontal turn and of arrow telescope, of half-throttle, included into line feeding working fluid into piston cavities of lifting hydro-cylinders, of double-sided hydro-locks included into feeding lines of lifting hydro-cylinders and telescope, of main distributors of hydro-cylinders control for lifting, turn and telescope, which are successively arranged to provide free overflow of working fluid into tank in neutral position, of main electro-hydro-distributors for control over main distributors and over additional distributor automatically switched on. There is also a main and additional pumps, a pressurising collector, safety valves, test pressure gages, a pressure regulator, a tank for hydro-system working fluid, and a control panel with buttons for six commands. Further the device contains a control station with a circuit of three memory elements and the element of logical function or operation, additional distributors with back valves on their outputs and correspondingly with throttles on control lines, pointed sensors of feedback, installed correspondingly on the hydro-cylinders and connected to memory elements.
EFFECT: power stabilisation of operating member of mining machine, increased efficiency of working member drive operation, increased energy saving at mine working and grade of extracted coal.
3 cl, 4 dwg
SUBSTANCE: system consists of optical master of direction- laser, of diaphragm, of photo-receiving device, of interface module, of sensors of position of each degree of actuator mobility, of tilt sensor, of blocks of control over electro-hydro-valves and of computer device. The photo-receiving device consists of semi-transparent mirror assembled at angle of 45° to lengthwise axis of the case of the device, of two screens - the tail and knife ones with zero-marks, and of two video-modules. The tail screen is arranged above reflecting surface of the semi-transparent mirror so, that it is parallel to lengthwise axis of the device, while the knife screen is located at some distance beyond non-reflecting surface and perpendicular to lengthwise axis. Each video-module is installed behind the corresponding screen at the focal distance of the objective.
EFFECT: upgraded reliability and efficiency of control over actuator.
SUBSTANCE: group of inventions is related to system and methods for control of getting machine along bottomhole in underground mine tunnel, and also to mining face for method realisation. Method includes measurement of gas concentration and depending on measurement results, generation of warning signal. At the same time volume of production achieved by getting machine is additionally established. In case of insufficient correlation between volume of production and gas concentration, a warning signal is generated.
EFFECT: invention provides for possibility to minimise danger of methane gas explosion in mining face, to establish fact of gas sensor failure and/or manipulation with it.
26 cl, 3 dwg
SUBSTANCE: device for orientation of tunnelling system during construction of curved tunnels includes the units located in line of sight and at the specified distance from each other, the end ones of which are rigidly fixed, one - in starting tube, and the other one - on tunnelling shield, intermediate units are installed inside the erected part of the tunnel, each unit is equipped with a photo sensor, light emitting element and roll sensor, also, the device is provided with sensor of amount of advance and data transfer channels between the device assemblies and computing unit with a display; at that, each unit is equipped with a plate with sector symmetric light-tight slots, plate is located on motor shaft the axis of which coincides with the direction of tunnelling operation, on both sides of the plate in horizontal and vertical planes passing through motor axis there installed are light-emitting elements directed to the plate side; at that, each unit contains differently directed photo sensors oriented parallel to motor axis.
EFFECT: improving the orientation accuracy of tunnelling system and operating characteristics of the device, and increasing standardisation of the device components.