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 Shearer

Vp- 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 written

Then

Substituting the value of k(1) (2), we obtain

whereIe=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;">Claims

The 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 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 Shearer

and take the amendment in the form of negative feedback, summarizing a given speed.

 

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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.

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FIELD: mining industry.

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FIELD: mining, particularly remote control specially adapted for machines for slitting or completely freeing the mineral.

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FIELD: mining.

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.

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