Device for controlling feed of heading machine swept actuator

FIELD: oil and gas production.

SUBSTANCE: proposed device comprises hydraulic cylinders, electrically control hydraulic control valves, oil unit, and remote control board. It comprises also boom turn (lift) angle and telescope position transducers. Heading drive motor current transducer. Microcontroller with memory containing algorithm of defining face rock toughness, maximum feed rates depending upon motor current. To determine delivery of axial piston pump, an appropriate algorithm is used. Said pump is controlled via frequency inverter by PDM signal from microcontroller output. Mean voltage is selected from microcontroller to control induction motor squirrel-cage rotor rpm by adjusting pump shaft rpm.

EFFECT: otimised heading drive load current control.

2 dwg

 

The invention relates to tunneling processor and can be used in the coal industry.

Continuous miner with swept Executive body contains interconnected through the bottom system of the main drive cutting unregulated asynchronous squirrel-cage motor and actuating the hydraulic supply. The level of the rotor current (load) motor drive cutting of the Executive body of the digging machine is determined by the castle rock and the feed speed of the Executive body. This gives the ability to control the rotor current (load) electric motor cutting speed change actuating hydraulic feed.

Known continuous miner KPL [1], containing the equipment diagnostics and control, wired remote and radio control, the control parameters of the main components and systems.

The disadvantage is the lack of regulation of the feeding speed of the Executive body for stabilizing the load current.

The closest is the harvester heading STS-35 [2], which is controlled with remote control. Two level set flow rates of the Executive body give the opportunity to improve the efficiency of the cutting process, depending on the fortress of rocks and to minimize the time n the idle runs the Executive body.

Lack - two levels of feed rate when changing fortress destructible rocks in the range from f=1.8 to f=8, in which the feed speed is changed from 3.75 m/min up to 0.29 m/min, that is, at 12.8 times, not provide jobs rational speed, providing the specified load current of the electric cutting and high efficiency of destruction of rocks.

The task of the technical solution is a rational change of job load current of the electric cutting with smooth change in the feeding speed of the Executive authority during the transition from one level of task load current in the range of fortresses destructible rocks from f=1.8 to f=8 and stabilization of a given load current regardless of boom angle of the Executive body with protection cage asynchronous motor drive cutting prolonged overloads and "tipping".

The essence of the technical solution consists in that the device comprising the cylinders horizontal rotation, vertical lift and telescope, electrohydraulically to manage these cylinders, the pump constant performance, macroblock, remote control with buttons for commands that control electrohydraulically, further comprises analog sensors angular the rotation and lifting of the Executive body, linear analog position sensor telescope, the current sensor of the electric motor drive of the cutting of the Executive body with a rectifier and a low pass filter to suppress high frequency noise and interference, the microcontroller, the first input of which is through analog-to-digital converters connected to the outputs of the sensors of horizontal rotation, vertical extension of a telescope, sensor current, a second input interface connected to the buttons of the job to move the boom in a horizontal, vertical directions, the extension of the telescope and to the remote control, and the output of the pulse-modulated signal through a low pass filter to frequency Converter connected to the stator winding of the motor for regulating the speed the rotor of the electric motor and the shaft of the variable pump (axial piston), in memory of the microcontroller [3] laid the algorithm determine the strength destructible rocks slaughter in accordance with a ratio of

,

where Vnallowable limit feed speed, m/min;

f - fortress of rocks on a scale professional Dev:

ab - experimental constantsand=10,45; b=0,52.

Programmed function calculation of the performance of an axial piston pump could be the cost from the actual rotor current I f(load) motor drive cutting of the Executive body, the fortress of rocks, valid feed speeds, angles of horizontal rotation - α and vertical - β and structural parameters of the combine harvester: the radius of the turret - RT, the length of the boom - Lpextension of the telescope - Lm, the diameters of the cylinders (piston cavities SPG, SPW, SPM- horizontal rotation, vertical extension of the telescope; the rod end SSHG- horizontal rotation) in the form:

where Qmax- maximum capacity axial piston pump, DM3/min;

5 - factor limit the rotor current (load) motor drive cutting of the Executive body;

In- rated rotor current (load) of the motor drive of cutting, And;

f is the current ratio of the fortress of rocks;

Vn- limit the feed rate depending on rock hardness, m/min;

10 - coefficient, DM3/m;

RB- the distance from the axis of rotation of the boom in a vertical plane to the point of fastening of a rod of the hydraulic cylinder vertical lift on the boom, m;

φ is a constant angle between a line parallel to the supports of the harvester and a line passing through the point of attachment of hydration the RA recovery and the axis of rotation of the boom.

For processing slaughter swept the Executive body of the digging machine, you must destroy the rock layer, the solids (boulders), as well as to prevent the floor and roof of development workings. The feed speed of the Executive body must be adjusted continuously to achieve the most efficient operation of the digging machine.

The cruise control supply contains two paths: the inner - loop control of feed speed; outer - loop control of DC motor drive cutting software implemented in the microcontroller. Contour feed rate performs the function of maintaining a given level of current of the electric motor drive of the cutting of the Executive body, and the task for the speed loop feeder output signal of the current controller in the external circuit. Setting the speed controller is formed in the area (0,8-0,85) the maximum value of the motor torque with consideration of fluctuations in the voltage of the electrical network, for cutting through rock high fortress. The cruise control flow through pulse-width regulator controls the transistor frequency Converter regulating the speed of rotation of the rotor and shaft in an axial piston pump, which, in turn, regulates the flow of liquid in the pressure GI is lomagistro cylinders rotate, lift, telescope, and therefore, the feed speed of the Executive body of the digging machine.

The device controlling the feed speed based on the principle roznotakowy processes and inversion, which allows to obtain the specified quality indicators of the regulatory process (given the speed and smoothness of transition processes).

The operation of the device illustrated by the drawings:

Figure 1 - functional diagram of the system of the main drive cutting and Executive hydraulic supply microcontroller regulation of the feed rate by turning the arrows of the Executive body of the digging machine in the horizontal plane;

Figure 2 is a fragment of a functional diagram illustrating the action of the Executive hydraulic supply when moving the boom of the Executive body of the digging machine in the vertical plane and the extension of the telescope.

In the figures, the following notation:

1 - cylinder horizontal rotation of the boom;

2 - hydraulic vertical lifting;

3 - cylinders extension of the telescope;

4, 5, 6 - electrohydraulically control cylinders horizontal rotation, vertical lifting and extension of the telescope with electromagnets DC 7 and 8, 9 and 10, 11 and 12, respectively;

13 maslona the variable performance - axial piston;

14 is a frequency-controlled electric drive on the basis of the asynchronous motor with squirrel-cage rotor for controlling the speed of rotation of the rotor of the electric motor and the pump shaft;

15 - macroblock;

16 - remote control panel with buttons 17 and 18, 19 and 20, 21 and 22 to control electrohydraulically 4, 5 and 6;

23 analog angle sensor horizontal rotation of the boom;

24 analog angle sensor vertical lift boom;

25 - analog position sensor telescope;

26 - the current sensor of the electric motor drive of the cutting of the Executive body with the rectifier 27 and the low pass filter 28;

29 - microcontroller;

30, 31, 32, 33 - analog-to-digital converters;

34 - the program memory of the microcontroller [3];

35 - the memory of the microcontroller with the table of maximum feed speeds of the Executive body, depending on rock hardness scale professional Dev [3];

36 - the memory of the microcontroller for storing data about the performance of axial-piston pump;

37 - turret with a center OTand radius RT;

38 - arrow Executive body;

39 - telescope;

40 - crown (cutter) Executive body;

41 - drive motor of the cutting of the Executive body;

42 - the core of the microcontroller operating in real time is;

43 filter averaging voltage pulse modulated signal output of the microcontroller;

44 - frequency Converter.

The device operates as follows.

For processing slaughter the driver of the combine harvester includes a drive motor of the cutting of the Executive body and presses, holding one of the buttons 17 or 18, 19 or 20, 21 or 22 remote control 16 control to enable electrohydraulically turn 4, climb 5, telescope 6. In the core of the microcontroller 42 receives signals from the feedback sensors boom 23 or 24, telescope 25 and the rotor current of the motor 26. The core of the microcontroller samples the information (memory 35) on allowable value, the feed rate depending on the current calculated values of the fortress of rocks laid down in memory 35. The program runs [3] stabilizing the load current for the current value of the fortress destructible rocks by controlling the feed rate. The output pulse modulated signal through a filter selection medium voltage 43 is transmitted to the frequency Converter 44, which controls the feed speed of the Executive body, changing the speed of rotation of the motor shaft 14 and an axial piston pump 13. If the current sensor 26 of the electric motor drive of the cutting fulfill inogo body produces a signal on exceeding the permissible load, the feed speed is reduced down to zero, and therefore the request is received from the microcontroller to the withdrawal of the Executive body of the contact zone with rigid inclusion, then the operator outlines a boulder to remove it from the reservoir.

Simultaneous command electrohydraulically 4 and 5 creates a diagonal movement of the crowns on the bottom with a feed rate by 40% in excess of the coordinate velocity, the actual feed rate is determined (limited) by the rotor current (load) motor drive cutting Executive body 41, that is, signals of the current sensor 26.

It is possible to simultaneously feed commands to electrohydraulically 4 and 6, in this case, the operation of the undercut with the notch", performed when cornering production. The feed rate depends on the angle of horizontal rotation and position of the telescope, taking into account the calculated fortress of rocks, as well as from a given rotor current (load) motor drive cutting of the Executive body.

The core of the microcontroller operates in real time with a resolution of the allocation of data every 1±0.0001 MS, as well as electrohydrodynamical triggered no more than 10 MS, then the output is the result corresponding to the state of the parameters at the time of admission control with whom they persecuted. In this case, increasing the efficiency of the digging machine, i.e. the maximum possible load of the electric motor drive of the cutting with the exception of its "tipping" when the permissible feed speed, depending on the strength of rock. When adjusting the feed rate to stabilize the load current of the Executive body of the digging machine is reduced to a minimum pereselenie destroyed rocks.

Sources of information

1. Harvester heading KPL Gorlovka machine-building plant / Avenue of the international exhibition - fair "Coal of Russia and mining", 2010

2. Harvester heading STS-35 yasinovatskiy machine building plant / Avenue of the international exhibition - fair "Coal of Russia and mining", 2010

3. The certificate of state registration of the computer program No. 2008615816 "Microcontroller based control system for stabilizing loads drive the cutting of the Executive body of the digging machine" on the application number 2008614798 from 21.10.2008, registered in the Register of computer programs 05.12.2008, [Text] / Pinconning, Ateshian, Uaesharja // the Federal service for intellectual property, patents and trademarks. - M.: 2008.

The device controlling the feeding speed of the swept Executive body of the digging machine, including g gracilenta horizontal rotation, vertical lifting and extension of the telescope, electrohydraulically to manage these cylinders, pump drive, macroblock, remote control panel with buttons for commands that control electrohydraulically, characterized in that it further comprises an analog rotation angle sensors and the lifting of the Executive body, linear analog position sensor telescope, the current sensor of the electric motor drive of the cutting of the Executive body with a rectifier and a low pass filter to suppress high frequency noise and interference, the microcontroller, the first input of which is through analog-to-digital converters connected to the outputs of the sensors of horizontal rotation, vertical extension of a telescope, sensor current, a second input through the interface connected to the buttons of the job to move the boom in a horizontal, vertical directions feed telescope and remote control, and the output is a pulse width modulated signal through a low pass filter to frequency Converter connected to the stator winding of the motor for regulating the speed of the rotor of the electric motor and the shaft in an axial piston variable pump, in memory of microcontroller design algorithms determine the strength times usaemail rock bottom in accordance with a ratio

where Vpallowable limit feed speed, m/min;
f - fortress rocks on the scale of Professor M.M. Protodiakonov;
a, b - experimental constants, a=10,45; b=0,52,
programmed function calculation of the performance of an axial piston pump, depending on the actual rotor current If(load) motor drive cutting of the Executive body, the fortress of rocks, valid feed speeds, angles of horizontal rotation - α and vertical - β and structural parameters of the combine harvester: the radius of the turret - RT, the length of the boom - Lpextension of the telescope - Lt, the diameters of the cylinders (piston cavities SPG, SPW, SFri- horizontal rotation, vertical extension of the telescope; the rod end SSHG- horizontal rotation)

where Qmax- maximum capacity axial piston pump, DM3/min;
5 - factor limit the rotor current (load) motor drive cutting of the Executive body;
In- rated rotor current (load) of the motor drive of cutting, And;
f is the current ratio of the fortress of rocks;
Vp- limit the feed rate depending on repostiory rocks, m/min;
10 - coefficient, DM3/m;
RB- the distance from the axis of rotation of the boom in a vertical plane to the point of fastening of a rod of the hydraulic cylinder vertical lift on the boom, m;
φ is a constant angle between a line parallel to the supports of the harvester, and a line passing through the point of attachment of the lift cylinder and the axis of rotation of the boom.



 

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26 cl, 3 dwg

FIELD: mining.

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.

3 dwg

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