CN-116163727-B - Coal mining machine control method and device, electronic equipment and medium

CN116163727BCN 116163727 BCN116163727 BCN 116163727BCN-116163727-B

Abstract

The application relates to the technical field of mechanical control, in particular to a coal cutter control method, a coal cutter control device, electronic equipment and a medium. A coal cutter control method is applied to a server of a coal cutter, the coal cutter comprises a frequency converter and a brake, the frequency converter and the brake are started in response to a user, first information is acquired, the first information comprises a first inclination angle of a working face, if the first inclination angle of the working face is larger than a preset first value and smaller than a preset second value, a first holding moment is calculated based on the first information, the output moment of the frequency converter is adjusted based on the first holding moment, and when the output moment of the frequency converter is equal to the first holding moment, a brake release signal is sent to the brake to enable the coal cutter to walk on the working face. According to the application, the retaining moment of the coal mining machine is calculated according to the inclination angle of the current position of the coal mining machine, so that the coal mining machine can stably walk on a working surface after being started, and the phenomenon of sliding down can not occur.

Inventors

XU WEIPENG
LIU KUNMIN
LU YUNPENG
QIAN ZHUANGZHUANG
KAN JINBIAO
LV RUILIN
WANG XIAOJUN
CAO YANG
ZHOU CHANGFEI
HU JUN
SHI CHUNXIANG
YUAN RUIGUANG
SONG XIANGKUN
LI QINGLIANG
HUANG QIULAI
WEI SHENG

Assignees

天地上海采掘装备科技有限公司

Dates

Publication Date: 20260505
Application Date: 20230112

Claims (9)

1. A method for controlling a coal mining machine, the method being applied to a server of the coal mining machine, the coal mining machine including a frequency converter and a brake, the method comprising: responding to the starting of the coal mining machine action of a user; Acquiring first information, wherein the first information comprises a first inclination angle of a working surface, a friction coefficient between a coal cutter and the working surface and basic parameters of the coal cutter; if the first inclination angle of the working surface is larger than a preset first value and smaller than a preset second value, calculating a first holding moment based on the first information; adjusting an output torque of the frequency converter based on the first holding torque; when the output torque of the frequency converter is equal to the first holding torque, a brake release signal is sent to the brake so that the coal mining machine walks on the working surface, wherein, The basic parameters of the coal mining machine comprise the gravity of the coal mining machine, the modulus of a travelling wheel of the coal mining machine, the number of teeth of the travelling wheel of the coal mining machine, the total transmission ratio of a traction travelling part of the coal mining machine and the correction coefficient of the retaining moment of the coal mining machine, wherein the calculating of the first retaining moment based on the first information specifically comprises the following steps: T=G·(sinα-μcosα)·(mz)/(2i)+ξ; Wherein T is a first holding torque, G is the gravity of the coal cutter, alpha is a first inclination angle of the working surface, mu is the friction coefficient between the coal cutter and the working surface, m is the modulus of a travelling wheel of the coal cutter, z is the number of teeth of the travelling wheel of the coal cutter, i is the total transmission ratio of a traction travelling part of the coal cutter, and xi is the correction coefficient of the holding torque of the coal cutter.
2. The method of claim 1, further comprising, after said obtaining the first information: If the first inclination angle of the working face is larger than or equal to a preset third value and smaller than or equal to the preset first value, setting the holding moment of the coal mining machine as a preset holding moment; adjusting the output torque of the frequency converter based on the preset holding torque; and when the output torque of the frequency converter is equal to the preset holding torque, sending the brake release signal to the brake so that the coal mining machine walks on the working surface.
3. The method of claim 1, further comprising, after said sending a trip signal to said brake to cause said shearer to walk on said work surface: responding to the action of stopping the coal mining machine of a user; Acquiring second information, wherein the second information comprises a second inclination angle of a working surface, a friction coefficient between the coal mining machine and the working surface and basic parameters of the coal mining machine; if the second inclination angle of the working surface is the same as the first inclination angle of the working surface, adjusting the output torque of the frequency converter based on the first holding torque; and when the output torque of the frequency converter is equal to the first holding torque, sending an internal contracting brake signal to the brake so as to stop the coal mining machine on the working surface.
4. A shearer loader control method as claimed in claim 3, wherein after said obtaining the second information, the method further comprises: If the second inclination angle of the working surface is different from the first inclination angle of the working surface, the second inclination angle of the working surface is larger than the preset first value and smaller than the preset second value, and a second holding moment is calculated based on the second information; Adjusting an output torque of the frequency converter based on the second holding torque; And when the output torque of the frequency converter is equal to the second holding torque, sending the band-type brake signal to the brake so as to stop the coal mining machine on the working surface.
5. A shearer control method as claimed in claim 1, characterized in that the method further comprises: acquiring a first angle, wherein the first angle is an actual inclination angle of a position on the working surface when the coal mining machine is started; calculating a deviation degree of a first inclination angle of the working surface based on the first angle; And calculating and storing an inclination angle correction value of the working surface based on the deviation degree so as to correct the inclination angle of the working surface.
6. A shearer control method as claimed in claim 5, characterized in that the method further comprises: Acquiring a plurality of inclination angle correction values of the working surface within a preset time period; Calculating an inclination angle error value of the working surface based on the inclination angle correction values of the plurality of working surfaces; And if the inclination angle error value of the working face is larger than or equal to the preset error value, sending alarm information to preset equipment.
7. A coal mining machine control device, characterized in that the device is a server of a coal mining machine, the coal mining machine comprising a frequency converter and a brake, the device comprising: A response unit for responding to the start of the action of the coal mining machine by a user, wherein, The basic parameters of the coal mining machine comprise the gravity of the coal mining machine, the modulus of travelling wheels of the coal mining machine, the number of teeth of the travelling wheels of the coal mining machine, the total transmission ratio of a traction travelling part of the coal mining machine and the retention torque correction coefficient of the coal mining machine; the system comprises an acquisition unit, a data processing unit and a data processing unit, wherein the acquisition unit is used for acquiring first information, and the first information comprises a first inclination angle of a working surface, a friction coefficient between a coal cutter and the working surface and basic parameters of the coal cutter; a processing unit for calculating a first holding torque based on the first information if the first inclination angle of the working surface is larger than a preset first value and smaller than a preset second value, adjusting the output torque of the frequency converter based on the first holding torque, The calculating the first holding moment based on the first information specifically includes: T=G·(sinα-μcosα)·(mz)/(2i)+ξ; Wherein T is a first holding torque, G is the gravity of the coal cutter, alpha is a first inclination angle of a working surface, mu is a friction coefficient between the coal cutter and the working surface, m is the modulus of a travelling wheel of the coal cutter, z is the number of teeth of the travelling wheel of the coal cutter, i is the total transmission ratio of a traction travelling part of the coal cutter, and xi is a correction coefficient of the holding torque of the coal cutter; and the transmitting unit is used for transmitting a brake release signal to the brake when the output torque of the frequency converter is equal to the first holding torque so as to enable the coal mining machine to walk on the working surface.
8. An electronic device comprising a processor, a memory, a user interface, and a network interface, the memory for storing instructions, the user interface and the network interface for communicating to other devices, the processor for executing the instructions stored in the memory to cause the electronic device to perform the method of any of claims 1-6.
9. A computer readable storage medium storing a computer program capable of being loaded by a processor and executing the method according to any one of claims 1-6.

Description

Coal mining machine control method and device, electronic equipment and medium Technical Field The application relates to the technical field of mechanical control, in particular to a coal cutter control method, a coal cutter control device, electronic equipment and a medium. Background Coal mining machines are one of the important devices for realizing the mechanization and modernization of coal mine production. The mechanized coal mining can lighten the physical labor, improve the safety and achieve the purposes of high yield, high efficiency and low energy consumption. At present, the starting control method of the coal mining machine is that a processor sets a holding moment according to a fixed percentage of a rated moment so that the coal mining machine can be started stably on a working surface. In the related art, the holding moment of the coal mining machine is fixed, but the working environment of the coal mining machine is very complex, when the inclination angle of the working surface of the coal mining machine is changed, if the holding moment is smaller, the coal mining machine can slide down when started, so that dangerous accidents occur on the working surface. Disclosure of Invention The application provides a coal mining machine control method, a device, electronic equipment and a medium, which aim to solve the problem that dangerous accidents occur on a working surface due to the fact that a retaining moment is small and slides downwards when a coal mining machine is started. The application provides a coal cutter control method, which is applied to a server of a coal cutter, wherein the coal cutter comprises a frequency converter and a brake, the method comprises the steps of responding to the starting of the coal cutter by a user, obtaining first information, wherein the first information comprises a first inclination angle of a working face, a friction coefficient between the coal cutter and the working face and basic parameters of the coal cutter, calculating a first holding moment based on the first information if the first inclination angle of the working face is larger than a preset first value and smaller than a preset second value, and adjusting the output moment of the frequency converter based on the first holding moment, and sending a brake release signal to the brake to enable the coal cutter to walk on the working face when the output moment of the frequency converter is equal to the first holding moment. By adopting the technical scheme, the server of the coal mining machine calculates the retention moment of the coal mining machine according to the first inclination angle of the working face, controls the starting of the coal mining machine according to the calculated retention moment, and ensures that the coal mining machine can stably walk on the working face after being started and does not slip down when the starting moment of the coal mining machine is the calculated retention moment at the current position compared with the situation that the retention moment is set according to the fixed percentage of the rated moment. In one possible implementation manner, the basic parameters of the coal mining machine comprise the gravity of the coal mining machine, the modulus of the travelling wheel of the coal mining machine, the tooth number of the travelling wheel of the coal mining machine, the total transmission ratio of the traction travelling part of the coal mining machine and the correction coefficient of the retaining moment of the coal mining machine, and the calculating of the first retaining moment based on the first information specifically comprises: wherein, T is the first holding moment, G is the gravity of the coal mining machine; A first inclination angle of the working surface; The friction coefficient between the coal cutter and the working surface; m is the modulus of the travelling wheel of the coal mining machine, z is the number of teeth of the travelling wheel of the coal mining machine, i is the total transmission ratio of the traction travelling part of the coal mining machine; and (5) maintaining a correction coefficient of the moment for the coal mining machine. By adopting the technical scheme, the server calculates the holding moment of the coal cutter according to the inclination angle of the working face, the friction coefficient between the coal cutter and the working face and the basic parameters of the coal cutter, the calculated holding moment is more in line with the current working condition of the coal cutter, the situation that the holding moment of the coal cutter is small to cause the coal cutter to slide downwards after being started and the holding moment of the coal cutter is large to cause the condition that the starting energy consumption of the coal cutter is high and impact damage is caused to the motor rotor is avoided as much as possible. In one possible implementation mode, after the first information is acquired, the met