CN-122014250-A - Self-adaptive foam dust removal regulation and control system based on cutting power feedback of fully-mechanized coal mining machine

CN122014250ACN 122014250 ACN122014250 ACN 122014250ACN-122014250-A

Abstract

The invention provides a self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine, which belongs to the technical field of dust removal of underground fully-mechanized coal mining working surfaces of coal mines and comprises a fully-mechanized coal mining machine working sensing unit, a main control unit, a foam generation execution unit, a multi-parameter feedback unit and a dust removal effect verification unit, wherein the fully-mechanized coal mining machine working sensing unit is used for acquiring operation power data and cutting action state data of a cutting mechanism of the fully-mechanized coal mining machine in real time and transmitting the acquired data to the main control unit. The invention is provided with a comprehensive excavator working condition sensing unit, a main control unit, a foam generation executing unit, a multi-parameter feedback unit and a dust removal effect checking unit, realizes dust yield feedforward pre-judgment through cutting power and action data, and completes foam parameter self-adaption matching by combining double closed-loop regulation and control. The dust source suppression device can realize dust source suppression in comprehensive digging operation, improves the regulation and control precision and working condition suitability of the dust removal system, reduces the operation cost, and ensures the safety of underground comprehensive digging operation and the quality of the operation environment.

Inventors

LU ZHONGLIANG
ZHENG XINGSHUAI
JIAO HUAZHE

Assignees

河南理工大学

Dates

Publication Date: 20260512
Application Date: 20260320

Claims (10)

1. The utility model provides a self-adaptation foam dust removal regulation and control system based on combine digger cutting power feedback which characterized in that, including combine digger work perception unit, main control unit, foam generation execution unit, multi-parameter feedback unit and dust removal effect check-up unit, wherein: The signal acquisition end of the comprehensive excavator work sensing unit is connected with the cutting driving module and the cutting action executing mechanism of the comprehensive excavator, the signal output end of the comprehensive excavator work sensing unit is connected with the first signal input end of the main control unit, and the signal acquisition end is used for acquiring the operation power data and the cutting action state data of the cutting mechanism of the comprehensive excavator in real time and transmitting the acquired data to the main control unit; The second signal input end of the main control unit is connected with the signal output end of the multi-parameter feedback unit, the third signal input end of the main control unit is connected with the signal output end of the dust removal effect checking unit, the signal output end of the main control unit is connected with the control end of the foam generation executing unit and is used for receiving data transmitted by the fully-mechanized excavator working sensing unit, the multi-parameter feedback unit and the dust removal effect checking unit, generating a foam regulation reference instruction based on a pre-stored mapping model of cutting power and dust yield, and carrying out closed-loop correction on the foam regulation reference instruction according to feedback data of the multi-parameter feedback unit and the dust removal effect checking unit and outputting a final foam regulation instruction to the foam generation executing unit; The medium input end of the foam generation execution unit is externally connected with a water supply pipeline and a foaming agent storage container and is used for receiving a foam regulation and control instruction output by the main control unit, adjusting the operation parameters of the foam generation execution unit and outputting dust removal foam with corresponding parameters to a dust production area of the cutting mechanism of the comprehensive excavator; the signal acquisition end of the multi-parameter feedback unit is arranged on a medium conveying pipeline and a foaming executing mechanism of the foam generating executing unit and is used for acquiring real-time operation parameters of the foam generating executing unit in real time and feeding the acquired parameters back to the main control unit; The signal acquisition ends of the dust removal effect verification unit are respectively arranged on the leeward sides of the driver operation area and the cutting dust production area of the fully-mechanized coal mining machine and are used for acquiring the total dust concentration and respiratory dust concentration data of the tunneling working face in real time and feeding the acquired dust concentration data back to the main control unit.
2. The self-adaptive foam dust removal regulation and control system based on cutting power feedback of the fully-mechanized coal mining machine according to claim 1, wherein the fully-mechanized coal mining machine working perception unit comprises a cutting power acquisition module, a cutting action acquisition module and a data preprocessing module; The signal acquisition end of the cutting power acquisition module is electrically connected with a driving motor of a cutting mechanism of the fully-mechanized coal mining machine and is used for acquiring three-phase voltage and three-phase current data of the cutting driving motor in real time and calculating to obtain real-time cutting operation power; the signal acquisition end of the cutting action acquisition module is connected with a displacement sensor of a feeding oil cylinder, a rotary oil cylinder and a lifting oil cylinder of a cutting mechanism of the fully-mechanized coal mining machine and is used for acquiring feeding speed, rotary angle and lifting height data of the cutting mechanism to obtain cutting action state data; The signal input end of the data preprocessing module is respectively connected with the signal output ends of the cutting power acquisition module and the cutting action acquisition module, and the signal output end of the data preprocessing module is connected with the first signal input end of the main control unit and is used for filtering, reducing noise and normalizing the acquired power data and action state data and then transmitting the acquired power data and action state data to the main control unit.
3. The self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine according to claim 1, wherein a model storage module, a feedforward regulation and control module, a closed-loop correction module and an instruction output module are arranged in the main control unit; The model storage module is used for storing a pre-calibrated cutting power and dust yield mapping model and a foam operation parameter reference library matched with the dust yield; the signal input end of the feedforward regulation and control module is connected with the model storage module and the output end of the comprehensive excavator work sensing unit, and is used for calling the mapping model to calculate and obtain the real-time pre-judging dust yield according to the received real-time cutting power data and cutting action state data, and matching the corresponding foam operation parameter reference value to generate a foam regulation and control reference instruction; The signal input end of the closed loop correction module is connected with the output ends of the feedforward regulation and control module, the multi-parameter feedback unit and the dedusting effect verification unit, and is used for tracking and correcting the foam regulation and control reference instruction according to the real-time operation parameter data of the multi-parameter feedback unit, and simultaneously carrying out iterative optimization on the foam operation parameter reference library according to the dust concentration data of the dedusting effect verification unit to generate a final foam regulation and control instruction; The signal input end of the instruction output module is connected with the output end of the closed loop correction module, and the signal output end of the instruction output module is connected with the control end of the foam generation execution unit and used for converting a final foam regulation instruction into a driving signal and outputting the driving signal to the foam generation execution unit.
4. The self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine according to claim 1, wherein the foam generation execution unit comprises a water supply control module, a foaming agent proportioning module, a gas-liquid mixing foaming module and a foam injection module; The water inlet end of the water supply control module is externally connected with a water supply pipeline, and the control end of the water supply control module is connected with the signal output end of the main control unit and is used for adjusting the water supply flow and the water supply pressure according to the foam regulation and control instruction; The liquid inlet end of the foaming agent proportioning module is respectively connected with the water outlet end of the water supply control module and the foaming agent storage container, and the control end of the foaming agent proportioning module is connected with the signal output end of the main control unit and is used for adjusting the adding proportion of the foaming agent according to the foam regulation and control instruction and outputting foaming liquid with set concentration; The gas-liquid mixing foaming module comprises a gas-liquid mixing foaming module, a foaming agent proportioning module, a main control unit, a foam control unit and a dust removal foam, wherein the liquid inlet end of the gas-liquid mixing foaming module is connected with the liquid outlet end of the foaming agent proportioning module, the air inlet end of the gas-liquid mixing foaming module is externally connected with a compressed air pipeline, and the control end of the gas-liquid mixing foaming module is connected with the signal output end of the main control unit and is used for adjusting the air inlet pressure and the air inlet flow according to a foam control instruction, and mixing foaming liquid with compressed air to generate dust removal foam with corresponding foaming times; The foam injection module is characterized in that a foam inlet end of the foam injection module is connected with a foam outlet end of the gas-liquid mixed foaming module, and an injection port of the foam injection module faces to a cutting head and a cutting dust producing area of a cutting mechanism of the fully-mechanized coal mining machine and is used for uniformly injecting dust removing foam to a dust producing source.
5. The self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine according to claim 1, wherein the multi-parameter feedback unit comprises a water supply parameter acquisition module, a foaming liquid parameter acquisition module, a compressed air parameter acquisition module and a foam parameter acquisition module; the water supply parameter acquisition module is arranged on a water inlet end pipeline and a water outlet end pipeline of the water supply control module and is used for acquiring real-time flow and real-time pressure data of water supply in real time; The foaming liquid parameter acquisition module is arranged on a liquid outlet end pipeline of the foaming agent proportioning module and is used for acquiring real-time concentration and real-time flow data of the foaming liquid in real time; The compressed air parameter acquisition module is arranged on an air inlet end pipeline of the gas-liquid mixing foaming module and is used for acquiring real-time flow and real-time pressure data of compressed air in real time; the foam parameter acquisition module is arranged on a foam outlet end pipeline of the gas-liquid mixed foaming module and is used for acquiring real-time foaming multiple and real-time flow data of generated foam in real time; The signal output ends of the water supply parameter acquisition module, the foaming liquid parameter acquisition module, the compressed air parameter acquisition module and the foam parameter acquisition module are connected with the second signal input end of the main control unit.
6. The self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine according to claim 1, wherein the dust removal effect verification unit comprises a first dust collection module, a second dust collection module and a data calibration module; The first dust collection module is fixedly arranged at a cab operation position of the fully-mechanized coal mining machine and is used for collecting the data of the total dust concentration and the respiratory dust concentration of a driver operation area in real time; The second dust collection module is fixedly arranged on the leeward side of the cutting mechanism of the fully-mechanized coal mining machine, and the horizontal distance between the second dust collection module and the cutting head is kept within a preset range, so that the second dust collection module is used for collecting the scattered full dust concentration and the scattered respiratory dust concentration data of the dust producing area in real time; the signal input end of the data calibration module is connected with the signal output ends of the first dust collection module and the second dust collection module respectively, and the signal output end of the data calibration module is connected with the third signal input end of the main control unit and is used for synchronously calibrating the collected two paths of dust concentration data and removing abnormal values and then transmitting the two paths of dust concentration data to the main control unit.
7. The self-adaptive foam dedusting regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine according to claim 3, wherein a parameter iteration optimization submodule is arranged in the closed loop correction module and is used for comparing real-time dust concentration data acquired by a dedusting effect checking unit with a preset dust concentration threshold value, when the real-time dust concentration data exceeds the preset threshold value, the flow and foaming multiple parameters of foam output are adjusted upwards according to a preset step length, and meanwhile the adjusted parameters, corresponding cutting power and dust yield data are stored in a model storage module, and online iteration optimization is carried out on a cutting power and dust yield mapping model and a foam operation parameter reference library.
8. The self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine according to claim 4, wherein the foam injection module comprises an annular injection frame and a plurality of groups of adjustable injection nozzles, the annular injection frame is coaxially fixed at the front end of a cutting arm of a cutting mechanism of the fully-mechanized coal mining machine, the plurality of groups of adjustable injection nozzles are arranged around the rear end of the cutting head, the plurality of groups of adjustable injection nozzles are uniformly arranged along the circumferential direction of the annular injection frame, the injection angle of each group of adjustable injection nozzles can be independently adjusted, and the liquid inlet ends of all the adjustable injection nozzles are communicated with the foam outlet ends of the gas-liquid mixed foaming module.
9. The self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine according to claim 1, wherein the signal input end of the main control unit is further connected with a complete machine control system of the fully-mechanized coal mining machine and is used for receiving a complete machine start-stop signal and a cutting mechanism start-stop signal of the fully-mechanized coal mining machine, when the cutting mechanism start-up signal is received, the main control unit starts the foam generation execution unit in advance for a preset time period, and when the cutting mechanism stop signal is received, the main control unit delays the preset time period to close the foam generation execution unit.
10. The self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine according to any one of claims 1 to 9, wherein the main control unit is further internally provided with a fault diagnosis and safety protection module, and the signal input end of the fault diagnosis and safety protection module is respectively connected with the output ends of the fully-mechanized coal mining machine working sensing unit, the multi-parameter feedback unit and the dust removal effect checking unit, and is used for monitoring the running state of each unit in real time, generating a fault alarm signal when any unit is monitored to have abnormal data or faults, and simultaneously switching to a preset safe running mode to ensure the stable running of the basic dust removal function of the dust removal system.

Description

Self-adaptive foam dust removal regulation and control system based on cutting power feedback of fully-mechanized coal mining machine Technical Field The invention relates to the technical field of dust removal of underground coal mine fully-mechanized coal mining working faces, in particular to a self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine. Background The underground comprehensive digging operation of the coal mine is a key link in the coal production process, and a large amount of dust can be continuously generated in the process of cutting coal and rock by a cutting mechanism of the comprehensive digging machine. The dust contains full dust and respiratory dust, which not only endangers the health of underground operators for a long time, but also forms potential safety hazards of dust explosion after accumulation on a working surface, so that the dust removal treatment is a safety guarantee measure which must be implemented in comprehensive digging operation. At present, a foam dust removal system applied to a fully-mechanized coal mining working face mostly adopts an operation mode with fixed parameters, and after the system is started, parameters such as output flow of foam, concentration of foaming liquid, foaming multiple and the like are always unchanged and cannot adapt to working condition changes in the fully-mechanized coal mining working process. When the fully-mechanized excavator cuts hard rock or greatly adjusts the cutting action, the dust yield is obviously improved, the foam fixedly output cannot realize effective dust suppression, so that the dust concentration of working flour exceeds the standard, and when the fully-mechanized excavator cuts soft coal or runs in an idle state, the dust yield is obviously reduced, the foam fixedly output can cause ineffective consumption of water resources and foaming agents, and the operation cost is increased. And part of foam dust removal systems with regulation and control capability only depend on detection data of a dust concentration sensor to carry out parameter adjustment, and obvious hysteresis exists in the regulation and control modes. The dust concentration sensor can only detect the diffused dust, the system can adjust the foam output parameters after the dust is generated, diffused and detected by the sensor, synchronous inhibition cannot be realized at the source of the dust generation, and especially under the scene of abrupt change of the cutting working condition of the fully-mechanized coal mining machine, the system can complete parameter adjustment after a large amount of dust is diffused to the whole working surface, so that effective dust management and control cannot be realized. Most of regulation and control structures of the existing dust removal system are open-loop control or single closed-loop control, only the final dust concentration detection result is concerned, and the actual running state of the whole foam generation process is not concerned. After the system issues the regulation and control instruction, the data of execution links such as water supply pressure, foaming liquid proportion, compressed air supply, foam actual output parameters and the like cannot be obtained in real time, the condition that the regulation and control instruction is inconsistent with the actual foam output parameters often occurs, and the regulation and control precision cannot be guaranteed. Meanwhile, the existing system is completely disjointed from the running condition of the comprehensive excavator, the cutting running state of the comprehensive excavator is not linked with dust removal regulation and control, the change of the dust yield cannot be pre-judged according to the cutting operation state, only generated dust can be passively treated, and the dust removal effect stability is poor under underground complex and changeable coal and rock conditions and operation scenes. In addition, most of the existing dust removing systems do not have online self-optimizing capability, preset regulation and control parameters and mapping models cannot be automatically adjusted along with the change of underground coal and rock conditions, operators are required to calibrate and modify the underground coal and rock conditions manually at regular intervals, maintenance cost is high, meanwhile, the existing dust removing systems are insufficient in fault protection capability, when a certain acquisition module or execution part in the system is abnormal, the whole dust removing system is easy to stop directly, working flour dust concentration is out of control, and potential safety hazards are brought to underground operation. Therefore, a self-adaptive foam dust removal regulation and control system based on cutting power feedback of a fully-mechanized coal mining machine is provided. Disclosure of Invention The invention aims to solve the problems