技术领域technical field
本发明涉及煤矿井下开采运输过程中刮板输送机智能调速技术领域，具体地说是一种刮板输送机实时煤量的计算方法。The invention relates to the technical field of intelligent speed regulation of scraper conveyors during underground mining and transportation of coal mines, in particular to a calculation method for real-time coal volume of scraper conveyors.
背景技术Background technique
煤矿井下综采工作面煤层开采时，刮板输送机通过刮板链运动将原煤运出工作面，随着变频技术在刮板输送机上广泛应用，使得根据刮板输送机当前煤量智能调速成为可能，这就对刮板输送机实时煤量数据的采集和计算提出了更高的要求。现有方法是通过安装在转载机上的煤量扫描传感器检测转载机上的煤量，通过此煤量来推断出刮板输送机上的煤量。此方法虽然精度较高，但存在一定的滞后性，即只有当煤卸落到转载机后方能计算出煤量，反应出的刮板输送机实时煤量有一定的滞后性。为了能够实时掌握刮板输送机的煤量及负载状况，便于根据刮板输送机实时负载对其进行调速，达到刮板输送机应用过程中实现绿色、节能目的，发明了一种刮板输送机实时煤量的计算方法。When the coal seam is mined in the fully mechanized mining face of the coal mine, the scraper conveyor transports the raw coal out of the working face through the movement of the scraper chain. It becomes possible, which puts forward higher requirements for the collection and calculation of real-time coal volume data of scraper conveyors. The existing method is to detect the amount of coal on the transfer machine through the coal amount scanning sensor installed on the transfer machine, and deduce the coal amount on the scraper conveyor through the coal amount. Although this method has high precision, there is a certain hysteresis, that is, the coal amount can only be calculated after the coal is unloaded to the loader, and the real-time coal amount of the scraper conveyor reflected has a certain hysteresis. In order to be able to grasp the coal volume and load status of the scraper conveyor in real time, to facilitate its speed regulation according to the real-time load of the scraper conveyor, and to achieve the purpose of green and energy saving in the application process of the scraper conveyor, a scraper conveyor was invented. Calculation method of real-time coal quantity.
发明内容Contents of the invention
本发明的目的是发明一种刮板输送机实时煤量的计算方法，准确感知刮板输送机运行过程中的当前煤量，便于刮板输送机实时调速中应用。The purpose of the present invention is to invent a method for calculating the real-time coal quantity of the scraper conveyor, accurately sense the current coal quantity during the operation of the scraper conveyor, and facilitate the application in the real-time speed regulation of the scraper conveyor.
本发明采用的技术方案是：一种刮板输送机实时煤量的计算方法，利用采煤机采煤过程中采高、截深、行走速度、位置、电流、方向，刮板输送机电机转速、输入电流，液压支架推移步距，煤量扫描仪检测的煤量数据等，综合以上数据计算出刮板输送机实时煤量。一种刮板输送机实时煤量的计算方法，包括以下步骤：The technical solution adopted in the present invention is: a method for calculating the real-time coal quantity of a scraper conveyor, which uses the mining height, cutting depth, walking speed, position, current, direction, and the speed of the scraper conveyor motor during the coal mining process of the shearer , input current, hydraulic support step distance, coal volume data detected by the coal volume scanner, etc., the real-time coal volume of the scraper conveyor is calculated based on the above data. A method for calculating the real-time coal quantity of a scraper conveyor, comprising the following steps:
①煤量数据计算系统1通过采煤机控制系统2、支架电液控系统3、刮板输送机变频控制器4、煤量扫描仪5等采集采煤机6采煤过程中采高、截深、行走速度、位置、电流、方向，刮板输送机7运行速度、输入电流，液压支架9推移步距，安装在转载机8上的煤量扫描仪5煤量数据等数据，为煤量数据计算提供数据基础。①The coal volume data calculation system 1 collects the mining height and cutting height of the coal mining machine 6 through the coal mining machine control system 2, the bracket electro-hydraulic control system 3, the frequency conversion controller of the scraper conveyor 4, and the coal volume scanner 5, etc. Data such as depth, walking speed, position, current, direction, scraper conveyor 7 operating speed, input current, hydraulic support 9 moving step distance, coal quantity scanner 5 coal quantity data installed on the transfer machine 8, are the coal quantity Data calculation provides data basis.
②通过采煤机采高、截深、行走速度、位置、电流、方向和液压支架推移步距等数据构建刮板输送机实时煤量计算的数学模型：② Construct a mathematical model for calculating the real-time coal volume of the scraper conveyor based on data such as the mining height, cut-off depth, walking speed, position, current, direction, and hydraulic support step distance of the shearer:
式中k为采煤机装煤系数，Q1为采煤机计算的煤量，t0为基准时间，t1为装煤时间点，t2为实时时间，v1采煤机运行速度，v2刮板输送机运行速度，H采煤机采高，D采煤机截深，Lt0为t0时刻采煤机位置。In the formula, k is the coal loading coefficient of the shearer, Q1 is the coal volume calculated by the shearer, t0 is the reference time, t1 is the coal loading time point, t2 is the real time, v1 is the operating speed of the shearer, v2 is the operating speed of the scraper conveyor, H is the mining height of the shearer, D is the cut-off depth of the shearer, and Lt0 is the position of the shearer at time t0 .
③通过刮板输送机电流与负载存在的关系计算出刮板输送机上的煤量。因为刮板输送机负载变化的因素不只有煤量的变化，还有刮板输送机弯曲度、工作面条件变化等其他因素，所以根据电流变化计算的煤量只占实时煤量一部分。③ Calculate the amount of coal on the scraper conveyor through the relationship between the current of the scraper conveyor and the load. Because the load change of the scraper conveyor is not only caused by the change of the coal amount, but also other factors such as the curvature of the scraper conveyor and the change of the working face condition, the coal amount calculated according to the current change only accounts for a part of the real-time coal amount.
④根据工作面条件和各设备运行情况计算刮板输送机实时煤量：④ Calculate the real-time coal volume of the scraper conveyor according to the conditions of the working face and the operation of each equipment:
Q＝pQ1+(1-p)Q2Q=pQ1 +(1-p)Q2
式中Q为计算所得刮板输送机实时煤量，Q1由采煤机计算的刮板输送机实时煤量，Q2由刮板输送机实时电流计算刮板输送机煤量，p为采煤机计算煤量占实时煤量计算的比重。In the formula, Q is the calculated real-time coal volume of the scraper conveyor, Q1 is the real-time coal volume of the scraper conveyor calculated by the shearer,Q2 is the coal volume of the scraper conveyor calculated by the real- time current of the scraper conveyor, and p is the coal volume of the scraper conveyor. The proportion of coal calculated by coal machine to real-time coal calculation.
⑤计算出的刮板输送机煤量与安装在转载机上的煤量扫描仪检测到的刮板输送机上同一时刻的煤量进行比对，当长时间存在较大差异时调整计算方法中的各参数，保证计算结果的准确性。⑤ Compare the calculated coal volume of the scraper conveyor with the coal volume on the scraper conveyor detected by the coal volume scanner installed on the loader at the same time, and adjust the calculation method when there is a large difference for a long time parameters to ensure the accuracy of the calculation results.
煤量数据计算系统1通过实时的数据通讯从采煤机控制系统2采集采煤机6的实时数据，包括采煤机的行走速度、两摇臂高度、采煤机当前位置及采煤机截割电流等信息，计算出采煤机采高、截深等信息。The coal amount data calculation system 1 collects the real-time data of the shearer 6 from the shearer control system 2 through real-time data communication, including the walking speed of the shearer, the height of the two rocker arms, the current position of the shearer and the cut-off of the shearer. The cutting current and other information are used to calculate the mining height and cutting depth of the shearer.
煤量数据计算系统1与液压支架电液控系统3采集液压支架9的推移步距，根据推移步距和采煤机当前位置信息计算出采煤机的截深，并通过采煤机的截割电流和行走速度作为辅助参数验证截深。The coal amount data calculation system 1 and the hydraulic support electro-hydraulic control system 3 collect the moving step distance of the hydraulic support 9, calculate the cutting depth of the shearer according to the moving step distance and the current position information of the shearer, and pass the cutting depth of the shearer. The cutting current and walking speed were used as auxiliary parameters to verify the cutting depth.
煤量数据计算系统1通过刮板输送机变频控制器4取得刮板输送机7各变频电机输入电流、电机转速等，以变频电机转速、减速器变比等信息计算出刮板输送机的当前运行速度，变频电机的输入电流是刮板输送机负载状况的直观反应，由于除煤量变化外影响刮板输送机输入电流变化的因素较多，所以输入电流只作为反应刮板输送机实时煤量的辅助参数。The coal volume data calculation system 1 obtains the input current and motor speed of each variable frequency motor of the scraper conveyor 7 through the frequency conversion controller 4 of the scraper conveyor, and calculates the current value of the scraper conveyor based on information such as the speed of the frequency conversion motor and the ratio of the reducer. The running speed and the input current of the variable frequency motor are the intuitive response to the load status of the scraper conveyor. Since there are many factors affecting the change of the input current of the scraper conveyor besides the change of coal amount, the input current is only used as a reaction to the real-time coal of the scraper conveyor. Quantitative auxiliary parameters.
煤量数据计算系统1采集安装在转载机8上的煤量扫描仪5煤量数据，作为煤量数据计算系统计算结果的验证，当验证结果存在偏差较大时，综合系统中其他采集数据，系统自动修正参数设置，从而保证计算结果的准确。The coal quantity data calculation system 1 collects the coal quantity data of the coal quantity scanner 5 installed on the transfer machine 8, and serves as the verification of the calculation result of the coal quantity data calculation system. When the verification result has a large deviation, other collected data in the comprehensive system, The system automatically corrects the parameter settings to ensure the accuracy of the calculation results.
本发明设计合理，实现便捷，利用综采工作面现有的设备采集各数据，通过计算机技术实现对刮板输送机实时煤量的计算，能够实时掌握刮板输送机的煤量数据，为刮板输送机运行过程中根据煤量自动调速提供数据基础。The invention is reasonable in design and convenient in implementation. It utilizes the existing equipment in the fully mechanized mining face to collect various data, realizes the calculation of the real-time coal volume of the scraper conveyor through computer technology, and can grasp the coal volume data of the scraper conveyor in real time. During the operation of the plate conveyor, the automatic speed regulation according to the amount of coal provides a data basis.
附图说明Description of drawings
图1是本发明的系统图。Fig. 1 is a system diagram of the present invention.
图2是刮板输送机实时煤量计算的流程图。Figure 2 is a flow chart of real-time coal calculation for scraper conveyor.
图3是通过采煤机计算刮板输送机实时煤量的曲线图。Fig. 3 is a graph of calculating the real-time coal quantity of the scraper conveyor through the shearer.
图中：1煤量数据计算系统，2采煤机控制系统，3支架电液控系统，4刮板输送机变频控制器，5煤量扫描仪，6采煤机，7刮板输送机，8转载机，9液压支架。In the figure: 1 coal volume data calculation system, 2 coal shearer control system, 3 bracket electro-hydraulic control system, 4 scraper conveyor frequency conversion controller, 5 coal volume scanner, 6 coal shearer, 7 scraper conveyor, 8 loaders, 9 hydraulic supports.
具体实施方式detailed description
下面结合附图和具体实施方案对本发明作进一步详细说明：Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
如图1可知，一种刮板输送机实时煤量的计算方法，所涉及的设备包括煤量数据计算系统1，采煤机控制系统2，支架电液控系统3，刮板输送机变频控制器4，煤量扫描仪5，采煤机6，刮板输送机7，转载机8，液压支架9。煤量数据计算系统1运行在一台隔爆计算机上，安装在顺槽设备列车处，通过通讯采集采煤机控制系统2、支架电液控系统3、刮板输送机变频控制器4、煤量扫描仪5的数据，通讯协议和接口根据各关联设备而定。采煤机控制系统2从采煤机6上实时采集采高、截深、行走速度、位置、电流、方向等数据。支架电液控系统3采集各液压支架9的推移步距、支护高度等数据。刮板输送机变频控制器4采集各变频电机的输入电流、电机转速等。煤量扫描仪5安装在转载机8上，检测刮板输送机上卸下的煤量，检测结果与刮板输送机上前阶段煤量进行比对，验证计算结果的准确性。As shown in Figure 1, a method for calculating the real-time coal volume of a scraper conveyor involves equipment including a coal volume data calculation system 1, a shearer control system 2, a bracket electro-hydraulic control system 3, and a scraper conveyor frequency conversion control Device 4, coal volume scanner 5, coal shearer 6, scraper conveyor 7, reloader 8, hydraulic support 9. The coal quantity data calculation system 1 runs on a flameproof computer, installed at the train of the equipment along the trough, and collects the coal mining machine control system 2, bracket electro-hydraulic control system 3, scraper conveyor frequency conversion controller 4, coal through communication The data, communication protocol and interface of the volume scanner 5 are determined according to each associated device. The shearer control system 2 collects data such as mining height, cutting depth, walking speed, position, current, and direction from the shearer 6 in real time. The support electro-hydraulic control system 3 collects data such as the step distance and support height of each hydraulic support 9 . The frequency conversion controller 4 of the scraper conveyor collects the input current and the motor speed of each frequency conversion motor. The coal quantity scanner 5 is installed on the reloader 8 to detect the coal quantity unloaded on the scraper conveyor, and the detection result is compared with the coal quantity at the previous stage of the scraper conveyor to verify the accuracy of the calculation result.
1、采煤机截深的确定1. Determination of cutting depth of shearer
液压支架的推移步距在理论上是采煤机截深的直观反映，在实际工况下，由于支架的推移方法和传感器误差原因，推移步距和采煤机截深有时存在较大误差。采煤机截深与截割电流关系存在线性关系：In theory, the moving step of the hydraulic support is an intuitive reflection of the cutting depth of the shearer. In actual working conditions, due to the error of the moving method of the support and the error of the sensor, there is sometimes a large error between the moving step and the cutting depth of the shearer. There is a linear relationship between shearer cutting depth and cutting current:
I＝aD+bI=aD+b
I 采煤机截割电流I shearer cutting current
a 斜率a slope
b 采煤机空载截割电流b Shearer no-load cutting current
D 采煤机截深D shearer cutting depth
根据实际工况可确定公式中a、b。公式确定后可根据采煤机滚筒截割电流对液压支架的推移步距(即采煤机截深)进行补偿。当截割电流长时间与截深不匹配，则根据电流调整计算煤量时运用的采煤机截深数值。According to the actual working conditions, a and b in the formula can be determined. After the formula is determined, the moving step distance of the hydraulic support (that is, the cutting depth of the shearer) can be compensated according to the cutting current of the shearer drum. When the cutting current does not match the cutting depth for a long time, the cutting depth value of the shearer used when calculating the coal volume is adjusted according to the current.
2、根据采煤机运行情况对刮板输送机实时煤量计算2. Calculate the real-time coal volume of the scraper conveyor according to the operation of the shearer
煤量数据计算系统1根据检测到的采煤机运行数据进行计算刮板输送机上实时煤量。根据采煤机运行情况，煤量数据计算系统1累计计算采煤机截割下的煤量，通过装煤系数计算刮板输送机上累计煤量，在此基础上除去刮板输送机卸掉的煤量为刮板输送机的实时煤量。计算如下：The coal quantity data calculation system 1 calculates the real-time coal quantity on the scraper conveyor according to the detected operation data of the shearer. According to the operation status of the coal shearer, the coal volume data calculation system 1 accumulates the coal volume cut by the coal shearer, calculates the accumulated coal volume on the scraper conveyor through the coal loading coefficient, and removes the coal unloaded by the scraper conveyor on this basis The coal quantity is the real-time coal quantity of the scraper conveyor. Calculated as follows:
①、采煤机在刮板输送机中部运行①. The shearer runs in the middle of the scraper conveyor
当采煤机向机尾方向运行时，When the shearer runs towards the tail direction,
当采煤机向机头方向运行时，When the shearer runs towards the machine head,
k 采煤机装煤系数k Shearer coal loading coefficient
Q1 为采煤机计算的煤量Q1 is the amount of coal calculated by the shearer
t0 为基准时间t0 is the reference time
t1 为装煤时间点t1 is the coal loading time point
t2 为实时时间t2 is real time
v1 采煤机运行速度v1 Shearer running speed
v2 刮板输送机运行速度v2 operating speed of scraper conveyor
H 采煤机采高H Shearer mining height
D 采煤机截深D shearer cutting depth
Lt0 t0时刻采煤机位置Lt0 The position of the shearer at time t0
②、采煤机运行至机尾后反向运行②, the coal shearer runs to the tail and runs in reverse
当刮板输送机运行至机尾后，反向向机头运行，When the scraper conveyor runs to the tail, it runs in the opposite direction to the front of the machine,
k 采煤机装煤系数k Shearer coal loading coefficient
Q1 为采煤机计算的煤量Q1 is the amount of coal calculated by the shearer
t0 为基准时间t0 is the reference time
t1 为装煤时间点t1 is the coal loading time point
t2 为实时时间t2 is real time
v1 采煤机运行速度v1 Shearer running speed
v2 刮板输送机运行速度v2 operating speed of scraper conveyor
H 采煤机采高H Shearer mining height
D 采煤机截深D shearer cutting depth
Lt0 t0时刻采煤机位置Lt0 The position of the shearer at time t0
L 工作面长度L Working face length
③、采煤机运行至机头后反向运行③, the coal shearer runs to the machine head and runs in reverse
当刮板输送机运行至机头后，反向向机尾运行，When the scraper conveyor runs to the head of the machine, it runs in the opposite direction to the tail of the machine.
k 采煤机装煤系数k Shearer coal loading coefficient
Q1 为采煤机计算的煤量Q1 is the amount of coal calculated by the shearer
t0 为基准时间t0 is the reference time
t1 为装煤时间点t1 is the coal loading time point
t2 为实时时间t2 is real time
v1 采煤机运行速度v1 Shearer running speed
v2 刮板输送机运行速度v2 operating speed of scraper conveyor
H 采煤机采高H Shearer mining height
D 采煤机截深D shearer cutting depth
Lt0 t0时刻采煤机位置Lt0 The position of the shearer at time t0
煤量数据计算系统1以以上方法为基础，通过采煤机实时位置选取以上计算公式。公式中的t0时刻的选取可按采煤机运行周期变化，但t0必须小于t1。The coal quantity data calculation system 1 is based on the above method, and selects the above calculation formula through the real-time position of the shearer. The selection of time t0 in the formula can be changed according to the operation period of the shearer, but t0 must be smaller than t1 .
3、刮板输送机实时煤量计算3. Real-time coal quantity calculation of scraper conveyor
刮板输送机在平直的、没有客观因素的条件下运行时，理论上速度一定的情况下电流与实时煤量成线性关系，即：When the scraper conveyor is running under the condition of straightness and no objective factors, theoretically, the current has a linear relationship with the real-time coal quantity under the condition of constant speed, that is:
I2 刮板输送机电流I2 scraper conveyor current
Q2 根据电流计算的刮板输送机实时煤量Q2 The real-time coal volume of the scraper conveyor calculated according to the current
m 系数m-factor
I0 刮板输送机空载电流I0 scraper conveyor no-load current
根据刮板输送机在运行过程中的弯曲度，调整电流计算实时煤量的比例，得出计算刮板输送机的实时煤量如下：According to the curvature of the scraper conveyor during operation, adjust the ratio of the current to calculate the real-time coal volume, and calculate the real-time coal volume of the scraper conveyor as follows:
Q＝pQ1+(1-p)Q2Q=pQ1 +(1-p)Q2
Q 计算所得刮板输送机实时煤量Q The calculated real-time coal volume of the scraper conveyor
Q1 由采煤机计算的刮板输送机实时煤量Q1 The real-time coal volume of the scraper conveyor calculated by the shearer
Q2 由刮板输送机实时电流计算刮板输送机煤量Q2 Calculate the coal volume of the scraper conveyor from the real-time current of the scraper conveyor
p 采煤机计算煤量占实时煤量计算的比重p Proportion of coal volume calculated by shearer to real-time coal volume calculation
刮板输送机将原煤卸到转载机后，系统对t1时计算的煤量与煤量扫描仪5检测到的煤量进行比较，当计算煤量值与检测值长时间存在较大差异时，对计算结果按比例进行修正。After the scraper conveyor unloads the raw coal to the reloader, the system compares the coal amount calculated att1 with the coal amount detected by the coal amount scanner 5. When there is a large difference between the calculated coal amount value and the detected value for a long time , to correct the calculated results proportionally.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611271965.XACN106842918B (en) | 2016-12-23 | 2016-12-23 | A calculation method of real-time coal volume of scraper conveyor |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611271965.XACN106842918B (en) | 2016-12-23 | 2016-12-23 | A calculation method of real-time coal volume of scraper conveyor |
| Publication Number | Publication Date |
|---|---|
| CN106842918Atrue CN106842918A (en) | 2017-06-13 |
| CN106842918B CN106842918B (en) | 2019-07-16 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611271965.XAActiveCN106842918B (en) | 2016-12-23 | 2016-12-23 | A calculation method of real-time coal volume of scraper conveyor |
| Country | Link |
|---|---|
| CN (1) | CN106842918B (en) |
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