Intelligent cutting combined control system and method for cantilever type heading machine

Abstract

The invention discloses an intelligent cutting combined control system and method for a cantilever type heading machine, and belongs to the field of intelligent control of coal mine fully-mechanized excavating equipment. The system comprises a cutting load recognition module, a fuzzy reasoning module, a cutting head rotating speed control module and a cutting arm swing speed control module. According to the system and the method, three key cutting parameters, including the cutting motor current I, the cutting arm driving oil cylinder pressure P and the cutting arm vibration acceleration Acc, of the heading machine in the cutting process are detected in real time through an airborne detection sensor; cutting load recognition is carried out on three kinds of multi-sensor information according to different cutting working conditions by utilizing a neural network controller, and corresponding load signals are output; and then the load signals are input into the fuzzy reasoning module to output proper swing speed control signals and rotating speed control signals, and the rotating speed of a cutting head and the swing speed of a cutting arm are subjected to combined control by utilizing the output signals. According to the system and the method, the blank in the aspect of intelligent cutting combined control of a current coal mine heading machine is filled up, the rotating speed of the cutting head and the swing speed of the cutting arm can be intelligently and synchronously adjusted in real time according to the hardness of coal rocks in the cutting process of the heading machine, and intelligent cutting of the cutting part of the whole heading machine is truly realized.

Description

technical field [0001] The invention relates to an intelligent cutting joint control system and method of a cantilever type roadheader, which belongs to the field of intelligent control of fully mechanized excavation equipment in coal mines. Background technique [0002] The cantilever roadheader relies on the swing of the cutting arm and the rotation of the cutting head to cut coal and rock together to realize the excavation of the roadway. In the existing control systems and methods, the rotational speed of the cutting head and the swing speed of the cutting head arm are controlled and designed respectively, but most of them are not highly intelligent, the control parameters referred to are relatively single, and the adjustment error is large. As a result, the working efficiency of the roadheader cannot reach the highest level, and the actual application effect is not good. Moreover, there is a gap in the market for the combined control of the speed of the cutting head of...

AI Technical Summary

Problems solved by technology

[0008] (1) The speed control of the cutting head is realized by the frequency converter, but the identification of the load information under different coal hardness is not considered, and the load information can only be roughly judged according to the current of the cutting motor, resulting in the realization of the cutting head. The criterion for speed control is too simple, and the control accuracy and intelligence are not high

[0009] (2) Although a variety of working parameters are used to judge the swing speed of the cutting arm, the fusion process and control process are relatively simple, and the control accuracy of the swing speed of the cutting arm cannot be guaranteed, and the control effect cannot be optimal

[0010] (3) None of the above patents considered relying on the multi-parameter information in the downhole cutting process to jointly cut the cutting head and the cutting arm, in order to maximize the cutting efficiency, protect the key parts of the cutting, and truly realize the entire cutting Intelligent cutting of the cutting department

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