Limiting control method for variable-frequency speed-regulating mining excavator

Abstract

The invention discloses a limit control method for a variable-frequency speed-regulation mining excavator, which comprises the following steps: in the operation process of a driving motor, a frequency converter in variable-frequency speed regulation acquires the pulse number of a speed measurement encoder, and the rotation angle of the driving motor is obtained based on the pulse number; and the operation distance of the operation mechanism controlled by the driving motor is obtained according to the rotation angle. Therefore, according to the limiting control method for the variable-frequency speed-regulating mining excavator, the lifting and pushing operation distance of the mining excavator is accurately obtained by depending on existing software and hardware such as the frequency converter and the existing functions thereof, the PLC and the calculation and memory capabilities thereof, the frequency converter is electrified to operate as long as a corresponding mechanism operates, and the limiting protection of the excavator can be realized; compared with a method for installing a sensor, the method is higher in reliability. In addition, the method and a method for limiting by additionally installing a sensor jointly form a redundant limiting system of the electric shovel, and a road is laid for remote operation and unmanned operation limiting requirements of the electric shovel.

Description

technical field [0001] The invention relates to the technical field of excavator control, in particular to a limit control method for a mining excavator with variable frequency speed regulation. Background technique [0002] A mining excavator, such as a shovel excavator, is a special equipment for open-pit mining. The working mechanism of the excavator mainly includes an A-frame, a boom, a stick, a bucket, a pushing device, a lifting Devices, guy ropes and traction ropes, etc. During operation, the bucket completes the excavation of materials under the joint action of the lifting force of the wire rope and the thrust of the pushing gear. The bucket filled with materials and the upper part of the entire machine rotate at a certain angle under the action of the slewing device. The bucket is located in the transportation When the vehicle is above, the bottom of the bucket is opened to unload the material, and then the upper part of the whole machine is turned back, the arm is...

AI Technical Summary

Problems solved by technology

However, this setting method has the following disadvantages: if there is a problem with the coaxiality adjustment when the encoder is installed, the encoder may slip, resulting in inaccurate encoder data collected, and the limit deviation may eventually affect the mine. Safe Operation of Excavators

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