CN113282053A - Automatic cutting control system of boom-type heading machine - Google Patents
Automatic cutting control system of boom-type heading machine Download PDFInfo
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- CN113282053A CN113282053A CN202110627099.8A CN202110627099A CN113282053A CN 113282053 A CN113282053 A CN 113282053A CN 202110627099 A CN202110627099 A CN 202110627099A CN 113282053 A CN113282053 A CN 113282053A
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- G05B19/00—Program-control systems
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- G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses an automatic cutting control system of a cantilever type heading machine, which relates to the technical field of mechanical control and comprises the following components: the control unit comprises an upper computer and a controller, the upper computer and the controller are in man-machine interaction, the controller is a PLC and is used for collecting field data in real time and executing a control command sent by the upper computer; the detection unit detects the equipment information in real time and uploads the data to the controller; and the execution unit is used for adjusting the oil cylinder through the load-sensitive multi-path proportional reversing valve group according to a control command sent by the controller during automatic cutting so as to adjust the position of the cutting head and the position of the machine body. The invention is provided with a local operation box, a remote controller, a remote control console and a ground control console, has four operation modes, and can select a proper operation mode according to the field situation of the fully-mechanized excavating face, so that the system has stronger adaptability and flexibility, and the production efficiency can be effectively improved.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to an automatic cutting control system of a cantilever type heading machine.
Background
The development machine is a mechanical device which integrates electrical, hydraulic and mechanical control into a whole and is used for coal mine tunnel development, has the functions of coal seam cutting, loading and transportation, spray dust removal, gas detection and alarm and the like, and is the most important device for coal mine tunnel development. With the improvement of modern automation level, the development of the heading machine to automation, intellectualization and unmanned gradually progresses, the development is from original local control of workers to integrated remote control and remote heading control, and under the guidance of national main intelligent mine guidelines, intelligent heading with flexibility, strong adaptability and high cutting efficiency is the research and development direction of heading machine control, so that the automatic cutting control system of the cantilever heading machine has very important significance for the development of intelligent heading.
The current mainstream automatic cutting modes include parameter setting automatic cutting, memory automatic cutting and the like. The parameter setting automatic cutting is characterized in that necessary parameters such as a plurality of boundary points, footage and the like of a roadway to be cut are set as the name implies, and the device operation information collected by a displacement sensor, an encoder and the like is adjusted in real time to realize the mode of cutting the set section; the memory automatic cutting is firstly demonstrated by manual operation of workers, a section is cut, information such as the inclination angle of a machine body, the footage amount, the real-time displacement of a rotary oil cylinder and a lifting oil cylinder and the like transmitted by a storage sensor is recorded by a CPU (central processing unit) while the cutting is finished, the heading machine automatically cuts according to the memory information after the demonstration is finished, the memory automatic cutting has strong adaptability and can cut irregular sections, the operation is slightly complex, manual demonstration is required when the heading machine is used every time, and the requirement on operators is high. Both of them have good and bad.
The underground environment of the mine is complex, the conditions of all fully mechanized mining working faces are different, some coal seams are good and have regular roadway sections, some coal seams are good and have irregular roadway sections, some coal seams are not good and have irregular roadway sections, and the like. Therefore, aiming at the characteristics of single working mode, poor adaptability, high manual participation degree and the like of the existing tunneling machine, the design of the automatic cutting control system with flexibility in maneuvering, strong adaptability and high cutting efficiency has important significance.
Disclosure of Invention
The invention provides an automatic cutting control system of a boom-type heading machine.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic cutting control system of a boom-type roadheader, comprising:
the control unit comprises an upper computer and a controller, the upper computer and the controller are in man-machine interaction, the controller is a PLC and is used for collecting field data in real time and executing a control command sent by the upper computer;
the detection unit detects the equipment information in real time and uploads the data to the controller;
and the execution unit is used for adjusting the oil cylinder through the load-sensitive multi-path proportional reversing valve group according to a control command sent by the controller during automatic cutting so as to adjust the position of the cutting head and the position of the machine body.
Furthermore, the cutting mode of the automatic cutting control system comprises a parameter setting automatic cutting mode and a memory automatic cutting mode.
Further, the implementation method of the parameter setting automatic cutting mode comprises the following steps: setting up upper, lower, left and right end point information, footage amount, zero point information and the like on a parameter setting interface, after starting automatic cutting, moving a cutting head to zero point according to information transmitted by a displacement sensor, rotating the cutting head, sweeping the bottom of a cantilever from left to right, judging whether the vertex is reached after moving to a right boundary, returning to the zero point if the vertex is reached, advancing the machine body to cut the next section, lifting the cutting head upwards for setting the height if the vertex is not reached, then cutting from right to left, judging whether the vertex is reached after moving to a left boundary, returning to the zero point if the vertex is reached, advancing the machine body to cut the next section, and circulating the processes above if the vertex is not reached, lifting the cutting head upwards for setting the height.
Further, the implementation method of the memory automatic cutting mode comprises the following steps: firstly, manual demonstration is carried out, the machine body and the cutting head are controlled to move for cutting through the field operation box, the remote controller, the remote control console or the ground control console, position information of the machine body and the cutting head, current information of a cutting motor and the like are detected in real time by various sensors on the machine body at the same time and are uploaded to the PLC, automatic cutting is started after cutting of one section is completed, the PLC controls the load-sensitive multi-path proportional reversing valve group to adjust the oil cylinder according to recorded equipment information, and therefore automatic cutting is memorized, and automatic cutting is carried out after cutting of one section is completed, and cutting of the next section is carried out by automatic feed of a ruler until the automatic cutting is completed.
Further, the parameter setting automatic cutting adopts the traditional PID control, and the K is adjustedp、Ki、KdThree parameters, the stable and quick dynamic response of the system is realized, and the simple PID controller is designed as follows:
wherein u (t) is the PID controller output; e (t) is the error value between the set position and the actual position of the cutting head or the machine body; kpIs a proportionality coefficient; t isiIs the integration time; t isdThe system needs to acquire the set position and the real-time position of the cutting head and the machine body in real time for differential time, and the adjustment time of the system can be increased by introducing a differential link, so that an integral link is cancelled for obtaining a better control effect, and T is takend＝0。
Furthermore, the memory automatic cutting adopts a BP neural network as an algorithm flow of data fusion and a control frame of the memory cutting, and the BP neural network does not need to establish a function analytic formula of parameters and only needs to provide a learning sample obtained by multidimensional calibration experimental data; the learning process and algorithm are as follows:
the method comprises the following steps: initializing data, and randomly setting a production weight value, a threshold initial value, a step length and the number of hidden nodes;
step two: providing sample data, namely oil cylinder displacement information, machine body displacement information, cutting motor current and the like acquired in the manual demonstration process;
step three: calculating output values of the hidden layer unit and the output unit by adopting an S-shaped function;
step four: calculating training errors of the hidden layer unit and the output unit;
step five: correcting the weight value;
step six: and judging whether the error e is smaller than the set allowable deviation, finishing the training when the error e is met, and continuing to perform the fourth step, the fifth step and the sixth step when the error e is not met.
The invention has the following advantages:
1. the system is provided with a local operation box, a remote controller, a remote control console and a ground control console, has four operation modes, can select a proper operation mode according to the situation of a fully-mechanized excavating face site, has stronger adaptability and flexibility, and can effectively improve the production efficiency;
2. the automatic cutting mode has two automatic cutting modes of parameter setting automatic cutting and memory automatic cutting, can be freely selected according to actual needs, and enables the automatic and intelligent level of the development machine to be higher, the practicability of the automatic cutting function to be stronger, and the safety production to be more facilitated;
3. friendly human-computer interaction can be realized.
Drawings
FIG. 1 is a network topology diagram of an automatic cutting control system;
FIG. 2 is a parameter setting automatic cutting section cutting diagram;
FIG. 3 is a flow chart of parameter setting automatic cutting;
FIG. 4 is a schematic view of a memory automatic cutting process;
FIG. 5 is a cutting head PID control flow;
fig. 6 is a BP neural network data fusion diagram.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1, the system comprises a control unit, a detection unit and an execution unit. Wherein:
the control unit comprises an upper computer and a controller, wherein the upper computer is provided with a local operation box, a remote controller, a remote control console and a ground control console, and four control modes of local, remote control, remote and ground are realized, wherein: the local operation box communicates with the controller through a CAN bus, the remote controller communicates with the controller through a receiver and an RS485, and the remote control console and the ground console communicate with the controller through an optical fiber and an Ethernet. The upper computer can carry out human-computer interaction with the controller as follows: setting parameters, selecting modes, controlling a motor, reading data and the like. The controller is a PLC, collects field data in real time and executes a control command sent by the upper computer.
And the detection unit comprises inertial navigation for detecting the position and the inclination angle information of the machine body, a displacement sensor for detecting the displacement of the oil cylinder, an inclination angle sensor for detecting the inclination angle of the cantilever and the like. And uploading the detection data to a controller for automatic cutting control.
And the execution unit is used for adjusting the oil cylinder through the load-sensitive multi-path proportional reversing valve group according to a control command sent by the controller during automatic cutting so as to adjust the position of the cutting head, the position of the machine body and the like.
The invention is compatible with two automatic cutting modes of parameter setting automatic cutting and memory automatic cutting, as shown in figures 2, 3 and 4, when the heading machine performs the automatic cutting function, the scheme is as follows:
firstly, the method comprises the following steps: selecting a parameter setting automatic cutting mode, as shown in fig. 2 and fig. 3, setting end point information a, b, c and d, a footage amount, zero point information and the like on a parameter setting interface, after starting automatic cutting, moving the cutting head to a zero point according to information transmitted by a displacement sensor, taking a as a zero point, rotating the cutting head, sweeping the bottom of the cantilever from a to b, judging whether the vertex is reached after moving to a right boundary, returning to the zero point if the vertex is reached, feeding the cutting head to perform cutting of the next section, lifting the cutting head upwards to a set height if the vertex is not reached, cutting from right to left, judging whether the vertex is reached after moving to a left boundary, returning to the zero point if the vertex is reached, feeding the cutting head to the next section, lifting the cutting head upwards to the set height if the vertex is not reached, and circulating the above processes.
II, secondly: the memory automatic cutting mode is selected, as shown in fig. 4, and is divided into two steps of manual demonstration and automatic cutting. The manual demonstration is that the machine body and the cutting head are controlled to move for cutting through the field operation box, the remote controller, the remote control console or the ground control console, and simultaneously, the position information of the machine body and the cutting head, the current information of the cutting motor and the like are detected by various sensors on the machine body in real time and are uploaded to the PLC until cutting of one section is completed. And after manual demonstration, automatic cutting is started, the PLC controls the load-sensitive multi-path proportional reversing valve set to adjust the oil cylinder according to the recorded equipment information, so that memory automatic cutting is realized, and after cutting of one section is completed, automatic footage is carried out to cut the next section until automatic cutting is finished.
The automatic cutting control of the invention uses the following control strategy:
the parameter setting automatic cutting adopts the traditional PID control, and the used PID controller is as follows:
wherein u (t) is the PID controller output; e (t) is the error value between the set position and the actual position of the cutting head or the machine body; kpIs a proportionality coefficient; t isiIs the integration time; t isdThe system needs to acquire the set position and the real-time position of the cutting head and the machine body in real time for differential time, and the adjustment time of the system can be increased by introducing a differential link, so that an integral link is cancelled for obtaining a better control effect, and T is takend0. As shown in FIG. 5, taking the control of the cutting head as an example, the cutting head has a set value for each step of movement, the PLC outputs a control command to the load-sensitive multi-way proportional reversing valve set, the oil cylinder is controlled to drag the cutting head to move, the displacement sensor in the oil cylinder collects real-time position and feeds back the real-time position to the PLC, and the real-time position is compared with the set value and biasedThe difference value is regulated and output through a PID controller, so that negative feedback control of the cutting head is realized.
And secondly, memorizing automatic cutting, namely using a BP neural network as an algorithm flow of data fusion and a control frame of memorizing cutting, wherein the BP neural network does not need to establish a function analytic expression of parameters, and only needs to provide a learning sample obtained by multidimensional calibration experimental data. The working process is shown in figure 6:
the method comprises the following steps: initializing data and randomly setting a weight value Wji、WkjInitial value of threshold θj、θkStep length eta, number of hidden nodes l, potential state factor alpha and the like.
Step two: providing the machine body displacement information UI and the oil cylinder displacement information U collected in the manual demonstration processS、UPCutting motor current UTEtc., expressing the data as X ═ X (X) in a four-dimensional vector1，X2，X3，X4，)。
Step three: and calculating output values of the hidden layer unit and the output unit by adopting an S-shaped function. The output value of the jth neuron of the hidden layer is as follows:
in the formula: wjiThe connection weight from the ith neuron of the input layer to the jth neuron of the hidden layer is obtained.
The output value of the kth neuron of the output layer is:
in the formula: wkjThe connection weight from the jth neuron of the hidden layer to the kth neuron of the output layer is shown, k is the number of nodes of the output layer, and k is 1.
Step four: calculating training errors of the hidden layer unit and the output unit:
δk＝f(Sk)[1-f(Sk)][dk-f(Sk)]
in the formula: dkThe ideal output value of the neural network is the current calibration value of the system.
Step five: correction weight
Wji(t+1)＝Wji(t)+ηδjf(Sj)+α[Wji(t)-Wji(t-1)
Wkj(t+1)＝Wkj(t)+ηδkf(Sk)+α[Wkj(t)-Wkj(t-1)
Step six: and judging whether the error e is smaller than the set allowable deviation, finishing the training when the error e is met, and continuing to perform the fourth step, the fifth step and the sixth step when the error e is not met.
The scheme researches the automatic cutting control system of the heading machine, integrates local control, remote control and ground control, effectively improves the flexibility and labor production efficiency of the heading machine, has two automatic cutting modes of parameter setting automatic cutting and memory automatic cutting, and has stronger automatic cutting adaptability and higher intelligent level.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The utility model provides an automatic cutting control system of boom-type roadheader which characterized in that: the method comprises the following steps:
the control unit comprises an upper computer and a controller, the upper computer and the controller are in man-machine interaction, the controller is a PLC and is used for collecting field data in real time and executing a control command sent by the upper computer;
the detection unit detects the equipment information in real time and uploads the data to the controller;
and the execution unit is used for adjusting the oil cylinder through the load-sensitive multi-path proportional reversing valve group according to a control command sent by the controller during automatic cutting so as to adjust the position of the cutting head and the position of the machine body.
2. The automatic cutting control system of the boom-type roadheader according to claim 1, wherein the cutting modes of the automatic cutting control system comprise a parameter setting automatic cutting mode and a memory automatic cutting mode.
3. The automatic cutting control system of the boom-type roadheader according to claim 2, wherein the parameter setting automatic cutting mode is implemented by: setting up upper, lower, left and right end point information, footage amount, zero point information and the like on a parameter setting interface, after starting automatic cutting, moving a cutting head to zero point according to information transmitted by a displacement sensor, rotating the cutting head, sweeping the bottom of a cantilever from left to right, judging whether the vertex is reached after moving to a right boundary, returning to the zero point if the vertex is reached, advancing the machine body to cut the next section, lifting the cutting head upwards for setting the height if the vertex is not reached, then cutting from right to left, judging whether the vertex is reached after moving to a left boundary, returning to the zero point if the vertex is reached, advancing the machine body to cut the next section, and circulating the processes above if the vertex is not reached, lifting the cutting head upwards for setting the height.
4. The automatic cutting control system of the boom-type roadheader according to claim 2, wherein the implementation method of the memory automatic cutting mode comprises the following steps: firstly, manual demonstration is carried out, the machine body and the cutting head are controlled to move for cutting through the field operation box, the remote controller, the remote control console or the ground control console, position information of the machine body and the cutting head, current information of a cutting motor and the like are detected in real time by various sensors on the machine body at the same time and are uploaded to the PLC, automatic cutting is started after cutting of one section is completed, the PLC controls the load-sensitive multi-path proportional reversing valve group to adjust the oil cylinder according to recorded equipment information, and therefore automatic cutting is memorized, and automatic cutting is carried out after cutting of one section is completed, and cutting of the next section is carried out by automatic feed of a ruler until the automatic cutting is completed.
5. The system of claim 3, wherein the parameter setting automatic cutting is controlled by conventional PID by adjusting Kp、Ki、KdThree parameters, the stable and quick dynamic response of the system is realized, and the simple PID controller is designed as follows:
wherein u (t) is the PID controller output; e (t) is the error value between the set position and the actual position of the cutting head or the machine body; kpIs a proportionality coefficient; t isiIs the integration time; t isdThe system needs to acquire the set position and the real-time position of the cutting head and the machine body in real time for differential time, and the adjustment time of the system can be increased by introducing a differential link, so that an integral link is cancelled for obtaining a better control effect, and T is takend＝0。
6. The automatic cutting control system of the boom-type roadheader according to claim 4, wherein the automatic memory cutting adopts a BP neural network as an algorithm flow of data fusion and a control frame of the memory cutting, and the BP neural network does not need to establish a function analytic expression of parameters and only needs to provide a learning sample obtained by multidimensional calibration experimental data; the learning process and algorithm are as follows:
the method comprises the following steps: initializing data, and randomly setting a production weight value, a threshold initial value, a step length and the number of hidden nodes;
step two: providing sample data, namely oil cylinder displacement information, machine body displacement information, cutting motor current and the like acquired in the manual demonstration process;
step three: calculating output values of the hidden layer unit and the output unit by adopting an S-shaped function;
step four: calculating training errors of the hidden layer unit and the output unit;
step five: correcting the weight value;
step six: and judging whether the error e is smaller than the set allowable deviation, finishing the training when the error e is met, and continuing to perform the fourth step, the fifth step and the sixth step when the error e is not met.
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