Modified algorithm for automatic control of the mining harvester according to the load of the engine of the cutting drive

A. Bublikov, V. Shevchenko, V. Nadtochyy, D. Yatsyuk
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Abstract

Purpose. To increase the productivity of the cutter-loader by creating a modified algorithm for automatic control of its speed with correction of stable power of cutting drive motors based on the results of statistical analysis of power during operation of the cutter-loader. Research methodology. As a research tool, a complex simulation model of the cutter-loader’scontrol system is used, which includes well-known mathematical models, describing the mining and geological properties of coal seams, as well as processes occurring in the structural elements of the cutter-loader. With the help of calculational experiments, the regularities of changes of statistical estimates of the power of the cutting drive engine for different mining and geological properties of the coal seam and the dynamics of the cutter-loader are established. The analysis of these regularities allowed to establish the dependence of the stable power of the cutting drive motor on the mining and geological parameters of the formation, and on their basis to propose a method of correction of the stable power during the working of the cutter-loader. A study of the effectiveness of the algorithm for automatic control of the speed of the cutter-loader using the proposed method in comparison with the existing algorithm. Research results. It is established, that the steady power of the cutting drive motor, corrected taking into account the standard deviation of the high-frequency component of the cutting drive motor power on a short section of the array, has a clearly determined deterministic component, which is determined by the change of resistance of coal to cutting along the coal seam. Also, steady power has a random component with the weight 15%, which is associated with the unpredictable oscillating nature of the movement of the cutter-loader, and with the complex and random nature of the process of destruction of the coal seam by the executive body. It is determined, that the double value of the standard deviation of the high-frequency power component of the cutting drive motor, as a power reserve, provides the percentage of exceeding by instantaneous power of allowable value, which is as close as possible to its acceptable level without exceeding it. Scientific novelty. For the first time, the dependence of the percentage of instantaneous power, exceeding its allowable value, on the coefficient of proportionality between the power margin and the standard deviation of the high-frequency power component under the condition of calculating the steady power of the cutting drive motor. This allowed us to determine the coefficient of proportionality, at which the percentage of cases of exceeding the instantaneous power of its permissible value is as close as possible to its acceptable level, but without exceeding it. Practical meaning. The method of correcting the stable power of the cutting drive motor during the operation of the cutter-loader is proposed. At the same time, the parameters of the algorithm for calculating the stable power of the cutting drive motor based on statistical processing of the values of the instantaneous motor power are substantiated.
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改进了矿用收割机根据切削传动发动机负载自动控制的算法
目的。基于装刀机运行过程中功率的统计分析结果,通过修正切割驱动电机的稳定功率,提出了一种改进的装刀机速度自动控制算法,提高了装刀机的生产率。研究方法。作为一种研究工具,采用了一种复杂的装载机控制系统仿真模型,该模型包括著名的数学模型,描述了煤层的采矿和地质性质,以及装载机结构元件发生的过程。通过计算实验,建立了不同煤层开采性质和地质性质下截割机功率统计估计值的变化规律,以及截割机的动力学特性。通过对这些规律的分析,建立了切割驱动电机的稳定功率与地层采矿和地质参数的依赖关系,并在此基础上提出了装刀机工作过程中稳定功率的修正方法。通过与现有算法的比较,研究了该算法对装刀机速度自动控制的有效性。研究的结果。建立了在考虑了阵列短截面上切割驱动电机功率高频分量的标准差后,切割驱动电机的稳态功率具有明确确定的确定性分量,该确定性分量由煤对切割阻力沿煤层方向的变化决定。此外,稳态功率具有15%权重的随机分量,这与切刀装载机运动的不可预测的振荡性质以及执行机构破坏煤层过程的复杂性和随机性有关。确定切割驱动电机高频功率分量标准差的两倍值作为动力储备,提供瞬时功率超出允许值的百分比,使其尽可能接近其可接受水平,但不超过允许值。科学的新奇。首次提出了在计算切割驱动电机稳态功率的条件下,瞬时功率超过其允许值的百分比对高频功率分量的功率余量与标准差之间的比例系数的依赖关系。这使我们能够确定比例系数,在该系数下,超过其允许值的瞬时功率的情况百分比尽可能接近其可接受水平,但不超过它。现实意义。提出了装载机运行过程中切割驱动电机稳定功率的校正方法。同时,通过对切削驱动电机瞬时功率值的统计处理,确定了计算切削驱动电机稳定功率的算法参数。
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