采掘设备行走部牵引控制的实现

为了提高掘进工作面的掘进效率,有效缓解采、掘速度失调的矛盾,深入研究液压驱动及变频调速驱动这两种在采掘设备中常用的行走控制技术。解析了两种技术不同的控制原理及特点,并以履带行走式液压支架、连续采煤机作为两种控制方式实现的载体,分别介绍了行走电气控制的硬件配置原理、软件工作流程。着重说明手柄数据处理、脉冲宽度调制(PWM)输出控制、不同工况下变频行走控制策略及如何利用ST语言实现相关程序代码的编写。实际应用表明,液压驱动行走控制技术满足了液压支架对顶板支护速度的要求,保证了回采作业及人身的安全;变频调速驱动技术满足了连采机对电机频繁启停、快速响应、大启动转矩等工作性能的要求,提高了采煤机的工作效率及成巷质量。最后,提出以单机行走控制的应用经验为基础,并融合多种技术,展开对掘进工作面设备间协同行走方案的研究,以进一步提高巷道的掘进效率及设备的自动化水平。

Implementation of Traction Control for Walking Department of Mining Equipment

In order to improve the driving efficiency of the driving face,effectively alleviate the contradiction between the mining and excavation speed imbalance,deeply studied the two kinds of walking control technologies commonly used in mining equipment,such as hydraulic drive and variable frequency speed control,and analyzed the control principles and the characteristics of the two technologies,and with the crawler-type hydraulic support and continuous coal mining machine as the carrier to achieve two control methods,respectively introduced the hardware configuration principle of the walking electrical control,software workflow,and explained the handle data processing,pulse width modulation(PWM)output control,and the variable frequency walking control strategy under different working conditions and how to use ST language to realize the related program code writing.The practical application shows that the hydraulic drive travel control technology meets the requirements of the hydraulic support to the roof support speed,ensuring the recovery operation and personal safety;the variable frequency speed control drive technology meets the working performance requirements of the continuous mining machine,such as frequent start and stop,fast response,large starting torque,and improve the working efficiency of the shearer and the quality of the roadway.Finally,based on the application experience of single-machine walking control,and combining various technologies,the research on the coordinated walking between the equipment of the road surface is carried out to further improve the tunneling efficiency and the automation level of the equipment.