Research on intelligent control system for scraper conveyor in coal mining working face
-
摘要:
刮板输送机是煤矿井工开采煤炭运输的核心设备，其智能化水平直接影响工作面智能化程度。分析指出目前刮板输送机智能化技术仍存在工况感知数据治理不到位、数据交互及多机协同控制缺乏顶层管控、设备维护与保养不到位、智能化技术应用不足等问题。基于矿鸿操作系统统一系统架构、统一标准与协议等优势，开发了采煤工作面刮板输送机智能控制系统，介绍了系统架构，重点阐述了该系统中刮板输送机工况感知和自适应控制这2项关键技术：以哑铃状态监测和断链故障监测为例，介绍了刮板输送机工况感知技术的实现方法；通过分析刮板输送机驱动电动机电流数据，结合采煤机采高、截深、行走速度、位置等采集数据，得出刮板输送机运煤量计算公式，由此设计了基于负载状态的刮板输送机智能调速控制策略；分析了刮板输送机链条与张力的关系，通过计算链条伸长量并与设定值作比较，控制油缸伸出（缩回）动作，实现链条张紧自动控制。在煤矿现场对基于矿鸿操作系统的刮板输送机智能控制系统进行了工业性试验，结果表明该系统能实时采集刮板输送机运行状态、故障信息、负载等关键参数并进行分析处理，数据精度高，稳定性好，故障诊断准确性高，且实现了刮板输送机与采煤机、液压支架等设备的互联互通、相互协作，数据传输延时仅为5～10 ms。
Abstract:Scraper conveyor is the core equipment for coal transportation in underground mining, and its level of intelligence directly impacts the overall automation in the working face. Analysis indicates that current intelligent technology of scraper conveyor still faces several issues: inadequate management of operating condition sensing data, lack of top-level control in data interaction and multi-machine collaborative control, insufficient equipment maintenance and care, and insufficient application of intelligent technologies. Based on the advantages of the Kuanghong operating system, such as unified system architecture, standards, and protocols, an intelligent control system for scraper conveyor in coal mining working faces was developed. The system architecture was introduced, focusing on two key technologies: operating condition sensing and adaptive control for scraper conveyor. Taking dumbbell state monitoring and chain break fault monitoring as examples, the implementation methods of operating condition sensing technology for scraper conveyor were detailed. By analyzing the current data of the scraper conveyor’s driving motor and integrating collected data such as cutting height, cutting depth, travel speed, and position of the coal shearer, a formula for calculating the coal transportation volume of the scraper conveyor was derived. This led to the design of an intelligent speed control strategy for the scraper conveyor based on load conditions. Additionally, the relationship between the scraper conveyor's chain and tension was analyzed. By calculating the chain elongation and comparing it to a set value, the extension (or retraction) of hydraulic cylinders was controlled to achieve automatic chain tension control. Industrial tests of the intelligent control system for scraper conveyor based on the Kuanghong operating system were conducted at coal mine sites. The results showed that the system could collect and analyze key parameters such as the operating status, fault information, and load of the scraper conveyor in real time. It demonstrated high data accuracy, strong stability, and high precision in fault diagnosis. Furthermore, the system achieved interconnection and collaboration between the scraper conveyor and other equipment such as coal shearer and hydraulic supports, with a data transmission delay of only 5 to 10 ms.
-
-
![]()
图 1 刮板输送机智能控制系统总体架构
Figure 1. The overall framework of intelligent control system for scraper conveyor
![]()
图 2 刮板输送机工况感知控制器原理
Figure 2. Principle of working condition perception controller for scraper conveyor
![]()
图 8 刮板输送机伸缩机尾自动控制系统
Figure 8. Automatic control system for telescopic tail of scraper conveyor
![]()
图 10 刮板输送机伸缩机尾自动控制流程
Figure 10. Automatic control flow for telescopic tail of scraper conveyor
![]()
图 11 大宁煤矿207综采工作面设备智能控制平台运行界面
Figure 11. Operation interface of intelligent control platform for 207 fully mechanized working face equipment in Daning Coal Mine
表 1 刮板输送机MDTP标准部件模型（部分）
Table 1 Part of multi-network datagram transmission protocol（MDTP） standard component model of scraper conveyor
标准部件模型 模型ID 实例名称 实例ID 类型 描述 ID 属性类型 必选 读写 基础模型 0x0001 “三机”模型实例 0x0001 属性 设备名称 0x001 char array M — 制造商 0x002 char array M — 网络模型 0x0002 网络模型实例 0x0001 属性 IPV4地址 0x001 byte array M — IPV4网络掩码 0x002 byte array M — 减速器模型 0x0100 刮板输送机减速器实例 0x0001 属性 输入轴温度 0x0001 uint16，单位0.1 ℃ M R 输出轴温度 0x0002 uint16，单位0.1 ℃ M R 润滑油温度 0x0003 uint16，单位0.1 ℃ M R 电动机模型 0x0101 刮板输送机电动机实例 0x0001 属性 故障字 0x0001 uint16 M R 电动机电流 0x0006 uint16，单位0.1 A M R 电动机转速 0x0008 uint16，单位r/min M R 变频器模型 0x0102 刮板输送机变频器实例 0x0001 属性 总电流 0x0007 uint16，单位0.1 A M R 启停控制 0x0013 bool M RW 给定转速 0x0014 int16，单位r/min M RW 机尾油缸模型 0x010a 刮板输送机机尾油缸实例 0x0001 属性 机尾油缸压力 0x0003 uint16 M R 机尾油缸伸出 0x0007 bool M RW 
下载: 导出CSV
-
[1] 王国法,任怀伟,庞义辉,等. 煤矿智能化(初级阶段)技术体系研究与工程进展[J]. 煤炭科学技术,2020,48(7):1-27. WANG Guofa,REN Huaiwei,PANG Yihui,et al. Research and engineering progress of intelligent coal mine technical system in early stages[J]. Coal Science and Technology,2020,48(7):1-27.
[2] 王国法,赵国瑞,任怀伟. 智慧煤矿与智能化开采关键核心技术分析[J]. 煤炭学报,2019,44(1):34-41. WANG Guofa,ZHAO Guorui,REN Huaiwei. Analysis on key technologies of intelligent coal mine and intelligent mining[J]. Journal of China Coal Society,2019,44(1):34-41.
[3] 葛世荣. 刮板输送机技术发展历程(三)——驱动与智能控制技术[J]. 中国煤炭,2024,50(4):1-12. GE Shirong. The development history of scraper conveyor technology (Part three):intelligent drive and control technology[J]. China Coal,2024,50(4):1-12.
[4] 路倩倩. 综采工作面智能运输系统的研究[J]. 能源与节能,2021(6):154-155,201. DOI: 10.3969/j.issn.2095-0802.2021.06.067 LU Qianqian. Research on intelligent transportation system of fully mechanized mining face[J]. Energy and Energy Conservation,2021(6):154-155,201. DOI: 10.3969/j.issn.2095-0802.2021.06.067
[5] 史洪恺,张国恩,姜晓宇,等. 基于5G驱动的煤矿机电设备安全管理平台研究[J]. 煤炭科学技术,2022,50(增刊1):257-263. SHI Hongkai,ZHANG Guoen,JIANG Xiaoyu,et al. Research on safety management of coal mine electromechanical equipment based on 5G drive[J]. Coal Science and Technology,2022,50(S1):257-263.
[6] 罗文. 国能神东煤炭集团重大科技创新成果与实践[J]. 煤炭科学技术,2023,51(2):1-43. LUO Wen. Major scientific and technological innovation achievements and practices of CHN Shendong Coal Group[J]. Coal Science and Technology,2023,51(2):1-43.
[7] 李新华,贺海涛. “矿鸿”操作系统在神东矿区智能化建设中的探索[J]. 中国煤炭,2021,47(增刊1):7-13. LI Xinhua,HE Haitao. Exploration of Mine Harmony OS in the intelligent construction of Shendong Mining Area[J]. China Coal,2021,47(S1):7-13.
[8] 吴先亮,沈秋彦,戚威,等. 基于矿鸿系统的梭车监测系统设计[J]. 内蒙古煤炭经济,2023(15):31-33. DOI: 10.3969/j.issn.1008-0155.2023.15.012 WU Xianliang,SHEN Qiuyan,QI Wei,et al. Design of shuttle car monitoring system based on Mine Harmony OS[J]. Inner Mongolia Coal Economy,2023(15):31-33. DOI: 10.3969/j.issn.1008-0155.2023.15.012
[9] 张国恩,严超超,王毅颖. 矿鸿操作系统在智能化综采工作面的应用研究[J]. 煤炭工程,2023,55(3):84-88. ZHANG Guoen,YAN Chaochao,WANG Yiying. Application of mine Harmony operating system in fully mechanized coal mining face[J]. Coal Engineering,2023,55(3):84-88.
[10] 翟红亮,刘坤. 基于“矿鸿操作系统”的采掘设备网关设计[J]. 煤矿机电,2022,43(5):11-15. ZHAI Hongliang,LIU Kun. Gateway design of mining equipment based on "Kuanghong operating system"[J]. Colliery Mechanical & Electrical Technology,2022,43(5):11-15.
[11] 王渊,郭卫,张传伟,等. 融合注意力机制和先验知识的刮板输送机异常煤块检测[J]. 西安科技大学学报,2023,43(1):192-200. WANG Yuan,GUO Wei,ZHANG Chuanwei,et al. Detection of abnormal coal block in scraper conveyor integrating attention mechanism and prior knowledge[J]. Journal of Xi'an University of Science and Technology,2023,43(1):192-200.
[12] 吴新佳. 矿用刮板输送机的模糊PID控制调直方法研究[J]. 金属矿山,2020(8):142-146. WU Xinjia. Research on fuzzy PID control straightening method of scraper conveyor in mine[J]. Metal Mine,2020(8):142-146.
[13] 葛世荣,张帆,王世博,等. 数字孪生智采工作面技术架构研究[J]. 煤炭学报,2020,45(6):1925-1936. GE Shirong,ZHNAG Fan,WANG Shibo,et al. Digital twin for smart coal mining workface:technological frame and construction[J]. Journal of China Coal Society,2020,45(6):1925-1936.
[14] 崔卫秀,穆润青,解鸿章,等. 500 m超长工作面刮板智能输送技术研究[J]. 煤炭科学技术,2024,52(4):326-335. DOI: 10.12438/cst.2023-0739 CUI Weixiu,MU Runqing,XIE Hongzhang,et al. Research on intelligent conveying technology of 500 m ultra-long face scraper[J]. Coal Science and Technology,2024,52(4):326-335. DOI: 10.12438/cst.2023-0739
[15] 关伟,杨刚,张玮蓉,等. 综采工作面远程智能监控系统研发及应用[J]. 陕西煤炭,2022,41(3):164-169. DOI: 10.3969/j.issn.1671-749X.2022.03.039 GUAN Wei,YANG Gang,ZHANG Weirong,et al. Research and application of remote intelligent monitoring system for fully mechanized mining face[J]. Shaanxi Coal,2022,41(3):164-169. DOI: 10.3969/j.issn.1671-749X.2022.03.039
[16] 于斌,徐刚,黄志增,等. 特厚煤层智能化综放开采理论与关键技术架构[J]. 煤炭学报,2019,44(1):42-53. YU Bin,XU Gang,HUANG Zhizeng,et al. Theory and its key technology framework of intelligentized fully-mechanized caving mining in extremely thick coal seam[J]. Journal of China Coal Society,2019,44(1):42-53.
[17] 高矿斌. 综采工作面智能化技术的应用现状[J]. 化工管理,2022(4):61-63. GAO Kuangbin. Application status of intelligent technology in fully mechanized mining face[J]. Chemical Management,2022(4):61-63.
[18] 崔卫秀. 刮板运输系统煤流通道堵塞防控技术[J]. 煤炭科学技术,2021,49(11):236-242. CUI Weixiu. Practice on prevention and control technology of coal passage blockage in scraper transportation system[J]. Coal Science and Technology,2021,49(11):236-242.
[19] 郭洁,段金红,郭传军,等. 基于Adams的刮板输送机卡链及断链工况动力学特性分析[J]. 煤炭技术,2023,42(12):236-240. GUO Jie,DUAN Jinhong,GUO Chuanjun,et al. Analysis of dynamic characteristics of chain jamming and broken conditions of scraper conveyor based on Adams[J]. Coal Technology,2023,42(12):236-240.
[20] 张帅. 基于ZigBee技术的刮板输送机链条状态在线监测系统研究与设计[J]. 煤矿机械,2024,45(3):197-200. ZHANG Shuai. Research and design of online monitoring system of scraper conveyor chain state based on ZigBee technology[J]. Coal Mine Machinery,2024,45(3):197-200.
[21] 王伟,李男男. 综采工作面刮板输送机链条自动张紧试验研究[J]. 煤炭工程,2016,48(增刊1):101-103. WANG Wei,LI Nannan. Experimental study on automatic tension of scraper conveyor chain in fully mechanized mining face[J]. Coal Engineering,2016,48(S1):101-103.
-
期刊类型引用(2)
1. 杨科，范超尘，刘静波，吴劲松，池小楼，张杰. 极复杂条件煤层智能化开采安全保障体系及关键技术. 矿业研究与开发. 2024(03): 164-170 . 
百度学术
2. 王祖洸，王伸，李东印，李化敏，王文，岳帅帅，李东辉. 基于支架结构运动学的放煤机构精准控制研究. 工矿自动化. 2024(09): 28-40 . 本站查看
其他类型引用(0)
计量
- 文章访问数: 116
- HTML全文浏览量: 23
- PDF下载量: 25
- 被引次数: 2
