CN114194293B - Control method and device for crawler-type coal mine excavating equipment - Google Patents
Control method and device for crawler-type coal mine excavating equipment Download PDFInfo
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- CN114194293B CN114194293B CN202111460577.7A CN202111460577A CN114194293B CN 114194293 B CN114194293 B CN 114194293B CN 202111460577 A CN202111460577 A CN 202111460577A CN 114194293 B CN114194293 B CN 114194293B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The application provides a control method and a device for crawler-type coal mine excavating equipment, wherein the method comprises the following steps: the angle sensor is used for determining the current running state of the coal mine crawler type mining equipment, and based on the current running state, the first motor rotating speed corresponding to the first driving mechanism and the second motor rotating speed corresponding to the second driving mechanism are determined, so that the first driving mechanism is controlled to drive the first crawler type traveling mechanism to move at the first motor rotating speed, and the second driving mechanism is controlled to drive the second crawler type traveling mechanism to move at the second motor rotating speed.
Description
Technical Field
The application relates to the technical field of coal mine excavating equipment, in particular to a control method and device of crawler-type coal mine excavating equipment.
Background
At present, a traction system of large-scale coal mine mining equipment is generally a hydraulic traction system, the whole traction system consists of a manual hydraulic valve, a hydraulic motor, a speed reducer and a crawler-type travelling mechanism, and the manual hydraulic valve is divided into a left hydraulic valve and a right hydraulic valve, so that independent control of two crawlers of the traction system can be realized, and the steering of the mining equipment is controlled. In the related art, the related hydraulic traction system has low operation efficiency and low reaction speed, so the development of the existing power electronics and motor speed regulation technology cannot be satisfied.
Disclosure of Invention
Other effects of the above alternative will be described below in connection with specific embodiments.
The application provides a control method and device for crawler-type coal mine excavating equipment.
In one aspect, an embodiment of the present application provides a method for controlling a coal mine crawler type mining apparatus, the coal mine crawler type mining apparatus including an angle sensor, a first electric traction system, and a second electric traction system, the first electric traction system including: a first drive mechanism and a first crawler-type running mechanism, the second electric traction system including a second drive mechanism and a second crawler-type running mechanism, the method comprising: determining the current running state of the crawler-type coal mine excavating equipment through the angle sensor; determining a first motor rotating speed corresponding to the first driving mechanism and a second motor rotating speed corresponding to the second driving mechanism according to the current running state; and controlling the first driving mechanism to drive the first crawler-type travelling mechanism to move at the rotating speed of the first motor, and controlling the second driving mechanism to drive the second crawler-type travelling mechanism to move at the rotating speed of the second motor.
In one embodiment of the present application, the determining, by the angle sensor, the current driving state of the crawler-type coal mining equipment includes: acquiring a steering angle currently output by the angle sensor; acquiring a reference angle corresponding to the angle sensor; and determining the current running state of the crawler-type coal mine excavating equipment according to the steering angle and the reference angle.
In one embodiment of the present application, the determining the current running state of the crawler-type coal mining equipment according to the steering angle and the reference angle includes: under the condition that the steering angle is equal to the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a straight running state; under the condition that the steering angle is larger than the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a left steering state; and under the condition that the steering angle is smaller than the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a right steering state.
In an embodiment of the present application, the determining, according to the current running state, a first motor rotation speed corresponding to the first driving mechanism and a second motor rotation speed corresponding to the second driving mechanism includes: acquiring the current running speed of the crawler-type coal mine excavating equipment under the condition that the current running state is a straight running state; and determining the first motor rotating speed corresponding to the first driving mechanism and the second motor rotating speed corresponding to the second driving mechanism according to the current running speed.
In an embodiment of the present application, the determining, according to the current running state, a first motor rotation speed corresponding to the first driving mechanism and a second motor rotation speed corresponding to the second driving mechanism includes: under the condition that the current running state is a steering state, acquiring a first motor rotation speed coefficient corresponding to the first driving mechanism and a second motor rotation speed coefficient corresponding to the second driving mechanism according to the steering state; determining a first motor rotation speed corresponding to the first driving mechanism according to the first motor rotation speed coefficient, the steering angle and the current running speed; and determining the second motor rotating speed corresponding to the second driving mechanism according to the second motor rotating speed coefficient, the steering angle and the current running speed.
In one embodiment of the present application, the first motor rotation speed coefficient is smaller than the second motor rotation speed coefficient in a case where the steering state is a left steering state; and under the condition that the steering state is a right steering state, the first motor rotating speed coefficient is larger than the second motor rotating speed coefficient.
The application provides a control method of coal mine crawler type excavating equipment, the current running state of the coal mine crawler type excavating equipment is determined through an angle sensor, the first motor rotating speed corresponding to a first driving mechanism and the second motor rotating speed corresponding to a second driving mechanism are determined based on the current running state, so that the first driving mechanism is controlled to drive the first crawler type travelling mechanism to move at the first motor rotating speed, and the second driving mechanism is controlled to drive the second crawler type travelling mechanism to move at the second motor rotating speed, therefore, in the process of controlling the coal mine crawler type excavating equipment, the coal mine crawler type excavating equipment is controlled to move in the current running state based on a first electric traction system and a second electric traction system, the running efficiency of the coal mine crawler type excavating equipment is improved, the quick maneuverability of the coal mine crawler type excavating equipment is enhanced, and the coal mine crawler type excavating equipment is accurately driven according to the current running state.
Another aspect of the present application provides a control device for a coal mine crawler type mining equipment, the coal mine crawler type mining equipment including an angle sensor, a first electric traction system and a second electric traction system, the first electric traction system including: a first drive mechanism and a first crawler-type running mechanism, the second electric traction system comprising a second drive mechanism and a second crawler-type running mechanism, the apparatus comprising: the first determining module is used for determining the current running state of the crawler-type coal mine excavating equipment through the angle sensor; the second determining module is used for determining a first motor rotating speed corresponding to the first driving mechanism and a second motor rotating speed corresponding to the second driving mechanism according to the current running state; the control module is used for controlling the first driving mechanism to drive the first crawler-type travelling mechanism to move at the rotating speed of the first motor and controlling the second driving mechanism to drive the second crawler-type travelling mechanism to move at the rotating speed of the second motor.
In one embodiment of the present application, the first determining module includes: the first acquisition unit is used for acquiring the steering angle currently output by the angle sensor; the second acquisition unit is used for acquiring the reference angle corresponding to the angle sensor; and the determining unit is used for determining the current running state of the crawler-type coal mine excavating equipment according to the steering angle and the reference angle.
In an embodiment of the present application, the determining unit is specifically configured to: under the condition that the steering angle is equal to the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a straight running state; under the condition that the steering angle is larger than the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a left steering state; and under the condition that the steering angle is smaller than the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a right steering state.
In one embodiment of the present application, the second determining module is specifically configured to: acquiring the current running speed of the crawler-type coal mine excavating equipment under the condition that the current running state is a straight running state; and determining the first motor rotating speed corresponding to the first driving mechanism and the second motor rotating speed corresponding to the second driving mechanism according to the current running speed.
In one embodiment of the present application, the second determining module is specifically configured to: under the condition that the current running state is a steering state, acquiring a first motor rotation speed coefficient corresponding to the first driving mechanism and a second motor rotation speed coefficient corresponding to the second driving mechanism according to the steering state; determining a first motor rotation speed corresponding to the first driving mechanism according to the first motor rotation speed coefficient, the steering angle and the current running speed; and determining the second motor rotating speed corresponding to the second driving mechanism according to the second motor rotating speed coefficient, the steering angle and the current running speed.
In one embodiment of the present application, the first motor rotation speed coefficient is smaller than the second motor rotation speed coefficient in a case where the steering state is a left steering state; and under the condition that the steering state is a right steering state, the first motor rotating speed coefficient is larger than the second motor rotating speed coefficient.
The application provides a controlling means of colliery crawler-type excavating equipment to confirm the current running state of colliery crawler-type excavating equipment through angle sensor to based on current running state, confirm the first motor rotational speed that first actuating mechanism corresponds, and the second motor rotational speed that second actuating mechanism corresponds, thereby control first actuating mechanism with first motor rotational speed drive first crawler-type running gear motion, and control second actuating mechanism with second motor rotational speed drive second crawler-type running gear motion, thereby, in the in-process of control colliery crawler-type excavating equipment, based on first electric traction system and second electric traction system, control colliery crawler-type excavating equipment moves with current running state, the operating efficiency of colliery crawler-type excavating equipment has been improved, the quick maneuverability of colliery crawler-type excavating equipment has been strengthened, the colliery crawler-type excavating equipment carries out accurate travel according to current running state.
Another aspect of the present application provides a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the method for controlling a crawler-type coal mine extraction apparatus disclosed in the embodiments of the present application.
Another embodiment of the present application proposes a computer program product, which when executed by an instruction processor in the computer program product, implements a method for controlling a crawler-type coal mining apparatus in an embodiment of the present application.
Other effects of the above alternative will be described below in connection with specific embodiments.
Drawings
The drawings are for better understanding of the present solution and do not constitute a limitation of the present application. Wherein:
FIG. 1 is a flow diagram of a method of controlling a coal mine crawler type mining apparatus in accordance with one embodiment of the present application.
FIG. 2 is an exemplary diagram of an electrical traction system composition of a coal mine crawler type mining equipment in accordance with one embodiment of the present application.
FIG. 3 is a flow chart of a method of controlling a coal mine crawler type mining apparatus in accordance with another embodiment of the present application.
FIG. 4 is a flow chart of electric traction steering control of a coal mine crawler type mining apparatus in accordance with one embodiment of the present application.
Fig. 5 is a schematic structural view of a control device of a crawler-type coal mining apparatus according to an embodiment of the present application.
Fig. 6 is a schematic structural view of a control device of a crawler-type coal mining apparatus according to another embodiment of the present application.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a method and a device for controlling crawler-type coal mine mining equipment according to the embodiments of the present application with reference to the accompanying drawings.
FIG. 1 is a flow diagram of a method of controlling a coal mine crawler type mining apparatus in accordance with one embodiment of the present application. It should be noted that, the execution main body of the control method of the coal mine crawler type mining device provided in this embodiment is a control device of the coal mine crawler type mining device, where the control device of the coal mine crawler type mining device may be implemented in a software and/or hardware manner, and the control device of the coal mine crawler type mining device may be configured in the coal mine crawler type mining device, or may be configured in an electronic device that communicates with the coal mine crawler type mining device, where the electronic device may include, but is not limited to, a terminal device, and the embodiment is not specifically limited to the electronic device. In this embodiment, the control device of the crawler-type coal mining apparatus is disposed in the crawler-type coal mining apparatus.
As shown in fig. 1, the control method of the crawler-type coal mine excavating equipment can comprise the following steps:
In some embodiments, the coal mine crawler-type mining equipment includes an angle sensor, a first electric traction system, and a second electric traction system, the first electric traction system including: the first electric traction system comprises a second driving mechanism and a second crawler-type travelling mechanism.
In some embodiments, the steering angle output by the angle sensor of the crawler-type coal mining equipment can be obtained in the process of driving the long and narrow roadway of the coal mine, and the current driving state of the crawler-type coal mining equipment can be determined according to the output steering angle so as to control the crawler-type coal mining equipment to safely and reliably drive in the current driving state.
The current driving state may include a straight driving state and a steering state, among others.
In some embodiments, when the current running state is a straight running state, the current running speed of the crawler-type mining device for the coal mine can be obtained, and the current running speed is used as a first motor rotating speed corresponding to the first driving mechanism and a second motor rotating speed corresponding to the second driving mechanism.
In other embodiments, the steering state further includes a left steering state and a right steering state, on the one hand, in the case that the current running state is the left steering state, according to the left steering state, the first motor rotation speed coefficient corresponding to the first driving mechanism and the second motor rotation speed coefficient corresponding to the second driving mechanism are obtained, so as to determine the first motor rotation speed corresponding to the first driving mechanism according to the first motor rotation speed coefficient, the steering angle and the current running speed, and determine the second motor rotation speed corresponding to the second driving mechanism according to the second motor rotation speed coefficient, the steering angle and the current running speed, where, in the case that the current running state is the left steering state, the first motor rotation speed coefficient is smaller than the second motor rotation speed coefficient.
On the other hand, under the condition that the current running state is the right-side steering state, a first motor rotation speed coefficient corresponding to the first driving mechanism and a second motor rotation speed coefficient corresponding to the second driving mechanism are obtained according to the right-side steering state, so that the first motor rotation speed corresponding to the first driving mechanism is determined according to the first motor rotation speed coefficient, the steering angle and the current running speed, and the second motor rotation speed corresponding to the second driving mechanism is determined according to the second motor rotation speed coefficient, the steering angle and the current running speed, wherein under the condition that the current running state is the right-side steering state, the first motor rotation speed coefficient is larger than the second motor rotation speed coefficient.
In some embodiments, the first drive mechanism and the second drive mechanism may include a traction motor and a speed reducer coupled to an output shaft of the traction motor, such that the traction motor in the first drive mechanism may be controlled to drive the first crawler running mechanism to move at a first motor speed and to drive the second crawler running mechanism to move at a second motor speed.
Specifically, the first electric traction system may be a left electric traction system of the crawler-type coal mine mining equipment, the second electric traction system may be a right electric traction system of the crawler-type coal mine mining equipment, the first crawler-type traveling mechanism is a left crawler-type traveling mechanism, and the second crawler-type traveling mechanism is a right crawler-type traveling mechanism. Specifically, the left crawler running mechanism of the crawler-type coal mining equipment can be made to move at a first motor rotating speed by controlling a traction motor of which a left driving mechanism in a left electric traction system is connected with an output shaft of a traction motor, and the right crawler running mechanism of the crawler-type coal mining equipment can be made to move at a second motor rotating speed by controlling a traction motor of which a right driving mechanism in a right electric traction system is connected with an output shaft of the traction motor.
In other embodiments, to increase the tamper resistance of the system, the stability of the system is increased, the first electric traction system further comprises: and the angle sensor isolation grating is connected with the angle sensor. Specifically, the comparison result of the steering angle and the reference angle of the angle sensor is converted through the angle sensor isolation grating, so that a signal which can be identified by the controller is obtained, the signal can be a current signal or a voltage signal, and according to the signal, the first driving mechanism is controlled to drive the first crawler-type running mechanism to move at the first motor rotating speed, and the second driving mechanism is controlled to drive the second crawler-type running mechanism to move at the second motor rotating speed.
The controller may be, but is not limited to, a programmable logic controller (Programmable Logic Controller, PLC).
The application provides a control method of coal mine crawler type excavating equipment, the current running state of the coal mine crawler type excavating equipment is determined through an angle sensor, the first motor rotating speed corresponding to a first driving mechanism and the second motor rotating speed corresponding to a second driving mechanism are determined based on the current running state, so that the first driving mechanism is controlled to drive the first crawler type travelling mechanism to move at the first motor rotating speed, and the second driving mechanism is controlled to drive the second crawler type travelling mechanism to move at the second motor rotating speed, therefore, in the process of controlling the coal mine crawler type excavating equipment, the coal mine crawler type excavating equipment is controlled to move in the current running state based on a first electric traction system and a second electric traction system, the running efficiency of the coal mine crawler type excavating equipment is improved, the quick maneuverability of the coal mine crawler type excavating equipment is enhanced, and the coal mine crawler type excavating equipment is accurately driven according to the current running state.
Based on the above embodiment, the application further provides an example diagram of an electric traction system composition diagram of the crawler-type mining equipment for a coal mine, as shown in fig. 2, the electric traction system comprises an angle sensor (S1), an angle sensor isolation grating (G1), an accelerator (K1) traction system main controller (V1), left and right traction motor drivers (B1, B2), left and right traction motors and reducers (M1, M2), left and right and crawler-type travelling mechanisms (W1, W2), the electric traction systems on the left and right sides are independently operated, and the travel of the crawler-type travelling mechanisms on the left and right sides is controlled based on the first motor rotating speed and the second motor rotating speed which respectively correspond to the current traveling states of the electric traction systems on the left and right sides, so that the accurate control of the travel of the crawler-type mining equipment for the coal mine is realized.
FIG. 3 is a flow chart of a method of controlling coal mine crawler type mining equipment according to another embodiment of the present application.
As shown in fig. 3, may include:
In some embodiments, the reference angle corresponding to the angle sensor may be a median angle of the angle sensor, but is not limited thereto, and the embodiment is not particularly limited thereto.
In some embodiments, the current running state of the coal mine crawler type mining equipment can be determined according to the steering angle of the angle sensor of the coal mine crawler type mining equipment and the magnitude of the reference angle corresponding to the angle sensor.
Specifically, under the condition that the steering angle is equal to the reference angle, the current running state of the crawler-type coal mine mining equipment is determined to be a straight running state.
And under the condition that the steering angle is larger than the reference angle, determining the current running state of the crawler-type coal mine mining equipment as a left steering state.
And under the condition that the steering angle is smaller than the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a right steering state.
In some embodiments, to accurately determine the first motor speed corresponding to the first drive mechanism and the second motor speed corresponding to the second drive mechanism, the coal mine crawler type mining equipment electric traction system further includes: an accelerator. Specifically, the given vehicle speed of the accelerator can be used as the current running speed of the crawler-type coal mine mining equipment, and the first motor rotating speed corresponding to the first driving mechanism and the second motor rotating speed corresponding to the second driving mechanism are determined based on the current running speed.
It should be noted that, regarding the specific implementation of step 305, reference may be made to the related description in the above embodiment.
The application provides a control method of coal mine crawler type excavating equipment, the current running state of the coal mine crawler type excavating equipment is determined through the currently output steering angle of an angle sensor and the corresponding reference angle of the angle sensor, the first motor rotating speed corresponding to a first driving mechanism and the second motor rotating speed corresponding to a second driving mechanism are determined based on the current running state, so that the first driving mechanism is controlled to drive a first crawler type travelling mechanism to move at the first motor rotating speed, the second driving mechanism is controlled to drive a second crawler type travelling mechanism to move at the second motor rotating speed, and therefore, in the process of controlling the coal mine crawler type excavating equipment, the first electric traction system and the second electric traction system are driven based on the steering angle of the coal mine crawler type excavating equipment, the coal mine crawler type excavating equipment is controlled to move at the current running state, the running sensitivity of the coal mine crawler type excavating equipment is improved, and the quick mobility of the coal mine crawler type excavating equipment is enhanced.
In order to make it clear to a person skilled in the art that the present application will be described below by taking the first traction system as the left traction system and the second traction system as the right traction system as an example, an exemplary method for controlling the crawler-type mining equipment for a coal mine according to this embodiment will be described with reference to fig. 4.
Specifically, in the running process of the coal mine crawler type mining equipment, the running state of the coal mine crawler type mining equipment can be determined according to the angle sensor, and the running state is further judged so as to control the coal mine crawler type mining equipment to run in the current running state. Among other things, it is to be understood that the travel conditions of the coal mine crawler mining equipment may include a straight travel condition, a left turn condition, and a right turn condition.
The following exemplary description is made of the process of controlling the crawler-type mining equipment for traveling in the corresponding traveling state, respectively:
in some embodiments, the steering angle θ currently output by the angle sensor at this time and the reference angle range corresponding to the angle sensor may be obtained by pulling the main controller V1, so as to determine the θ and the reference angle range, so as to determine the current running state I of the crawler-type mining device of the coal mine, where the manner of determining the θ and the reference angle range to determine the current running state I may be:
wherein, the reference angle range is based on the median angle theta of the angle sensor M And an angle correction coefficient delta, wherein the lower limit value of the reference angle range is theta M Delta, referenceThe upper limit value of the angle range is theta M +δ。
As a possible implementation manner, when i=0, the crawler-type mining equipment is in a straight running state, and the traction main controller V1 will send the same left and right traction motor rotation speed signals F L 、F R Is transmitted to the left and right traction motor drivers B1, B1 to drive the left and right traction motors and the reducers M1, M2 to operate at the same rotation speed, at this time, the rotation speed of the left and right traction motors M1, M2 is the same during the operation of the crawler-type mining equipment of the coal mine, so the walking distance L of the left and right crawler-type walking mechanisms W1, W2 L ＝L R To realize the straight running of the crawler-type mining equipment of the coal mine, wherein in the straight running state, the rotation speed signals F of the left traction motor and the right traction motor L 、F R Satisfying the formula (1).
Wherein L is left, R is right, and V is the given speed of the accelerator.
As another possible implementation manner, when i=1, the crawler-type mining equipment is in the left steering state, and the traction controller outputs different traction motor rotation speed signals F L 、F R Transmitted to the left and right traction motor drives B1, B2, and F L Less than F R At this time, the rotation speeds of the left and right traction motors and the decelerator M1, M2 are different, so the left and right crawler traveling mechanisms W1, W2 travel a distance L L <L R To realize left steering of the crawler-type mining equipment of the coal mine, wherein in the left steering state, the rotating speed signals F of the left traction motor and the right traction motor L 、F R Satisfying the formula (2).
Wherein beta is the rotation speed coefficient of the left traction motor, and gamma is the rotation speed coefficient of the right traction motor.
As another possible implementationFor the purpose, when I= -1, the crawler-type mining equipment is in a right steering state, and the traction controller outputs different traction motor rotating speed signals F L 、F R Transmitted to the left and right traction motor drives B1, B2, and F L Greater than F R At this time, the rotation speeds of the left and right traction motors and the decelerator M1, M2 are different, so the left and right crawler traveling mechanisms W1, W2 travel a distance L L >L R To realize the right steering of the crawler-type mining equipment of the coal mine, wherein in the right steering state, the rotating speed signals F of the left traction motor and the right traction motor L 、F R Satisfying the formula (3).
In correspondence to the control method of the coal mine crawler type mining equipment provided in the foregoing embodiments, an embodiment of the present application further provides a control device of the coal mine crawler type mining equipment, and since the control device of the coal mine crawler type mining equipment provided in the embodiment of the present application corresponds to the control method of the coal mine crawler type mining equipment provided in the foregoing embodiments, implementation of the control method of the coal mine crawler type mining equipment is also applicable to the control device of the coal mine crawler type mining equipment provided in the embodiment, and will not be described in detail in the present embodiment.
Fig. 5 is a schematic structural view of a control device of a crawler-type coal mining apparatus according to an embodiment of the present application.
As shown in fig. 5, the control device 500 of the crawler-type coal mining equipment comprises a first determining module 501, a second determining module 502 and a control module 503. Wherein:
a first determining module 501 is configured to determine, via an angle sensor, a current driving state of the crawler-type coal mining equipment.
The second determining module 502 is configured to determine, according to the current running state, a first motor rotation speed corresponding to the first driving mechanism and a second motor rotation speed corresponding to the second driving mechanism.
The control module 503 is configured to control the first driving mechanism to drive the first crawler-type running mechanism to move at a first motor rotation speed, and control the second driving mechanism to drive the second crawler-type running mechanism to move at a second motor rotation speed.
In one embodiment of the present application, as shown in fig. 6, a first determining module 501 includes:
a first acquisition unit 5011 for acquiring the steering angle currently output by the angle sensor.
A second obtaining unit 5012 for obtaining a reference angle corresponding to the angle sensor.
And a determining unit 5013 for determining the current running state of the crawler type mining equipment according to the steering angle and the reference angle.
In one embodiment of the present application, the determining unit 5013 is specifically configured to:
and under the condition that the steering angle is equal to the reference angle, determining that the current running state of the crawler-type coal mine excavating equipment is a straight running state.
And under the condition that the steering angle is larger than the reference angle, determining the current running state of the crawler-type coal mine mining equipment as a left steering state.
And under the condition that the steering angle is smaller than the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a right steering state.
In one embodiment of the present application, the second determining module 502 is specifically configured to:
and under the condition that the current running state is a straight running state, acquiring the current running speed of the crawler-type coal mine excavating equipment.
And determining the first motor rotating speed corresponding to the first driving mechanism and the second motor rotating speed corresponding to the second driving mechanism according to the current running speed.
In one embodiment of the present application, the second determining module 502 is specifically configured to:
and under the condition that the current running state is a steering state, acquiring a first motor rotation speed coefficient corresponding to the first driving mechanism and a second motor rotation speed coefficient corresponding to the second driving mechanism according to the steering state.
And determining the first motor rotating speed corresponding to the first driving mechanism according to the first motor rotating speed coefficient, the steering angle and the current running speed.
And determining the second motor rotating speed corresponding to the second driving mechanism according to the second motor rotating speed coefficient, the steering angle and the current running speed.
In one embodiment of the present application, the first motor speed coefficient is smaller than the second motor speed coefficient in the case where the steering state is the left steering state; and under the condition that the steering state is the right steering state, the first motor rotating speed coefficient is larger than the second motor rotating speed coefficient.
The application provides a controlling means of colliery crawler-type excavating equipment to confirm the current running state of colliery crawler-type excavating equipment through angle sensor to based on current running state, confirm the first motor rotational speed that first actuating mechanism corresponds, and the second motor rotational speed that second actuating mechanism corresponds, thereby control first actuating mechanism with first motor rotational speed drive first crawler-type running gear motion, and control second actuating mechanism with second motor rotational speed drive second crawler-type running gear motion, thereby, in the in-process of control colliery crawler-type excavating equipment, based on first electric traction system and second electric traction system, control colliery crawler-type excavating equipment moves with current running state, the operating efficiency of colliery crawler-type excavating equipment has been improved, the quick maneuverability of colliery crawler-type excavating equipment has been strengthened, the colliery crawler-type excavating equipment carries out accurate travel according to current running state.
According to an embodiment of the present application, there is also provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method of controlling a crawler-type coal mining apparatus disclosed in the embodiment of the present application.
The application also provides a computer program product, and the control method of the crawler-type coal mine mining equipment is realized when an instruction processor in the computer program product executes the computer program product.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (6)
1. A method of controlling a coal mine crawler mining apparatus, the coal mine crawler mining apparatus comprising an angle sensor, a first electric traction system and a second electric traction system, the first electric traction system comprising: a first drive mechanism and a first crawler-type running mechanism, the second electric traction system including a second drive mechanism and a second crawler-type running mechanism, the method comprising:
determining the current running state of the crawler-type coal mine excavating equipment through the angle sensor;
determining a first motor rotating speed corresponding to the first driving mechanism and a second motor rotating speed corresponding to the second driving mechanism according to the current running state;
controlling the first driving mechanism to drive the first crawler-type travelling mechanism to move at the rotating speed of the first motor, and controlling the second driving mechanism to drive the second crawler-type travelling mechanism to move at the rotating speed of the second motor;
the determining, by the angle sensor, the current driving state of the crawler-type coal mine mining equipment includes:
acquiring a steering angle currently output by the angle sensor;
acquiring a reference angle corresponding to the angle sensor;
determining the current running state of the crawler-type coal mine excavating equipment according to the steering angle and the reference angle;
the determining, according to the current running state, the first motor rotation speed corresponding to the first driving mechanism and the second motor rotation speed corresponding to the second driving mechanism includes:
under the condition that the current running state is a steering state, acquiring a first motor rotation speed coefficient corresponding to the first driving mechanism and a second motor rotation speed coefficient corresponding to the second driving mechanism according to the steering state;
determining a first motor rotating speed corresponding to the first driving mechanism according to the first motor rotating speed coefficient, the steering angle and the current running speed;
and determining the second motor rotating speed corresponding to the second driving mechanism according to the second motor rotating speed coefficient, the steering angle and the current running speed.
2. The method of claim 1, wherein the determining the current travel state of the coal mine crawler mining equipment based on the steering angle and the reference angle comprises:
under the condition that the steering angle is equal to the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a straight running state;
under the condition that the steering angle is larger than the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a left steering state;
and under the condition that the steering angle is smaller than the reference angle, determining that the current running state of the crawler-type coal mine mining equipment is a right steering state.
3. The method of claim 1, wherein determining a first motor speed corresponding to the first drive mechanism and a second motor speed corresponding to the second drive mechanism based on the current travel state comprises:
acquiring the current running speed of the crawler-type coal mine excavating equipment under the condition that the current running state is a straight running state;
and determining the first motor rotating speed corresponding to the first driving mechanism and the second motor rotating speed corresponding to the second driving mechanism according to the current running speed.
4. The method of claim 1, wherein the first motor speed coefficient is less than the second motor speed coefficient if the steering state is a left steering state; and under the condition that the steering state is a right steering state, the first motor rotating speed coefficient is larger than the second motor rotating speed coefficient.
5. A control device of a coal mine crawler type mining device, characterized in that the coal mine crawler type mining device comprises an angle sensor, a first electric traction system and a second electric traction system, wherein the first electric traction system comprises: a first drive mechanism and a first crawler-type running mechanism, the second electric traction system comprising a second drive mechanism and a second crawler-type running mechanism, the apparatus comprising:
the first determining module is used for determining the current running state of the crawler-type coal mine excavating equipment through the angle sensor;
the second determining module is used for determining a first motor rotating speed corresponding to the first driving mechanism and a second motor rotating speed corresponding to the second driving mechanism according to the current running state;
the control module is used for controlling the first driving mechanism to drive the first crawler-type travelling mechanism to move at the rotating speed of the first motor and controlling the second driving mechanism to drive the second crawler-type travelling mechanism to move at the rotating speed of the second motor;
the first determining module includes:
the first acquisition unit is used for acquiring the steering angle currently output by the angle sensor;
the second acquisition unit is used for acquiring the reference angle corresponding to the angle sensor;
the determining unit is used for determining the current running state of the crawler-type coal mine excavating equipment according to the steering angle and the reference angle;
the second determining module is specifically configured to:
under the condition that the current running state is a steering state, acquiring a first motor rotation speed coefficient corresponding to the first driving mechanism and a second motor rotation speed coefficient corresponding to the second driving mechanism according to the steering state;
determining a first motor rotating speed corresponding to the first driving mechanism according to the first motor rotating speed coefficient, the steering angle and the current running speed;
and determining the second motor rotating speed corresponding to the second driving mechanism according to the second motor rotating speed coefficient, the steering angle and the current running speed.
6. The apparatus of claim 5, wherein the second determining module is specifically configured to:
acquiring the current running speed of the crawler-type coal mine excavating equipment under the condition that the current running state is a straight running state;
and determining the first motor rotating speed corresponding to the first driving mechanism and the second motor rotating speed corresponding to the second driving mechanism according to the current running speed.
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| CN202111460577.7A CN114194293B (en) | 2021-12-02 | 2021-12-02 | Control method and device for crawler-type coal mine excavating equipment |
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| JP6080458B2 (en) * | 2012-09-28 | 2017-02-15 | 株式会社アイチコーポレーション | Crawler type traveling vehicle |
| US9694849B2 (en) * | 2015-12-01 | 2017-07-04 | Caterpillar Inc. | Steering control system for multi-path electric drive |
| JP6281594B2 (en) * | 2016-05-02 | 2018-02-21 | トヨタ自動車株式会社 | TRAVEL DEVICE, TRAVEL DEVICE CONTROL METHOD, AND TRAVEL DEVICE CONTROL PROGRAM |
| CN106740273B (en) * | 2016-12-12 | 2019-04-02 | 中国北方车辆研究所 | Driver's signal resolution method for electric drive tracked vehicle control |
| DE102018116077A1 (en) * | 2018-07-03 | 2020-01-09 | Liebherr-Components Biberach Gmbh | tracked vehicle |
| CN214729102U (en) * | 2021-04-25 | 2021-11-16 | 中联重科股份有限公司 | Control device for crawler-type engineering equipment and crawler-type engineering equipment |
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