电牵引采煤机远程参数化控制关键技术研究
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摘要
国家“十一五”规划中“关于促进煤炭工业健康发展的若干意见”以及煤炭工业“十一五科技发展规划”指出综采工作面自动化是今后的发展方向。《国家中长期科学和技术发展规划纲要》明确提出要“重点研究煤矿等生产事故的监测、预警、预防技术”。本文以电牵引采煤机远程控制系统的研究与开发为背景,在建立电牵引采煤机冗余控制平台的基础上,结合有限状态自动机、传感信息融合理论和免疫进化理论,对电牵引采煤机的参数化控制模型、逻辑传感状态诊断、截割路径规划及其连续调节等关键技术进行了深入的研究,主要研究成果有:
(1)建立了基于有线工业以太网和无线MESH网的采煤机远程冗余控制系统的体系结构及其参数化控制模型。在分析机载控制器I/O控制模式和记忆截割模型的基础上,提出了基于工业以太网、无线MESH网和Profibus现场总线等技术的电牵引采煤机参数化控制方法,建立了电牵引采煤机参数化控制的层次模型,给出了变频牵引参数化控制接口及其参数化控制算法。通过电牵引采煤机电气性能试验,获取了变频牵引单元的性能曲线、速度变化与加速度变化范围参数以及牵引禁速区间参数等关键参数。
(2)提出了基于分层有限自动机的采煤机传感信息融合模型及状态诊断模型。引入了有限状态自动机并将其扩展为包含附加特征、附加约束、值函数的逻辑传感器有限状态机。定义了变频牵引控制、截割与破碎控制、行走姿态控制和滚筒调高控制等单元的逻辑传感模型。通过逻辑传感集对包含的逻辑传感成员按照附加特征队列、附加约束队列和值函数队列进行管理,通过扫描调度方法实时更新逻辑传感集状态。在逻辑传感集的状态诊断中结合物理传感量之间的特征关联向量,提出了主元变量识别与截割路径执行诊断相结合的两阶段诊断算法,为动态描述逻辑控制单元的状态及状态评估提供了新的数据融合模式。
(3)在记忆轨迹的基础上,提出了截割路径区间的识别算法,建立了调节区间的均匀B样条表示模型,给出了调节轨迹的deBoor生成算法。针对调节区间样条函数中存在的超出滚筒调节范围、超出牵引调节范围、进入牵引禁速范围和不能推溜等四种情况,给出了截割路径的四趟迭代优化算法。
(4)提出了采煤机截割路径及其连续调节的优化算法与免疫规划算法。应用免疫规划算法对截割路径在执行时刻的连续调节过程建立了采煤机截割路径规划执行的免疫规划模型。定义了截割路径规划的高斯变异算子、基于否定选择和概率选择相结合的免疫选择算子以及分段适应度函数。针对截割路径运行时可能出现的超出滚筒调节范围、超出牵引调节范围、进入牵引禁速范围和不能推溜等四种调节情况,定义了相应的免疫疫苗及其动态计算模型。
工厂试验和实验室试验结果表明,基于逻辑传感和截割路径规划的电牵引采煤机参数化远程冗余控制系统达到了预期功能,为电牵引采煤机远程控制的工业化实验打下了坚实的基础。
Several suggestions about accelerating coal industry’s healthy development in china's the eleventh five-year plan and eleventh five-year science and technology plan of coal industry definitely indicated that automation would be progress direction in the fully mechanized long-wall coal mining face. The outline of the medium-term and long-term science and technology development stressfully put forward that it was necessary to research on monitoring, pre-warning and prevention technologies of the equipments in the coal mine. The remote control system of the electrical drawing shearer was studied in this paper. On the basis of building the redundancy control platform, finite state machines and multi-sensor information fusion method were adopted to research on parametric control model, status diagnosis of the logical sensor, and cutting path programming and its continuous adjustment, and so on. The main research results are showed as follows.
The system architecture and the parametric control model of the remote control platform for the shearer were established based on wire industry Ethernet and MESH network. On the basis of I/O control pattern of the controller equipped in the shearer and memory cutting model, the parametric control method of the shearer was presented by use of industry Ethernet, MESH network and Profibus technology, and build the parametric multi-layer control model of the shearer, then bring forward the parametric control interface and control algorithm of the frequency drawing. The key parameters were obtained, which included performance curve, change range of speed and acceleration, parameter of the unwarrantable speed interval of the frequency drawing unit.
The models of the multi-sensor information fusion and status diagnosis were put forward based on hierarchical finite state machines. Finite state machines was expanded in this paper, it included additional characteristics, restraints, and finite state machines of the value function’s logical sensor. Some logical models of the sensors were defined, which included frequency drawing control, cutting and crushing control, moving attitude control and adjustment height control of the drum. The logical sensor members were managed according to the additional characteristic queue, the restraint queue, and the value function queue, the logical sensor set was renewed in time by scanning scheduling method. In the process of the status diagnosis for the logical sensor set, two-stage diagnosis algorithm based on pivot variable identification and cutting path diagnosis was put forward, which supplied the new data fusion pattern to dynamically describing the status and status evaluation of the logical control unit.
The work stability of the shearer was regarded as the control object, the identification algorithm of the cutting path interval was presented, and established representation model of the uniform B-spline curve in the adjustment interval, then bring forward the deBoor generation algorithm. In order to resolving the following instances which included adjustment range overrun of the drum, drawing speed overrun and not to push conveyer, the four-layer iterative algorithm of the cutting path was presented.
The optimization algorithm and artificial immune algorithm were put forward. The artificial immune model of the shearer’s cutting path planning was built by applying immune algorithm to continuously adjustment process of the cutting path. GAUSS variation operator of the cutting path planning, immune operator based on negative selection algorithm and probability algorithm and segmented sufficiency function were defined. In order to resolving the following conditions including adjustment interval overrun of the drum, drawing adjustment overrun, drawing speed overrun and not to push conveyer, the relevant immune operators and dynamic calculation models were defined.
The experimental result shows that the remote control system of the shearer based on logical sensor and cutting path planning can realize the anticipative function in the laboratory and the factory, the research establish the groundwork for the practical application of the shearer’s remote control.
(1)建立了基于有线工业以太网和无线MESH网的采煤机远程冗余控制系统的体系结构及其参数化控制模型。在分析机载控制器I/O控制模式和记忆截割模型的基础上,提出了基于工业以太网、无线MESH网和Profibus现场总线等技术的电牵引采煤机参数化控制方法,建立了电牵引采煤机参数化控制的层次模型,给出了变频牵引参数化控制接口及其参数化控制算法。通过电牵引采煤机电气性能试验,获取了变频牵引单元的性能曲线、速度变化与加速度变化范围参数以及牵引禁速区间参数等关键参数。
(2)提出了基于分层有限自动机的采煤机传感信息融合模型及状态诊断模型。引入了有限状态自动机并将其扩展为包含附加特征、附加约束、值函数的逻辑传感器有限状态机。定义了变频牵引控制、截割与破碎控制、行走姿态控制和滚筒调高控制等单元的逻辑传感模型。通过逻辑传感集对包含的逻辑传感成员按照附加特征队列、附加约束队列和值函数队列进行管理,通过扫描调度方法实时更新逻辑传感集状态。在逻辑传感集的状态诊断中结合物理传感量之间的特征关联向量,提出了主元变量识别与截割路径执行诊断相结合的两阶段诊断算法,为动态描述逻辑控制单元的状态及状态评估提供了新的数据融合模式。
(3)在记忆轨迹的基础上,提出了截割路径区间的识别算法,建立了调节区间的均匀B样条表示模型,给出了调节轨迹的deBoor生成算法。针对调节区间样条函数中存在的超出滚筒调节范围、超出牵引调节范围、进入牵引禁速范围和不能推溜等四种情况,给出了截割路径的四趟迭代优化算法。
(4)提出了采煤机截割路径及其连续调节的优化算法与免疫规划算法。应用免疫规划算法对截割路径在执行时刻的连续调节过程建立了采煤机截割路径规划执行的免疫规划模型。定义了截割路径规划的高斯变异算子、基于否定选择和概率选择相结合的免疫选择算子以及分段适应度函数。针对截割路径运行时可能出现的超出滚筒调节范围、超出牵引调节范围、进入牵引禁速范围和不能推溜等四种调节情况,定义了相应的免疫疫苗及其动态计算模型。
工厂试验和实验室试验结果表明,基于逻辑传感和截割路径规划的电牵引采煤机参数化远程冗余控制系统达到了预期功能,为电牵引采煤机远程控制的工业化实验打下了坚实的基础。
Several suggestions about accelerating coal industry’s healthy development in china's the eleventh five-year plan and eleventh five-year science and technology plan of coal industry definitely indicated that automation would be progress direction in the fully mechanized long-wall coal mining face. The outline of the medium-term and long-term science and technology development stressfully put forward that it was necessary to research on monitoring, pre-warning and prevention technologies of the equipments in the coal mine. The remote control system of the electrical drawing shearer was studied in this paper. On the basis of building the redundancy control platform, finite state machines and multi-sensor information fusion method were adopted to research on parametric control model, status diagnosis of the logical sensor, and cutting path programming and its continuous adjustment, and so on. The main research results are showed as follows.
The system architecture and the parametric control model of the remote control platform for the shearer were established based on wire industry Ethernet and MESH network. On the basis of I/O control pattern of the controller equipped in the shearer and memory cutting model, the parametric control method of the shearer was presented by use of industry Ethernet, MESH network and Profibus technology, and build the parametric multi-layer control model of the shearer, then bring forward the parametric control interface and control algorithm of the frequency drawing. The key parameters were obtained, which included performance curve, change range of speed and acceleration, parameter of the unwarrantable speed interval of the frequency drawing unit.
The models of the multi-sensor information fusion and status diagnosis were put forward based on hierarchical finite state machines. Finite state machines was expanded in this paper, it included additional characteristics, restraints, and finite state machines of the value function’s logical sensor. Some logical models of the sensors were defined, which included frequency drawing control, cutting and crushing control, moving attitude control and adjustment height control of the drum. The logical sensor members were managed according to the additional characteristic queue, the restraint queue, and the value function queue, the logical sensor set was renewed in time by scanning scheduling method. In the process of the status diagnosis for the logical sensor set, two-stage diagnosis algorithm based on pivot variable identification and cutting path diagnosis was put forward, which supplied the new data fusion pattern to dynamically describing the status and status evaluation of the logical control unit.
The work stability of the shearer was regarded as the control object, the identification algorithm of the cutting path interval was presented, and established representation model of the uniform B-spline curve in the adjustment interval, then bring forward the deBoor generation algorithm. In order to resolving the following instances which included adjustment range overrun of the drum, drawing speed overrun and not to push conveyer, the four-layer iterative algorithm of the cutting path was presented.
The optimization algorithm and artificial immune algorithm were put forward. The artificial immune model of the shearer’s cutting path planning was built by applying immune algorithm to continuously adjustment process of the cutting path. GAUSS variation operator of the cutting path planning, immune operator based on negative selection algorithm and probability algorithm and segmented sufficiency function were defined. In order to resolving the following conditions including adjustment interval overrun of the drum, drawing adjustment overrun, drawing speed overrun and not to push conveyer, the relevant immune operators and dynamic calculation models were defined.
The experimental result shows that the remote control system of the shearer based on logical sensor and cutting path planning can realize the anticipative function in the laboratory and the factory, the research establish the groundwork for the practical application of the shearer’s remote control.
引文
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