掘进机截割头转速和转矩自动控制技术研究  

Research on Automatic Control Technology of Cutting Head Speed and Torque of Roadheader

作　　者：刘国鹏 Liu Guopeng(CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030006,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030006,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,太原030006 [2]山西天地煤机装备有限公司,太原030006 [3]煤矿采掘机械装备国家工程实验室,太原030006

出　　处：《煤矿机械》2025年第2期50-53,共4页Coal Mine Machinery

基　　金：山西省专利转化计划项目(202404004);山西省重点研发计划项目(202202020101005);天地科技股份有限公司科技创新创业资金专项重点项目(2022-2-TD-ZD001);山西天地煤机装备有限公司科技重大项目(M2023-ZD12)。

摘　　要：掘进机运行过程中长期处于高应力和强冲击的动态环境,根据不同工况条件充分利用掘进机功率优化其截割性能尤为重要。随着所截割煤岩的致密性和单轴应力变大,掘进机的功率需求和截割头的磨损随之增加。掘进机截割头的角速度应根据煤岩硬度进行相应调整,通常煤岩的硬度越高,截割头的角速度越低。现有掘进机大多采用恒速驱动,其在煤岩截割过程中往往并非处于最佳状态,功耗损失相对较大。因此,提出了一套掘进机控制系统,并在配备变频器驱动的掘进机上进行了实验。其中闭环速度控制由PI控制器完成,该控制器的最佳设置是通过闭环仿真模型和时间积分乘以误差绝对值(ITAE)准则计算。实验结果表明,该系统能够保持所需速度并遵循主负载控制器指令,且变频驱动下的运行参数优于恒频驱动下的运行参数。As the roadheader operates in a dynamic environment with high stress and intensive impact for a long period of time,it is particularly important to make full use of the power of the roadheader to optimize its cutting performance according to different operating conditions.As the denseness and single-axis stress of the coal rock to be cut become larger,the power demand of the roadheader and the wear and tear of the cutting head increase.The angular speed of the cutting head of the roadheader should be adjusted according to the hardness of the coal rock,usually the higher the hardness of the coal rock,the lower the angular speed of the cutting head.Most of the existing roadheaders are driven by constant speed,which is often not in the best state in the process of coal rock cutting,and the loss of power consumption is relatively large.Therefore,proposed a control system of roadheader,and conducted experiments on the roadheader equipped with inverter drive.Among them,the closed-loop speed control is done by a PI controller,and the optimal setting of the controller is calculated by the closed-loop simulation model and the time integral multiplied by the absolute value of error(ITAE)criterion.The experimental results show that the system is able to maintain the desired speed and follow the main load controller commands,and the operating parameters under variable frequency drive are better than those under constant frequency drive operation.

关 键 词：掘进机 负载扭矩 自动控制 截割头角速度 

分 类 号：TD421.5[矿业工程—矿山机电]