圆形煤场堆取料机智能控制策略的改进

刮板堆取料机是圆形煤场堆取煤过程中的重要设备,堆取料机的无人值守及自动控制成为当前研究的热点。目前开发的堆取料自动控制系统,激光扫描仪只在作业开始前进行煤场整体扫描,自动堆取料控制作业模式固定。为了能更精确更稳定的控制堆取料机的自动作业,针对不同煤种的不同特性,自动控制参数应有所不同。改进的控制方案采用固定式激光盘煤仪在作业过程中实时建模并与PLC进行数据交互。在堆取料过程中,利用激光扫描仪计算实际自然堆积角,实时判断料堆边界、监控作业过程。控制方案可根据不同煤种与实际情况调整作业参数,如堆料限高、回转角度,补堆完成判断、修坡完成判断,边界判断,以提高作业效率,提高场地利用率,提高作业稳定性,增加安全性。

The stacker and reclaimer is an important equipment for coal extraction process in coalyard.The unattended and automatic control of the stacker and reclaimer has become a focus of current research.In the current automatic stacking and reclaiming control system,the laser scanner only scans the entire coalyard before the operation starts,and the automatic stacking and reclaiming control operation mode is fixed.In order to make the automatic control system more accurately and stably,the parameters should be different for different characteristics of different coal types.Improved control scheme using a fixed laser scanner disk real-time modeling of coal and data exchange with the PLC during operation.In the process of stacking and reclaiming,a laser scanner is used to calculate the actual natural stacking angle,real-time judgment of the stockpile boundary.The improved control scheme can adjust operating parameters according to different coal types and actual conditions,such as height limit,rotation angle,refill completion judgment,slope repair completion judgment,boundary judgment.It can improve operation efficiency,increase site utilization,increase operation stability,and more safety.