SU562654A1 - Automatic control system of the mining machine - Google Patents

Description

The invention relates to the mining industry, mainly to the systems of automatic control of operating modes of mining machines.

Systems of automatic control of the operating mode of a mining machine are known, containing a control object, an electronic unit and comparison circuits 1. Such systems do not take into account changes in the parameters of the control object and therefore cannot significantly improve the dynamic characteristics of the machines.

A known system for automatically controlling the mode of operation of a mining machine, comprising an optimization object, a reference model, a computing unit, and an element of comparison 2.

The disadvantage of this system is that when the x parameters of the object are changed, the invariance of the dynamic properties of the system with respect to the changes of the specified parameters is not ensured to a measure.

The purpose of the invention is to improve the dynamic characteristics of the machine.

For this, the proposed system is equipped with a measuring instrument of the initial values of the parameter being optimized, for example, a load, an extrapolator and an amplitude-time synchronizer connected to the output of the computing unit with the reference model,

one input is connected to the initial value meter of the optimized parameter, and the other is connected to the output of the comparison element, to the inputs of which an amplitude-time synchronizer and an extrapolator are connected, and the extraory and initial value meter of the parameter being optimized are connected to the optimization object.

The drawing shows a block diagram of an automatic control system for the operation mode of a central machine.

The system has an optimization object /, meter 2 initial values of the parameter to be optimized, computing unit 3 with a reference model, extrapolator 4, comparison element 5 n amplitude-time synchronizer 6. At the same time, the output of the object of optimization / is connected through meter 2 to the initial values of the parameter being optimized with the calculator unit 5 and with extrapolator 4, the input of the first of which is also connected to the output of the comparison element 5. One input of the comparison element 5 is connected to the output of the extrapolator 4, and the other through amplitude-time synchronizer 6 with the first output of the computing unit 3, the second output of the iKOTO.poro affects the optimization object /. The output of optimization object 1 is the error of the regulated1H, n 6 / o - L where / o - ycTaiBKa over the current of the motor of the machine; / - the actual current of the electric motor of the mining machine. Pr.i change the parameters of the object / avtomat1I1che; S1K10GO u1P1r a1VLepi IB connection occurs transition process. Meter 2 selects only the initial values of the error 8 ° and its derivatives eo. The values obtained are fed to the first input of the computing unit 3 with a reference model, which form an ideal system trajectory and increments of the controller parameters. The values of the controller parameter increments from the computational block 5 are fed to the input of the optimization object /. After that, computational unit 3 generates the coordinates of the ideal system trajectory for some fixed point in time, the values of which are fed through the second amplitude synchronizer 6 to the second input of comparison element 5. The amplitude simultaneous synchronizer coordinates the operating time of the computational unit 3 and the transit time in the real system. OiH includes the comparison element 5 and supplies to its second input the generated coordinates of the ideal trajectory at time f - b, where b is the extrapolator step 4. The first input of the comparison element 5 is connected to the output of the extrapolator 4, the input of which is connected to the output of the optimization object . The extrapolator pitch (b) of 1 is chosen taking into account the speed of the computing unit 3, and the number of steps (the number of extrapolation points) is chosen so that the coordinate of the real transition process corresponding to the time / predicted with a given accuracy corresponds to the time of the extrapolator at time This makes it possible to adjust the parameters of the controller exactly at a given coordinate of the motion path of the real system. If, as a result of comparing the real and ideal trajectories of the system in the time dimension f, their coordinates coincide completely, then at the output of the comparison element 5 there is no signal and no adjustments of the controller parameters are made. If the coordinates do not match, then at the output of the comparison element 5, the mismatch signal is applied to the second input of the computing unit 3. In the computing unit 3, the previously generated increments of the controller parameters are adjusted accordingly. The coordinates of the ideal trajectory are then formed with these adjustments for a new fixed point in time. The whole procedure of comparison and adjustment is repeated until the system is optimized in a steady state. When a new, ventilated system occurs, the entire optimization process is repeated in the same way. Fo rm} l and 3 o bre i s The system of automatic control of the mining machine operation mode, containing an optimization object, a reference model, a computing unit, and a comparison element, which, in order to improve the dynamic characteristics of the mashina , it is equipped with a meter of the initial values of the parameter being optimized, for example, a load, ext), an apoltor and an amiliter-time synchronizer connected to the output of the computing unit with a reference model, one input of which is connected to the meter of initial values op imiziruemogo parameter, and the other - with a comparison output element which inputs are connected to amilitudno-time synchronizer and extrapolation Torr, the extrapolated torr and measuring initial values optimized parameter optimization connected to the output object. Sources of information taken in heed; 1. Authors certificate of the USSR Ho 317794, cl. E 21 C 27/00, 1969. 2. The author's certificate of the USSR dgo 442459, cl. G 05 B 17/02, 1972.