Vol 45 Iss. 1

The Research Laboratory of Automation and Telemechanics in Mining (ATM) was organized in 1957 and was attached to the Department of Mining Electrical Engineering until 1960, and then it was transferred to the Department of Production Process Automation. Four main departments were established in the laboratory: automation of control of mine electric drives; automation of mine electric grid devices; telemechanics, signaling and communication; high-frequency technology and electronic devices.

A power three-phase transformer with stepless voltage regulation under load has a common magnetocoupler M with subdivision into nine rods arranged in the same plane. The three main rods 2, 5 and 8 are used for winding the primary phase windings W_i . The six additive rods 1, 3, 4, 6, 7 and 9 house the DC magnetizing windings W_d. Secondary phase windings W₂ are located on nine rods: three on the main rods 2, 5, 8 and two on additive rods 1, 3, 4, 6, 7 and 9. The compensating winding WK is wound on all the additive rods. Deep smooth regulation of the secondary voltage of the transformer is carried out by changing the value of the DC current in the six windings of the sub-magnetizing winding W_d.

The domestic mining industry began to introduce multi-rope hoisting machines. Eight such units are being installed at the mines of the Stalin region. Project organizations are designing a number of multi-rope hoisting machines of different capacity and different purposes.Due to the specific features of the design and location of multi-rope hoisting machines drive is subject to special requirements. The mandatory presence of a tail rope makes the lifting system balanced. The small diameter of the machine drum significantly reduces the torques on the main shaft, facilitates the design of the gearbox and allows the use of relatively fast drive motors. Calculations of design organizations show that for multi-rope machines in the lifting of normal labor in the period of deceleration, as a rule, requires the operation of the drive in the motor mode.

Automation of the drive G-D mine hoist and excavators is closely related to the use of electromachine amplifiers in it - special electrical machines with a high gain and high speed. These qualities of electromachine amplifiers have determined their widespread use and contributed to the development of various control schemes built on a closed loop.However, the experience of operation and research drives G-D mine hoisting and excavators with electromachine control show that the systems with electromachine amplifiers are very complex, transients in them have unfavorable character, in general, the operation of drives is not characterized by reliability and stability.

Electromagnetic sliding clutches (EMC) are widely used in various drives: mechanisms with fan load torque (electric drives of smoke pumps at power plants), propeller shafts of ships. In ship propeller shaft drives, EMCs are particularly widespread and their power outputs reach several thousand horsepower. Recently, EMCs have been used for other types of electric drives; excavators, drilling machines, metal-cutting machines, etc.

The main drives of the excavator EKG-8 are made according to the G-D system and have a control scheme based on the electromachine and magnetic amplifiers (scheme with EMU-PMU cascade). This scheme, as tests have shown, has a number of drawbacks.At present, in connection with the transition to mass production of excavators EKG-8 there is a need to develop simpler and better automatic control schemes. Promising in this respect are control schemes of electric drives of the excavator built on the basis of magnetic amplifiers (MU). When developing such schemes, it is very important to correctly build the excitation circuit of the generator, as it largely determines the structure and parameters of the control circuit as a whole and, ultimately, the properties of the drive.

In engineering calculations of dynamics of automatic control systems, the problem of determining the area of permissible parameter changes usually arises. For linear systems it is possible to obtain such a region by repeated machine solution of the system equation of motion or with the help of indirect methods (frequency, integral criteria, etc.). For nonlinear systems, this problem is often reduced to the construction of the area of permissible changes in the forms of nonlinear links, so indirect methods are either not applicable at all, or have an algorhythm that is too complicated for practical application. The method of multiple partial solutions for nonlinear systems is obviously possible only in a few special cases. A number of similar problems are reduced to the task at hand: determining the influence of neglected couplings and the legitimacy of this or that approximation, estimating the accuracy of the approximate solution of the system's equation of motion, etc.

At electromodeling of nonlinear systems there arises a problem of estimation of methodical error of the model connected with approximate fulfillment of the given functional dependencies and perturbing forces. This error, called dynamic approximation error, is inevitable when using serial electromodeling devices and can exceed other components of the error in magnitude.

Magnetic amplifiers (MU) with self-saturation due to a number of advantages are widely spread in automation circuits. The development of simple enough methods of calculation of transients in such circuits is an actual task. Since one of the most effective ways to study the dynamics of autoregulation systems is electromodeling, when developing engineering methods of calculation it is advisable to provide for the possibility of using serial electromodeling installations.

Issues of automatic voltage regulation in local electrical networks are an important part of the overall problem of complex mechanization and automation of production processes in the mining industry. Stable voltage level is necessary for stable operation of automatic devices, more complete utilization of natural mechanical properties of electric drives, reduction/loss of electric energy in local distribution networks.

In the current state of electric locomotive rolling is the most difficult to be automated in the chain of all processes of mining technology, so in mine transportation is still limited to only production signaling and communication. Sometimes, only switching of switches and opening of doors when an electric locomotive passes by are automated. The main obstacles to the automation of electric locomotive rolling are unsatisfactory characteristics of the rolling stock, the condition of rolling tracks and the power supply system. Poor top structure and uneven profile of tracks in excavations, where people pass simultaneously with electric locomotive movement, complicate electric locomotive control operations. Due to the harsh operating conditions, electric locomotives are equipped with serial engines. The softness of the traction characteristics of the engines aggravates the instability of the electric locomotive operating modes. The suspension of contact wires is often unsatisfactory, large voltage fluctuations are observed in the supply lines.

The operational work of a modern coal mine depends to a large extent on a properly and quickly functioning production communication system.The existing mechanical and electrical systems at the mine; shaft signaling between the receiving pads and the machine room, although reliable in operation, cannot fully satisfy all the requirements of the hoisting operation. Thus, for example, in any accident involving the jamming of a cage in the shaft, when it becomes necessary to signal directly from the cage, an imperfect and inconvenient traction signal has to be used. It is even less convenient to use such signaling during works in the shaft (inspection and repair of guides, shaft fixing, cable laying, etc.) associated with frequent stops and movements of the hoisting vessel (cage or skip) for short distances.