滚筒式采煤机运动轨迹控制策略研究
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摘要
煤炭开采效率提升的核心技术在于采煤机运动姿态轨迹跟踪控制。采煤机运动轨迹控制策略一般分为两种控制模式,即采煤层识别技术和人工检测方法。然而,这两种方式都有自身局限现。在煤炭企业地质勘查与实际开采相关数据基础上,构建出采煤机所处采煤层地质虚拟三维空间图形工作面,研究正常煤层开采和非正常含有杂质情况下采煤机运动控制策略。仿真实验表明,对于滚筒式采煤机运动轨迹控制策略设计,能够提升采煤机运动轨迹控制稳定性、准确性和鲁棒性。
The core technology to improve the coal mining efficiency is the motion attitude trajectory tracking control of shearer. The motion trajectory control strategy of coal mining machine is generally divided into two modes; these are the coal seam identification technology and the artificial detection methods. However,these two methods both have their own limitations. In this paper,based on the geological exploration of coal enterprises and the actual mining related data,a geological virtual 3D graphics working surface of coal seam in which the coal mining machine is located is built,and the motion control strategies of shearer in condition of normal coal seam mining and abnormal condition containing the impurities are studied. The simulation results show that the control strategy design for the motion trajectory of the drum shearer can improve the stability,accuracy and robustness of the trajectory control of the coal mining machine.
The core technology to improve the coal mining efficiency is the motion attitude trajectory tracking control of shearer. The motion trajectory control strategy of coal mining machine is generally divided into two modes; these are the coal seam identification technology and the artificial detection methods. However,these two methods both have their own limitations. In this paper,based on the geological exploration of coal enterprises and the actual mining related data,a geological virtual 3D graphics working surface of coal seam in which the coal mining machine is located is built,and the motion control strategies of shearer in condition of normal coal seam mining and abnormal condition containing the impurities are studied. The simulation results show that the control strategy design for the motion trajectory of the drum shearer can improve the stability,accuracy and robustness of the trajectory control of the coal mining machine.
引文
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[2]张新,王正详,武晨光,等.煤岩界面识别技术研究[J].煤矿机械,2015,36(2):3-5.
[3]曾庆良,张海忠,王成龙,等.采煤机调高系统的机液协同仿真分析[J].煤炭科学技术,2015,43(1):86-90.
[4]王伟,李男男.综采工作面刮板输送机链条自动张紧试验研究[J].煤炭工程,2016,48(S1):101-103.
[5]李强,张明玉,毛君.斜切进刀工况下采煤机截齿切削厚度的计算与仿真[J].山东农业大学学报(自然科学版),2016:1-8.