采煤机端头记忆截割关键技术研究

发布时间：2018-03-12 17:30

本文选题：采煤机　切入点：端头记忆截割　出处：《中国矿业大学》2016年硕士论文　论文类型：学位论文

【摘要】：综采工作面的“少人化”或“无人化”是煤矿安全、高产、高效生产的关键,也是煤炭开采技术的发展方向。采煤机作为综采工作面的核心机电装备,其自动截割是实现综采自动化和智能化的必要条件。目前,采煤机自动截割主要应用在综采工作面中段,端头区间的斜切进刀截割仍然采用人工操作模式,不利于实现综采工作面自动化生产。因此,有必要对采煤机端头自动斜切进刀截割技术进行研究。本文以采煤机端头记忆截割为研究对象,在分析当前采煤机控制技术及存在问题的基础上,针对采煤机端头往复截割的特殊性,提出了基于扩展截割路径和负载平衡的采煤机端头记忆截割方法。论文的主要研究内容如下:(1)在分析采煤机结构、工作机理和采煤机端部斜切进刀工艺的基础上,结合采煤机端头记忆截割系统的功能要求和技术要素,提出了采煤机端头记忆截割系统的控制方案,建立了采煤机端头记忆截割系统的总体架构。(2)在对基于截割路径展开的采煤机端头位置和姿态进行定位的基础上,对扩展截割路径的记忆点选取和记忆点数据结构进行了研究,采用支持向量机实现失真记忆点的剔除;并对扩展截割路径的跟踪方法进行研究,给出了基于NURBS曲线的扩展截割路径跟踪目标,研究了基于常规记忆点和动作记忆点的扩展截割路径跟踪策略。(3)通过分析采煤机端头记忆截割负载与截割/牵引电机电流和截割/牵引电机温度的关系,确定了采煤机端头负载的平衡指标,基于小波神经网络建立了采煤机端头负载动态预测模型,对采煤机端头记忆截割的截割/牵引电机电流和截割/牵引电机温度关键特征参数进行预测;并利用模糊逻辑判定采煤机端头记忆截割负载状态,给出了采煤机端头记忆截割负载平衡的控制方法。通过实验室实验以及工业性试验对本课题研发的采煤机端头记忆截割系统进行了验证,结果表明该系统达到了预期功能,为实现综采工作面自动化生产奠定了基础。
[Abstract]:"less person" or "no man" in fully mechanized mining face is the key to safe, high yield and high efficiency production in coal mine, and is also the development direction of coal mining technology. As the core mechanical and electrical equipment of fully mechanized coal mining face, shearer is the core of coal mining face. The automatic cutting is the necessary condition to realize the automation and intelligence of fully mechanized coal mining. At present, the automatic cutting of coal mining machine is mainly used in the middle section of fully mechanized mining face. Therefore, it is necessary to study the technology of automatic oblique feed cutting at the end of the shearer. This paper takes the memory cutting of the end of the shearer as the research object. On the basis of analyzing the current control technology and existing problems of shearer, aiming at the particularity of reciprocating cutting at the end of shearer, Based on extended cutting path and load balance, this paper presents a method of end head memory cutting of shearer. The main contents of this paper are as follows: 1) based on the analysis of shearer's structure, working mechanism and the technology of inclined cutting cutter at the end of shearer, Combined with the functional requirements and technical elements of the end memory cutting system of the shearer, the control scheme of the terminal memory cutting system of the shearer is put forward. Based on locating the position and attitude of the terminal head of shearer based on cutting path, the selection of memory point and the data structure of memory point of extended cutting path are studied. Support vector machine (SVM) is used to eliminate distorted memory points, and the tracking method of extended cutting path is studied, and the target of extended cutting path tracking based on NURBS curve is given. This paper studies the extended cutting path tracking strategy based on conventional memory points and action memory points. By analyzing the relationship between cutting load and cutting / traction motor current and cutting / traction motor temperature, the paper analyzes the relationship between cutting load and cutting / traction motor temperature. The balancing index of the end load of the shearer is determined, and the dynamic prediction model of the end load of the shearer is established based on the wavelet neural network. The key characteristic parameters of cutting / traction motor current and cutting / traction motor temperature are predicted, and fuzzy logic is used to judge the load state of shearer terminal memory cutting. The control method of load balance of end head memory cutting of shearer is given. Through laboratory experiment and industrial experiment, the research and development of the system of end head memory cutting of shearer is verified. The result shows that the system has achieved the expected function. It lays a foundation for automatic production of fully mechanized mining face.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TD421.6

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