基于采煤机绝对位姿的自适应控制技术研究
发布时间：2018-10-17 22:12
【摘要】：采煤机是综采工作面重要设备之一,采煤机自适应截割技术是实现综采工作面“无人化”和“少人化”的重要组成部分。目前,采煤机记忆截割技术在我国的煤矿企业得到了广泛应用,但是当沿采煤机进刀方向地质情况发生显著变化时,采煤机无法自适应地对记忆的截割轨迹进行调整,从而造成采煤机滚筒截割到顶板或底板,降低采煤机的回采效率,对截齿造成损害。本文以采煤机自适应通过采煤机进刀方向上的断层、褶皱等复杂地质构造为主要研究内容,在分析了以往基于煤岩界面识别和基于记忆截割的采煤机自适应控制技术的基础上提出了基于三维精细化地质模型的采煤机自适应通过复杂地质构造的方法。本文主要针对采区局部地理坐标下采煤机滚筒的绝对定位技术、采煤机自适应过褶皱技术、采煤机自适应过断层技术进行了深入的研究,主要研究成果包括:(1)对用于采煤机机身和滚筒定位的参考坐标系进行定义,通过三次坐标变换建立了采煤机截割轨迹的数学模型,将采区局部地理坐标系下的采煤机牵引方向截割轨迹表示出来,并且对所得的截割轨迹进行误差分析,确定所用传感器的误差允许范围,从而得到较高精度的采煤机截割轨迹。(2)在煤层褶皱地质构造发育的情况下,对现有自适应控制技术存在的不足进行分析;利用三次样条曲线插值算法得到顶底板煤岩界面曲线;以获得的顶底板曲线为参照,利用循环坐标变换法对采煤机的截割路径进行规划,推导出采煤机每一刀卧底量的调整量和俯仰采角度的计算公式。(3)将断层地质构造的特征参数作为输入量,将断层带的整体构造准确表示出来;以实现最大回采率和最少割岩量为研究目标,综合考虑设备的通过能力、前后两刀截割的连续性等约束条件,对采煤机截割轨迹进行规划;根据采煤机采煤工艺要求,提出基于插补算法和循环坐标变换算法的采煤机理论规划路径的修正方法。仿真分析和实验室验证表明:采煤机滚筒绝对定位技术能够实现滚筒的准确定位,且定位精度在0.01m之内。基于循环坐标变换法的采煤机自适应过褶皱技术能够安全可靠地通过采煤机进刀方向上的褶皱地质构造,且最大调高误差0.038m。基于插补算法和循环坐标变换算法的采煤机自适应过断层技术能够保证采煤机安全可靠地通过沿采煤机进刀方向上的断层地质构造。
[Abstract]:Shearer is one of the important equipments in fully mechanized mining face, and the self-adaptive cutting technology of shearer is an important part of realizing "no man" and "less person" in fully mechanized mining face. At present, the memory cutting technology of shearer has been widely used in coal mining enterprises in our country, but when the geological situation along the direction of coal cutter feed changes significantly, the shearer can not adaptively adjust the cutting track of memory. Therefore, the cutting of the shearer drum to the roof or floor reduces the recovery efficiency of the shearer and causes damage to the cutting teeth. In this paper, the main content of this paper is the complex geological structure such as faults, folds and so on, which self-adapts through the feed direction of the shearer. Based on the analysis of the previous coal mining machine adaptive control technology based on coal and rock interface identification and memory cutting, the method of self-adapting coal shearer through complex geological structure based on three-dimensional fine geological model is proposed. This paper mainly focuses on the absolute positioning technology of shearer drum in local geographical coordinates, the self-adapting folding technology of shearer, and the self-adaptive fault crossing technology of shearer. The main research results are as follows: (1) the reference coordinate system for the position of the shearer's fuselage and drum is defined, and the mathematical model of the cutting track of the shearer is established through the cubic coordinate transformation. The cutting track of the shearer's traction direction in the local geographical coordinate system of the mining area is expressed, and the error analysis of the cutting path is carried out to determine the error allowable range of the sensor used. Therefore, the cutting path of shearer with high accuracy is obtained. (2) the shortcomings of existing adaptive control techniques are analyzed under the condition of the development of fold geological structure in coal seam, and the interface curves of coal and rock between roof and floor are obtained by cubic spline curve interpolation algorithm. According to the curve of top and bottom plate, the cutting path of shearer is planned by using the method of cyclic coordinate transformation. The formulas for calculating the depth of each shaft and the angle of pitching mining are derived. (3) the characteristic parameters of the fault geological structure are taken as the input quantity and the whole structure of the fault zone is accurately expressed; In order to realize the maximum recovery rate and the minimum rock cutting quantity as the research goal, considering the passing ability of the equipment and the continuity of the cutting before and after cutting, the cutting path of the shearer is planned, and according to the requirements of the coal mining technology of the shearer, the cutting path of the shearer is planned. Based on interpolation algorithm and cyclic coordinate transformation algorithm, a method for modifying the path planning of shearer theory is proposed. Simulation analysis and laboratory verification show that the absolute positioning technology of the shearer drum can realize the accurate positioning of the drum, and the positioning accuracy is within 0.01m. Based on the method of cyclic coordinate transformation, the self-adaptive folding technique of shearer can safely and reliably pass through the fold geological structure in the direction of the shearer's feed, and the maximum elevation error is 0.038 m. Based on interpolation algorithm and cyclic coordinate transformation algorithm, the self-adaptive fault crossing technique of shearer can ensure the safe and reliable passage of shearer along the direction of fault geological structure.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD421.6
本文编号：2278177
[Abstract]:Shearer is one of the important equipments in fully mechanized mining face, and the self-adaptive cutting technology of shearer is an important part of realizing "no man" and "less person" in fully mechanized mining face. At present, the memory cutting technology of shearer has been widely used in coal mining enterprises in our country, but when the geological situation along the direction of coal cutter feed changes significantly, the shearer can not adaptively adjust the cutting track of memory. Therefore, the cutting of the shearer drum to the roof or floor reduces the recovery efficiency of the shearer and causes damage to the cutting teeth. In this paper, the main content of this paper is the complex geological structure such as faults, folds and so on, which self-adapts through the feed direction of the shearer. Based on the analysis of the previous coal mining machine adaptive control technology based on coal and rock interface identification and memory cutting, the method of self-adapting coal shearer through complex geological structure based on three-dimensional fine geological model is proposed. This paper mainly focuses on the absolute positioning technology of shearer drum in local geographical coordinates, the self-adapting folding technology of shearer, and the self-adaptive fault crossing technology of shearer. The main research results are as follows: (1) the reference coordinate system for the position of the shearer's fuselage and drum is defined, and the mathematical model of the cutting track of the shearer is established through the cubic coordinate transformation. The cutting track of the shearer's traction direction in the local geographical coordinate system of the mining area is expressed, and the error analysis of the cutting path is carried out to determine the error allowable range of the sensor used. Therefore, the cutting path of shearer with high accuracy is obtained. (2) the shortcomings of existing adaptive control techniques are analyzed under the condition of the development of fold geological structure in coal seam, and the interface curves of coal and rock between roof and floor are obtained by cubic spline curve interpolation algorithm. According to the curve of top and bottom plate, the cutting path of shearer is planned by using the method of cyclic coordinate transformation. The formulas for calculating the depth of each shaft and the angle of pitching mining are derived. (3) the characteristic parameters of the fault geological structure are taken as the input quantity and the whole structure of the fault zone is accurately expressed; In order to realize the maximum recovery rate and the minimum rock cutting quantity as the research goal, considering the passing ability of the equipment and the continuity of the cutting before and after cutting, the cutting path of the shearer is planned, and according to the requirements of the coal mining technology of the shearer, the cutting path of the shearer is planned. Based on interpolation algorithm and cyclic coordinate transformation algorithm, a method for modifying the path planning of shearer theory is proposed. Simulation analysis and laboratory verification show that the absolute positioning technology of the shearer drum can realize the accurate positioning of the drum, and the positioning accuracy is within 0.01m. Based on the method of cyclic coordinate transformation, the self-adaptive folding technique of shearer can safely and reliably pass through the fold geological structure in the direction of the shearer's feed, and the maximum elevation error is 0.038 m. Based on interpolation algorithm and cyclic coordinate transformation algorithm, the self-adaptive fault crossing technique of shearer can ensure the safe and reliable passage of shearer along the direction of fault geological structure.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD421.6
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