基于双坐标系的采煤机截割路径平整性控制方法

针对当前综采工作面采煤机截割路径不平整问题,提出一种基于双坐标系的采煤机截割路径控制方法。通过对影响采煤机截割路径平整性的主要因素进行分析,建立了双坐标系下的采煤机滚筒高度控制模型;为满足滚筒高度变化的连续性控制要求,设计了基于微分理论的摇臂倾角控制算法;以现场采样数据为输入,对采煤机截割路径控制方法进行仿真,结果显示:与未使用平整性控制方法之前相比,采煤机前、后滚筒截割路径上的最大高度差分别减小了93.3%和97.6%,标准偏差分别减小了95.6%和97.2%。因此,提出的方法能够有效改善采煤机截割路径的平整性,可对综采工作面自动化生产提供参考。

A smoothness controlling method for the cutting path of the shearer based on the double- coordinators

Aiming at the problem that the shearer cutting path was not smooth on the fully mechanized face，a smoothness controlling method based on double- coordinators was proposed.The main factors which affect the smoothness of the shearer cutting path were analyzed and the control model for the shearer drum height under double- coordinators was established.Moreover，a control algorithm for rocker inclination based on differential theory was designed in order to satisfy the continuous controlling requirement of the drum height.Finally，sample data from an experiment were provided as system input and the proposed method was simulated.The simulation results show that the largest gaps of the front drum height and the rear drum height reduced by 93.3% and 97.6% respectively compared with the gaps without the application of the smoothness controlling method.Accordingly，the standard deviation reduced by 95.6% and 97.2%.Thus，the smoothness of shearer cutting path can be improved effectively and the proposed method has important significance to promoting the development of fully mechanized automation.