|
|
|
| Vertical plane shape calculation method of scraper conveyor based on running track of shearer |
| QIAO Chun-guang1,2, WANG Xue-wen1,2, XIE Jia-cheng1,2, YANG Zhao-jian1,2 |
1. College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China;
2. Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan University of Technology, Taiyuan 030024, China |
|
|
|
Abstract In view of the complex condition of unevenness in the fully mechanized coal mining face, a large number of sensors need to be arranged in the shape detection for the vertical plane of the scraper conveyor, which leads to the problem of difficult measurement and low precision. A method of calculating the vertical plane shape of the scraper conveyor based on the running track of the shearer is put forward by using strapdown inertial navigation system. Firstly, the shearer trajectory was obtained by solving the information of strapdown inertial navigation system using the equivalent rotation vector method. Secondly, the real time shape coupling relationship between the shearer and the middle trough of scraper conveyor was studied, and the vertical plane shape solving model of the scraper conveyor based on the running track of shearer was established. By measuring the pitch angles of the middle troughs of the 4~6 sections at the initial position of the scraper conveyor as the priori information, the pitch angles of the middle troughs of each section in the running process of the shearer could be calculated in a rolling manner, thus the vertical plane shape of the scraper conveyor in the working face was obtained. Finally, a joint simulation experiment platform for shearer and scraper conveyor was built to verify the experiment. The experimental results showed that the error between the scraper conveyor model's solution shape and the actual shape was less than 15 mm, which met the detection accuracy of the actual work requirements. The use of the calculation method can accurately grasp the shape change of the scraper conveyor in real time, avoid the damage of the scraper conveyor due to the excessive bending angle, and make the scraper conveyor work normally. It can provide information for the height adjustment of the lower drum of the shearer, and ensure the smoothness of the fully mechanized coal mining face.
|
|
Received: 29 March 2018
Published: 28 October 2018
|
|
|
基于采煤机运行轨迹的刮板输送机竖直面形态解算方法
针对在综采工作面底板不平整的复合工况条件下，刮板输送机竖直面形态检测时需布置大量传感器，导致测量困难及精度不高的问题，利用捷联惯导系统，提出了一种基于采煤机运行轨迹的刮板输送机竖直面形态解算方法。首先，利用等效旋转矢量法解算捷联惯导系统的信息以得到采煤机运动轨迹；其次，对采煤机与刮板输送机中部槽的实时形状耦合关系进行研究，建立了基于采煤机运行轨迹的刮板输送机竖直面形态解算模型，测量刮板输送机初始位置处4~6节中部槽的俯仰角作为先验信息，再滚动计算出采煤机运行过程中所经过各节中部槽的俯仰角，从而获得工作面刮板输送机竖直面的形态；最后，搭建了采煤机与刮板输送机联合模拟实验平台进行实验验证。实验结果表明：刮板输送机模型的解算形态与实际形态的误差小于15 mm，满足实际工作要求的检测精度。利用该解算方法可以实时准确地掌握刮板输送机竖直面的形态变化，避免刮板输送机因弯曲角度过大而损坏，保证刮板输送机正常工作，同时可为采煤机下滚筒的调高提供信息，保证综采工作面的平整性。
关键词：
采煤机,
刮板输送机形态,
运行轨迹,
捷联惯导系统
|
|
| [[1]] |
CENACEWICZ K, KATUNIN A. Modeling and simulation of longwall scraper conveyor considering operational faults[J]. Studia Geotechnicaet Mechanica, 2016, 38(2):15-27.
|
|
|
| [[2]] |
徐志鹏,王忠宾,米金鹏.采煤机自适应记忆切割[J].重庆大学学报,2011,34(4):136-140. XU Zhi-peng, WANG Zhong-bin, MI Jin-peng. Shearer self-adaptive memory cutting[J]. Journal of Chongqing University, 2011, 34(4):136-140.
|
|
|
| [[3]] |
谢嘉成,杨兆建,王学文,等.综采工作面三机虚拟协同关键技术研究[J].工程设计学报,2018,25(1):85-93. XIE Jia-cheng, YANG Zhao-jian, WANG Xue-wen, et al. Research on key technology of virtual collaboration of three machines in fully mechanized coal mining face[J]. Chinese Journal of Engineering Design, 2018, 25(1):85-93.
|
|
|
| [[4]] |
郝尚清,王世博,谢贵君,等.长壁综采工作面采煤机定位定姿技术研究[J].工矿自动化,2014,40(6):21-25. HAO Shang-qing, WANG Shi-bo, XIE Gui-jun, et al. Research of determination technologies of position and attitude of shearer on long-wall fully mechanized coal mining face[J]. Industry and Mine Automation, 2014, 40(6):21-25.
|
|
|
| [[5]] |
EINICKE G A, RALSTON J C, HARGRAVE C O, et al. Longwall mining automation an application of minimum-variance smoothing[J]. IEEE Control Systems Magazine, 2008, 28(6):28-37.
|
|
|
| [[6]] |
樊启高,李威,王禹桥,等.一种采用捷联惯导的采煤机动态定位方法[J].煤炭学报,2011,36(10):1758-1761. FAN Qi-gao, LI Wei, WANG Yu-qiao, et al. A shearer dynamic positioning method using strap down inertial navigation[J]. Journal of China Coal Society, 2011, 36(10):1758-1761.
|
|
|
| [[7]] |
HENRIQUES V, MALEKIAN R.Mine safety system using wireless sensor network[J]. IEEE Access, 2016, 4:3511-3521.
|
|
|
| [[8]] |
REID D C, HAINSWORTH D W, RALSTON J C, et al. Inertial navigation:enabling technology for longwall mining automation[C]//Proceedings of the Fourth International Conference of Computer Applications in the Minerals Industries,Calgary, Alberta, Sep. 8-10, 2003.
|
|
|
| [[9]] |
张智喆,王世博,张博渊,等.基于采煤机运动轨迹的刮板输送机布置形态检测研究[J].煤炭学报,2015,40(11):2514-2521. ZHANG Zhi-zhe, WANG Shi-bo, ZHANG Bo-yuan, et al. Shape detection of scraper conveyor based on shearer trajectory[J]. Journal of China Coal Society, 2015, 40(11):2514-2521.
|
|
|
| [[10]] |
石勇,林江,崔志芳,等.综采工作面中部跟机自动化控制的数学模型[J].工矿自动化,2016,42(11):14-19. SHI Yong, LIN Jiang, CUI Zhi-fang, et al. Mathematical model of automatic following control in the middle of fully mechanized mining face[J]. Industry and Mine Automation, 2016, 42(11):14-19.
|
|
|
| [[11]] |
冯帅.采煤机-液压支架相对位置融合校正系统关键技术研究[D].徐州:中国矿业大学机用工程学院,2015:63-65. FENG Shuai. Study on the key technologies of relative position fusion and correction system between shearer and hydraulic support[D]. Xuzhou:China University of Mining and Technology, School of Mechanical and Electrical Engineering, 2015:63-65.
|
|
|
| [[12]] |
武培林,牛乃平.刮板机转角与工作面状态关系的研究与分析[J].电子世界,2012(16):98-99. WU Pei-lin, NIU Nai-ping. Research and analysis of the relationship between the angle of scraper and the working face[J]. Electronics World, 2012(16):98-99.
|
|
|
| [[13]] |
尹力,梁坚毅,朱真才,等.沿工作面方向底板起伏状态仿真分析[J].煤矿机械,2010,31(10):75-77. YIN Li, LIANG Jian-yi, ZHU Zhen-cai, et al. Simulation analysis of coal floor undulation based on long wall working face[J]. Coal Mine Machinery, 2010, 31(10):75-77.
|
|
|
| [[14]] |
王超,李威,杨海,等.基于航位推测的刮板输送机形态检测研究[J].煤炭学报,2017,42(8):2175-2182. WANG Chao, LI Wei, YANG Hai, et al. Scraper conveyor shape detection based on dead reckoning[J]. Journal of China Coal Society, 2017, 42(8):2175-2182.
|
|
|
| [[15]] |
赵鹏.手术导航系统中光学和惯性组合定位方法的研究[D].北京:清华大学生物医学工程系,2015:10-12. ZHAO Peng. Research on integration of optical and inertial positioning for surgical navigation system[D]. Beijing:Tsinghua University, Department of Biomedical Engineering, 2015:10-12.
|
|
|
| [[16]] |
杨海,李威,罗成名,等.基于捷联惯导的采煤机定位定姿技术实验研究[J].煤炭学报,2014,39(12):2550-2556. YANG Hai, LI Wei, LUO Cheng-ming, et al. Experimental study on position and attitude technique for shearer using SINS measurement[J]. Journal of China Coal Society, 2014, 39(12):2550-2556.
|
|
|
| [[17]] |
LI Jie, LIU Jun, WANG Bo. High precise attitude algorithm for SINS[C]//Proceedings of the 2010 First International Conference on Pervasive Computing, Signal Processing and Applications, Harbin, Sep. 17-19, 2010.
|
|
|
| [[18]] |
杜继永,张凤鸣,李建文,等.高动态环境下SINS姿态更新的改进等效旋转矢量算法[J].空间科学学报,2013,33(1):85-91. DU Ji-yong, ZHANG Feng-ming, LI Jian-wen, et al. Improved equivalent rotation vector based attitude updating algorithm of strapdown inertial navigation system under highly dynamic environment[J]. Chinese Journal of Space Science, 2013, 33(1):85-91.
|
|
|
| [[19]] |
赵欣,王仕成,杨东方,等.一种改进的高动态捷联惯导解算算法[J].中国惯性技术学报,2011,19(2):163-169. ZHAO Xin, WANG Shi-cheng, YANG Dong-fang, et al. Improved algorithm for high dynamic strapdown inertial navigation system[J]. Journal of Chinese Inertial Technology, 2011, 19(2):163-169
|
|
|
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
