Study On Shearer Self-adaptive Control Based On Its Absolute Position And Attitude

Shearer is one of the most important equipments in fully mechanized coal face, and shearer self-adaptive cutting is the essential condition to realize ‘automation’ and ‘less humanizing’ of mechanized coalface. Nowadays, memory cutting has been widely used in many coal mine enterprise in China, however, once geological conditions changed dramatically, shearer memory cutting paths can’t be amended automatically. So drums of a shearer usually interface with floor or roof of coal seam, reduce the recovery and do harm to bits.In order to overcome above questions, methods of shearer passing through folds and faults along face advance direction have been studied in this paper. Shearer self-adaptive technology based on coal interface detection and memory cutting were studied respectively before the novel method based on three dimensional geometry model in coal area was proposed. This article researched deeply auto-adapted cutting system’s drums position, shearer self-adaptive passing through folds, shearer passing through faults, and the main achievements included:(1) Related three-dimensional coordinate frames in coal mining area were defined in this article. The mathematical model of shearer cutting path under local geographic frame of coal area was established with coordinate transformation, and its errors were analyzed to determine desired error ranges of sensors.(2) On the condition that folds geometry developed dramatically, deficiency of the existing self-adaptive control was analyzed. Roof and floor curves were obtained with cubic spline interpolation. With reference to roof and floor curves, shearer cutting paths were planned with the method of recycle coordinate transformation. And calculation formula of floor-based quality adjustment and angles of overhand mining & underhand stopping was deduced.(3) As inputs, characteristic parameters can be used to represent fault geological structure accurately. In order to achieve maximum recovery rate and the minimum amount of rock cutting, considering the capacity of equipment, continuity constraints, shearer cutting paths were planned. Considering shearer mining process, interpolation algorithm and recycle coordinate transformation were proposed to amend the theoretical paths.The simulation and laboratory experiments indicated that the drums positioning scheme could gain the position and the posture information of a shearer accurately. And the position error was within 0.01 m. Shearer self-adaptive passing through folds based on recycle coordinate transformation and self-adaptive passing through faults based on interpolation algorithm and recycle coordinate transformation can guarantee shearer pass through complicated geological structure safely and reliably. And the error is within 0.038 m.