| In this paper, by analyzing the existing control methods of shearer’s orientation andattitude in the underground working area, and automatic fully mechanized coal mining jobrequirements, studied the control methods of shearer’s orientation and attitude. Draw up aplan for controlling the shearer’s attitude based on the study of virtual working area of coalmining which is studied by our seminar, in the hope of meeting the requirements ofautomatic fully mechanized coal mining.By analyzing the functional requirements of shearer’s orientation and attitude controlsystem, devise the shearer’s orientation and attitude control system which includingorientation module, attitude sensing, pressure testing and motion control modularly. Atorientation module, calculate shearer’s displacement in automatic fully mechanizedworking area, based on the shearer’s moving-wheel angular displacement measured byabsolute encoder, locating the orientation of shearer in the automatic fully mechanizedworking area. According to the requirements of automatic fully mechanized coal miningwork, attitude control is studied on the basis of virtual working area，achieved shearer drumlifting by combined virtual working area data and pressure data of fluid cylinder. Thenattitude control system module is built to proof the feasibility of attitude control schemethrough analyze the movement of shearer drum when the pressure of fluid cylinder changed.This is the basis study of the implementation of attitude control scheme. Video monitoringmodule is contained with this system. The operator could discover the hidden danger beforethey happen through monitoring the working condition of shearer in the working area.The attitude control system contains orientation information, attitude sendinginformation, and video monitoring information, laying the foundations of attitude control ofshearer. |
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