Study Of Automatic Monitoring System For Belt Conveyor Self-moving Tail

Self moving tail has important significance in improving the efficiency of fully mechanized coal transportation. Due to the lack of effective and reliable monitoring system for the existing self moving tail, a higher technical experience of the operator is required to use and regulate in the complex underground environment, which is not only low precision and efficiency, but also the workload of the operator. The mining face advancing speed is limited, and the automatic and intelligent development of mine is not conducive in this kind of control mode. Therefore, in order to realize the automatic monitor of self moving tail and improve the automatic level of the coal mine, the following work is completed.First of all, combined with the mechanical structure and hydraulic system of the self-moving tail,the monitoring system was designed. Hardware system of monitoring system was mainly composed of single chip microcomputer minimum system, power supply module, human-computer interaction module, the displacement measurement module, the angle measurement module, the electromagnetic valve drive module and video acquisition module. Secondly, in order to optimize the system, simulation was carried out for control algorithm of monitoring system. In order to make the angle sensor data more accurate, the system used the kalman filter for noise reduction processing, which solved the angle sensor signal fluctuation and improve the position precision. Based on the PID algorithm in Matlab, the leg hydraulic valve control was optimized and the high frequency interference was suppressed. All of these have greatly enhance the overall performance of the system. Finally, On the basis of the simulation in the incomplete differential PID control and kalman filtering, it completed the software design of monitoring system and tied out of the required core program code.This monitoring system can realize electro-hydraulic automatic sequential control and automatic leveling. It can make the monitoring of self moving tail and feedback system’s running state. It has laid a solid foundation for the further realization of the coal mine machinery.