Research On Control Strategy Of Shearer Drum Kinematical Parameters Based On The Prediction Of Coal And Rock

Traditional shearer regulates the haulage speed in order to reduce the drum load in coal and rock mutation area. That is passive control. But drum load can't quickly reduce because of the large machine inertia of shearer, and the cutting pick of drum and the transmission system of the cutting part are subjected to the load impact because of that. That greatly influences the service life of cutting gears, transmission chain and cutting motor. The coal mining productivity will be also affected if the shearer is merely controlled via decreasing the hauling speed so as to lower the drum load.Because "memory-cut" technology bypass the technical problem of coal-rock interface recognition, so it can be relatively easy to predict the distribution of coal and rock under the ground. Based on the results of predicting the coal and rock distribution, shearer can be adjusted by active control in order to reduce the load impact. Shearer not only can reduce the drum load by regulating the haulage speed, but also can reduce the drum load by regulating the drum revolution speed, and regulating the drum kinematical parameters(drum revolution speed and haulage speed) can maintain a certain coal mining productivity. So in this paper, the control strategy of drum kinematic parameters on the premise that prediction of coal and rock distribution can be realized is putted forward on the basis of analysis and research of traditional shearer and it can simultaneously lower the drum load and maintain the coal mining productivity under the working condition of mutations in coal and rock.(1) On the basis of understanding the structure and working principle of shearer, the Simulink coupling model of shearer cutting part and haulage part is builded.(2) Based on analyzing the physical and mechanical properties of coal and rock, drum load characteristics and the working characteristics of shearer, the judging principle of speed regulation control strategy of shearer under the working condition of mutations in coal and rock is gutted. Control strategy of shearer drum kinematical parameters based on the prediction of coal and rock cutting impedance and adaptive control strategy of drum kinematical parameters are comparative analyzed. The results indicate that it is more appropriate to adopt the control strategy of shearer drum kinematical parameters based on the prediction of coal and rock cutting impedance when shearer is under the working condition of mutations in coal and rock.(3) The influence of change of speed regulation slope in the drum revolution speed and haulage speed control strategy based on the prediction of coal and rock cutting impedance on the performance index of shearer cutting performance is studied. And comparative analysis of sequence control and alignment control in the coordinated control strategy of drum kinematical parameters based on the prediction of coal and rock cutting impedance. On the basis of the above research and analysis, the control strategy of shearer drum kinematical parameters based on the prediction of coal and rock cutting impedance when shearer is under complicated working conditions is gutted, and carry on the simulation analysis.(4) In the study and analysis, adaptive control strategies of drum kinematical parameters which is in order to further lower drum load in coal and rock mutation area are adopted when there is an error prediction of coal and rock distribution. On the basis of the above research and analysis, the control strategy of shearer drum kinematical parameters based on the prediction of coal and rock cutting impedance when shearer is under complicated working conditions is optimized, and carry on the simulation analysis.