Research On The Pose Measurement And Lapse Control Of Middle Trough For Scraper Conveyor

The realization of intelligent automatic mining is a hot research topic in the international mining industry,fully mechanized coal face is the most forward work in coal mine production.Scraper conveyor is an important part of fully mechanized coal mining face,which undertakes the task of loading coal,transports coal and provides the running track for the coal mining machine.Therefore,monitoring the running attitude of scraper conveyor middle trough not only relates to the coal mining machine running track and real time adjustment of cutting drum height and depth,but also affects the precise control of the hydraulic support push and affects the safety production and production efficiency of fully mechanized mining face.This paper regards scraper conveyor middle trough as the research object,and the research objective is to improve the scraper conveyor working face straightness adjusting precision,and scraper conveyor spatial attitude measurement and linear state control method are studied,the main research ideas:(1)The methods of coal mine mobile equipment positioning and orientation are studied,according to the structure and operation characteristics of scraper conveyor,this paper proposes the attitude measurement method based on the monitoring of shearer running track and attitude。(2)Based on the inertial navigation measuring method.According to matching relation and geometric parameters between shearer and scraper conveyor,use principle of coordinate transformation and use quaternion and Fourth-order Runge-Kutta to treat to establish spatial attitude matrix equation and coordinate position of shearer,then the spatial position coordinates are derived,and the spatial attitude equations of scraper conveyor middle troughs are established.(3)The scraper conveyor linear state error equation is established by working face,and to realize the precise adjustment of the scraper conveyor linear state by working face,the push mechanism of scraper conveyor is as the object,according to the characteristics of pushing mechanism,forecast error by BP neural network algorithm and data sample training function,and the displacement of adjustment control system actuator(push cylinder)is obtained with expected displacement of middle trough.(4)Track the target expansion of the input signal by electro-hydraulic servo system based on the sliding mode variable structure control method to adjust the scraper conveyor linear state by working face,the control system is simulated by MATLAB,and it is compared with the traditional PID control method,the results show that the precision control of the scraper conveyor working face straightness is improved obviously by the control method based on the sliding mode variable structure.