| Scraper conveyor is an important part of fully mechanized mining face,which is the basis of intelligent control of hydraulic support and three machine linkage.Fully mechanized mining faces the development of unmanned mining and automation,so it is necessary to study the control algorithm of the scraper conveyor to realize the intelligent control of the hydraulic support and the smooth operation of the conveyor.The establishment of geometric model,the central groove location recursion formula is derived by using the analytic method,and using Euler angle coordinates of an arbitrary point on the middle trough are described,to provide the basis for the central groove real-time pose description and control.The main contents of this paper are:1.The influence of the middle groove on the scraper conveyor is studied,and the deformation of the dumbbell pin is analyzed by PRO/E modeling and ANSYS,and the angle of deformation will have an impact on the attitude of the central groove.Through the MATLAB analysis of the resistance of the middle trough between the angle of the equation,it is concluded that the horizontal angle between the central slot of each block has the greatest influence on the resistance of the scraper conveyor.Therefore,it is necessary to study the position and attitude measurement of the middle groove of the scraper conveyor,so as to adjust the relative angle between the middle grooves and reduce the resistance.This paper introduces a variety of pose algorithms,compares the advantages and disadvantages of various algorithms,and determines the position and orientation control algorithm which is suitable for this paper.2.The core content of the paper is studied,and the recursive formula of the middle slot is deduced by using the geometric model,and the position coordinates of any point on the middle trough are described by Euler angles.Several cases of different motion parameters are discussed,which provides the basis for the description and control of the real time position and attitude of the central trough.It is of great significance to adjust the relative position of the scraper conveyor and the hydraulic support,adjust the straightness and flatness of the conveyor,reduce the running resistance of the conveyor,improve the stability of coal transport,and realize the intelligent three machine linkage.3.Study on the operating characteristics of scraper conveyor,gives the testing tool of chute of scraper conveyor group pose,to derive the middle trough of scraper conveyor position control algorithm is simulated under multiple working conditions.The simulation of the moving track of the scraper conveyor is carried out by MATLAB,and the simulation of the three sides of the scraper conveyor is carried out to verify the correctness of the pose equation. |
PDF Full Text Request