Coal-Rock Identification Method Based On Load Data Fusion Of Shearer Rocker Axle

Shearer is the main coal cutting machinery equipment in coal mining face,and the safe and intelligent operation of shearer is the key to ensure the production benefit and personal safety.At present,the biggest obstacle in intelligent control is that the cutting state of shearer can not be judged,the coal or rock can not be determined,and then it can not be controlled accordingly.Therefore,after comprehensive analysis of the current research situation at home and abroad,this paper has carried out a research on coal and rock identification based on the difference of load of rocker pin shaft.Firstly,the cutting force of shearer drum is analyzed,and the mechanical model between drum and rocker arm is established,which provides the theoretical basis for the research of this paper.Secondly,the two weighted fusion algorithms LMS algorithms and RLS algorithms are studied,and through simulation and comparative analysis,RLS algorithm has better performance advantages,so determine the RLS algorithm as the fusion algorithm of load data in this paper.Thirdly,the dynamic simulation model based on rocker pin under different working conditions of Hard Coal Wall and rock wall is established by using the method of PFC3 D and Adams.According to the simulation results,the key loading position of pin shaft is determined,the difference of pin-axle load under two working conditions is analyzed,and combined with the adaptive data fusion algorithm RLS algorithm in time domain,the variance of pin-axle load data is reduced and the fluctuation is reduced,which makes the difference of pin-axle force between two working conditions more obvious,the cutting state can be judged according to the force range of the pin shaft.Finally,the wireless sensor acquisition system of pin shaft load is built in Zhangjiakou mining experimental center of Zhongmei,and the cutting experiment of coal rock wall with different hardness is carried out.The experimental results show that there are some differences in the stress of each pin shaft under each working condition,but the load range of rock cutting and coal cutting is overlapped to judge that the coal rock has certain error.The RLS adaptive data fusion algorithm is used to process the load data and compare with the original load.The mean variance is reduced by 43.8%~87.4%,the load does not overlap,and the force difference is more obvious.It is verified that thisside The method can achieve the purpose of coal and rock discrimination more accurately.