Research On Real-Time Simulation Model Of Shearer Height Adjustment System For Hardware-in-the-Loop

The self-adaptive height adjustment of the shearer drum is the key technology for intelligent coal mining.The shearer height adjustment control plan formed according to the shearer cutting path planning plan based on the coal seam geographic information system needs to be evaluated on the cutting effect and feasibility through field tests before actual application.However,the heavy downhole production tasks make the control scheme test verification conflict with the coal production at the working face,and the control scheme is difficult to be verified and perfect.The use of hardware-inthe-loop simulation technology to establish a set of fully mechanized mining face hardware-in-the-loop simulation system that integrates coal seam geological models and three fully mechanized mining machines to verify the height adjustment control scheme can effectively solve the difficulties of underground coal mine testing and the unreproducible problems of coal seam cutting.The core of establishing a hardware-inthe-loop simulation system is to establish a real-time simulation model of the controlled object.This article analyzes and studies the height adjustment system of the shearer in the three-machine fully mechanized mining and establishes a real-time simulation model of the height adjustment system,which lays the foundation for the establishment of a complete hardware-in-the-loop simulation system for a fully mechanized mining face.The main research work and conclusions are as follows:(1)Use Matlab to write the drum load simulation program,and use the actual shearer parameters to simulate the drum cutting load.The simulation shows that the axial load on the drum is much smaller than the drum propulsion load and the vertical cutting load without considering the inclined cutting feed condition,which lays the foundation for the establishment of the mechanical-hydraulic coupling simulation model of the height control system;And further simulate the influence of different motion parameters on the load of the drum,and it is found that the load of the drum is positively correlated with the change of the shearer traction speed and negatively correlated with the change of the drum speed,which provides a reference for the selection of the motion parameters of the shearer.(2)In this paper,Simulink and AMESim software are used to establish the mechanical-hydraulic coupling simulation model of the height control system.The height-adjusting control experiment was carried out using MG300/730-WD shearer.And input the shearer parameters into the mechanical-hydraulic coupling simulation model of the height control system for simulation test.Comparing the simulation results with the experimental results,it is found that the error between the simulation results and the experimental results is relatively small,indicating that the mechanical-hydraulic coupling simulation model of the height adjustment system is more accurate and can be used to simulate the height adjustment movement process of the shearer.(3)The necessity of establishing a real-time simulation model of the height control system is analyzed.According to the establishment process of the real-time simulation model,the mechanical-hydraulic coupling simulation model of the height control system is tested and analyzed,and it is found that it is difficult to meet the requirements of the real-time simulation model.Therefore,real-time optimization tools are used to optimize the simulation model in real-time,so as to establish a mechanical-hydraulic coupling simulation model after real-time optimization.The optimized model is compiled and uploaded to the Simpole real-time simulation platform to run.According to the simulation results,the optimized simulation model meets the real-time requirements.The simulation results are compared with the experimental results and the error is small,indicating that the optimized The mechanical-hydraulic coupling simulation model meets the requirements of real-time and accuracy,which is the realtime simulation model of the shearer height control system.The paper contains 73 figures,6 tables,and 104 references.