| Coal is considered one of the most important energy sources in China.Therefore,the safety and efficiency of coal mine production is highly valued.Fully mechanized working face is considered as the first production site of coal mining.The intelligent level of working face is directly related to the safety production and mining efficiency of coal mine.The function of intelligent working face such as underground unmanned or unmanned,avoid personnel safety accidents are discussed.The intelligence of working face,the automatic collaborative operation of scraper conveyor,hydraulic support and shearer,is considered.Ensure the straightness of the working face can reduce the cutting resistance of the shearer and the resistance of the scraper conveyor.So safety and efficiency of working face are ensured.The foundation of intelligent mining is considered to ensure the straightness of working face.It is considered to be important for the efficiency and safety of coal mining.The pushing cylinder of hydraulic support was regulated.The source of straightness error in fully mechanized face was analyzed.The model of compensating straightness error was built.The control method of straightness was raised.The influence of straightening method was analyzed.The main contents of the paper include:Firstly,the factors that affect the straightness of fully mechanized working face were analyzed.The process and method of straightness detection in fully mechanized working face were considered.The method of solving the position and attitude of scraper conveyor by strapdown inertial navigation system was analyzed.The straightening method of hydraulic support was discussed by analyzing the deviation between supports with sensors.From the detection to the control,the system error and positioning error,the error of the hysteresis effect of the hydraulic cylinder,the clearance error between the hydraulic support and the middle chute,and the error caused by the linkage effect on the middle chute were analyzed.Three kinds of straightness error evaluation methods were analyzed and selected.Secondly,the model of compensating straightness error of working face was constructed,and the straightness displacement control method of hydraulic support was constructed.The clearance between the hydraulic support and the middle chute and the linkage effect between the middle chute of the scraper conveyor were analyzed.The compensation model of the clearance and linkage effect was established.In order to control error in fully mechanized working face,a fuzzy adaptive PID controller was constructed to control the hydraulic support pushing cylinder,and the simulation was carried out.The results indicate that the control method can accurately control the straightness in the simulation analysis.Finally,aiming at the problem of error accumulation in automatic alignment of comprehensive exploit coal face based on hydraulic support,the straightening process and control method of hydraulic support were studied.By analyzing the straightening process of each hydraulic support,the moving formula of each hydraulic support were constructed,and the mathematical models of straightness error and adjacent frame error were deduced.Through theoretical analysis and numerical simulating,the principle and the effect of this method were verified.And the straightening effect of incomplete compensation straightening method under different displacement errors was compared.the effects of different compensation coefficient N on straightness error and adjacent frame error were analyzed.The results show that the appropriate compensation coefficient N can reduce the straightness error. |
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