Design And Implementation Of Multi-machine Cooperative Control Technology For Thin Coal Seam Automated Working Face

In the harsh underground environment of coal mines,the coal mining equipment at the thin coal seam face is still mainly operated manually,which reduces the working efficiency of the coal mining equipment,the equipment fails for a long time,and the personal safety of workers cannot be guaranteed.With the continuous development of intelligent information technology and advanced control theory,the coordinated control between equipment in fully mechanized coal mining faces in thin coal seams has become a key technology to realize intelligent,safe and efficient production of thin coal seams.Research on the collaborative control technology of thin coal seam shearer has certain reference value for the intelligent mining of thin coal seam face.This paper takes the Yujialiang 4-3 thin seam automatic working face of Shendong Coal Branch as the research background.Aiming at the problems existing in the thin coal seam automatic working face,it analyzes in detail the shearer,hydraulic support and scraper of the thin seam automatic working face.Conveyor structure,fuction and working process,the relationship between the shearer traction speed and the chain speed of the scraper conveyor is studied,and the physical model between the shearer traction speed and the action frequency of the hydraulic support is established,and it is based on Elman-fuzzy PID control.The shearer-scraper conveyor cooperative control model provides an adaptive plan for the action of the hydraulic support,and realizes the automatic alignment function of the hydraulic support.On the TwinCat PLC software platform,the software implementation and test verification of the shearer-hydraulic support coordinated control scheme and the shearer-scraper conveyor coordinated speed control scheme are given.Based on the research of multi-machine collaborative control technology for thin seam automatic fully mechanized mining face,industrial test was completed in ShendongYujialiang Coal Mine 4-3 thin seam automatic face in March 2019,and the operating speed of the shearer and the frequency of hydraulic support,Scraper conveyor load current and other data for statistics and research.The statistical results of the data verify the effectiveness and feasibility of the above-mentioned collaborative control technology scheme,and the implementation of the project has achieved good economic and social benefits.