Research On Straightening Method Of Scraper Conveyor Based On Smooth Processing Of Shearer Track

While coal still accounts for the majority of energy consumption,the number of mines is shrinking,which means that production per unit area must rise.The main means to increase output and production efficiency is to improve the degree of automation of the working surface.Therefore,in order to solve the existing problems,the unmanned intelligent mining technology will become the only way for the development of our coal industry.Fully mechanized mining equipment is the core part of coal long-wall fully mechanized mining face,among which scraper conveyor is one of the key fully mechanized mining equipment.Scraper conveyor is not only the shearer’s guide rail,but also the fulcrum of the hydraulic support,so "scraper conveyor straight" in "three straight" is the key foundation.In this thesis,based on the different generation time of shearer track,a lag aligning model of scraper conveyor is established.The principle is that the measuring track of shearer is firstly processed by backward filtering and smoothing,and then the lag aligning is carried out based on the smooth track.The effectiveness of the algorithm is verified by numerical simulation and simulation experiments under seven conditions.A fixed interval smoothing algorithm was proposed to smooth the shearer’s trajectory,and a RTS smoothing algorithm based on the strap-down inertial navigation/odometer was established.The effectiveness of the algorithm was verified by numerical simulation and 300-meter long distance positioning experiment.Comparing the aligning effect of the real-time aligning method based on the measuring track of shearer and the lag aligning method based on the smooth track of shearer,a comprehensive simulation experiment was carried out with the simulation experimental device of scraper conveyor.Three kinds of initial straightness errors were randomly set to be about 187 mm,140mm and 210 mm.After delayed straightening,the straightness errors of scraper conveyor fluctuated in the range of36.0mm～40.1mm,35.6mm ～38.6mm and 35.9mm～37.6mm respectively.After real-time straightening,the straightness error of scraper conveyor fluctuates in the range of 51.6mm～132mm,58.0mm～95.6mm and 45.4mm～77.8mm respectively,which verifies that the lag straightening algorithm of scraper conveyor based on RTS smooth trajectory is better.Numerical simulation,simulation experiment and field data of hydraulic support manufacturers were used to verify the prediction model of scraper conveyor straightness error.The mean value and range fluctuation of straightness error were close,which verified the validity of the prediction model.There are 81 figures,44 tables and 93 references in this thesis.