Research On The Key Technology Of Three-machine Cooperative Operation Decision-making In Intelligent Fully Mechanized Mining Face

In view of the problem that the perceived data is incomplete and the system decision-making mechanism does not form the resultant force in the coordinated motion decision-making of the three machines in the coal intelligent mining face,in order to solve the technical difficulty of the incomplete presentation of the running state of the equipment due to the incomplete collection,arrangement and analysis of the data,in this thesis,a decision-making mechanism is proposed to break the data islanding phenomenon and make it compatible with the perceived data of each device:(1)The multi-parameter sensing system of three-machine equipment in intelligent working face is constructed,which realizes all-round real-time perception of threemachine equipment running state.Based on the principle of FBG sensing technology and the application of FBG curvature sensor,the shape sensing of scraper conveyor is realized.And the attitude calculation method of each equipment based on the above sensing system is studied.(2)Based on the perfect perception information of three-machine equipment,a decision-making mechanism to realize three-machine cooperative control is studied.This mechanism divides the information into static information and dynamic information according to the working principle of three-machine cooperative operation.Furthermore,the decision logic is optimized and the data model is simplified based on the data information differentiated processing.(3)A data model of the operating information of the Shearer’s three machines in the face was constructed,in which the Kalman filter method was used to realize the data fusion of the Shearer’s position and pose information,and the characteristic position information of the shearer in the face plane was extracted,at the same time,the shape of the reconstructed scraper conveyer is transformed into the same coordinate with the Shearer’s position track,and the connection of the data is established to realize the mutual communication of the perceived information.The position expressions are updated to correct the original values as the working face progresses,and the decision logic is used to eliminate some systematic errors.(4)The feasibility of the decision-making mechanism is analyzed by using the method of simulating the follow-up bending of the fiber Bragg grating curvature sensor substrate.The principle of the fiber Bragg grating curvature sensor is that the flexible substrate is fixed on one side of the scraper conveyor and moves with the scraper conveyor.Based on Ansys,the displacement load was applied to the flexible base to simulate the bending shape of the scraper conveyor.The rationality of the model and the feasibility of the decision-making mechanism are proved.There are 30 figures,5 tables and 93 references in this thesis.