Research On Anti-Collision And Adaptive Control System Of Shearer

With the continuous advancement of the intelligent construction of coal mines,the intelligent technology of coal mining work surface has also developed,and the comprehensive mining work surface has gradually tended to be unattended.As a core mining equipment in the comprehensive mining equipment,the active identification of other coupling operating equipment and the active obstacles of the operation of the operation is of great significance to realize unmanned mining operations.At the same time The coal machine has anti-collision function as an important review item.For the current technical path of the lack of effective control of the anti-collision control of the current shearer,combined with the research direction of the technical research of intelligent shearer in TZ Coal Machinery Co.,Ltd.This article mainly conducts research on the three aspects of millimeter wave radar detection,coal mining machine independent collision anti-collision system of the shearer,and adaptive anti-collision control.First of all,in response to the lack of effective autonomous obstacles perception of current smart coal mining machines,a millimeter wave radar detection module was developed.The system meets the detection of the distance,relative speed and angle of obstacles such as hydraulic stent protection plates and telescopic beams in the intelligent working surface.Analysis of the current coal mining machine anti-collision adopts passive anti-collision technical path,starting with the overall structure of the radar detection module,select the micro-controller AWR2944 for the relevant circuit design.Through the radar ecstasy data,the noise characteristics were analyzed,and the Karman filter algorithm was designed to eliminate the noise and improve the accuracy of the target data.Secondly,combined with the millimeter radar detection system,the overall architecture of the coal mining machine collision control system is set up,the core control device and sensor selection,and the network architecture design are completed,and the hardware foundation of the combination control system for the coal mining machine is established.According to the characteristics of the coal mining rocker structure and movement characteristics,the coal mining rocker arm is equivalent as a spring damping quality block model to establish a high mathematical model of the coal mining machine.Design tracking microcomputers based on the bi-song positive cut function to reduce the coal mining machine’s intercepting the rocker positioning and tracking process.Based on the integral terminal sliding mold function,an adaptive slide controller is designed to achieve fast and accurate position control.Finally,the shearer anti-collision adaptive control system communication,software control and other processes have been designed.Different target radar characteristics experiments,static and dynamic protection plate obstacles experiments,exploration experiments of telescopic beam obstacles,and adaptive control experiments are completed at the collaborative site of too heavy coal machines.The practicality of this system is verified by analyzing the experimental data,which effectively improves the ability to perceive and independent obstacles of coal mining machine obstacles.