采煤机记忆割煤数学分析及实现方法

Mathematical analysis of memory coal cutting of shearer and its implementation

现有采煤机自动化割煤方法缺乏合适的数学模型及算法,无法实现长期、连续自动化割煤,制约了工作面自动化水平的提高。针对该问题,在三维坐标系中分析了采煤机姿态、位置与截割高度之间的函数关系,建立了基于静止坐标系和运动坐标系的采煤机运动方程,并提出了基于运动坐标系的双示范刀、单示范刀记忆割煤算法及具体实现方法。在锦界煤矿31112工作面应用单示范刀记忆割煤算法进行长期自动化割煤,实现了包括三角区在内的全工作面区域自动化割煤,证明了算法的正确性、可行性及鲁棒性。

Existing automatic coal cutting methods of shearer lack appropriate mathematical model and algorithm and cannot realize long-term and continuous automatic coal cutting,which restrict improvement of working face automation level.For above problems,function relationships among shearer attitude,shearer position and cutting height were analyzed in 3D coordinate system.Motion equations of shearer were built based on stationary and moving coordinate systems separately.Memory coal cutting algorithms of double demo knives and single demo knife were presented as well as their implementation methods in the moving coordinate system respectively.The memory coal cutting algorithm of single demo knife is applied in No.31112 working face of Jinjie Coal Mine for automatic coal cutting in the whole working face including triangle area,which verifies correctness,effectiveness and robustness of the algorithm.