煤矿液压牵引采煤机截割路径多目标规划方法及其工程应用

Multi-objective Planning Method of Cutting Path for Coal Mines Hydraulic Traction Shearer and Its Engineering Application

针对现有液压牵引采煤机截割路径规划不合理,导致作业成本增加、生产效率降低的问题,提出煤矿液压牵引采煤机截割路径多目标规划方法研究。先采用LS-SVM模型、滚动预测算法搭建一种多输入、单输出的煤层地貌数据时间序列模型;然后基于运动学原理分析液压牵引采煤机截割运动机理,以能耗最小、作业成本最小及生产效率最大为目标函数;最后根据启发式搜索找出液压牵引采煤机各运动状态符合目标函数的最佳作业子路径集合,确定全局最佳截割路径。测试结果表明,液压牵引采煤机截割路径规划与理想截割路径基本一致,且路径规划时间最短,有效延长了液压牵引采煤机内部零件的使用寿命,大大提升了煤矿采煤生产效率。

A multi-objective planning method for the cutting path of hydraulic haulage shearers in coal mines is proposed to address the issue of unreasonable planning of the cutting path of existing hydraulic haulage shearers,resulting in increased operating costs and reduced production efficiency.Firstly,an LS-SVM model and rolling prediction algorithm are used to construct a multi input,single output time series model of coal seam geomorphic data.Then,based on kinematic principles,the cutting motion mechanism of hydraulic traction shearers is analyzed,with the objective functions of minimizing energy consumption,minimizing operation costs,and maximizing production efficiency.Finally,the optimal set of operation sub paths for each motion state of hydraulic traction shearers that meets the objective function is found through heuristic search,Determine the global optimal cutting path.The test results show that using the proposed method,the cutting path planning of the hydraulic traction shearer is basically consistent with the ideal cutting path,and the path planning time is the shortest,effectively extending the service life of the internal parts of the hydraulic traction shearer and greatly improving the production efficiency of coal mining in the coal mine.