Studies On Key Technologies In Remote Parametric Control Platform Of Electric Haulage Coal Shearer

Several suggestions about accelerating coal industry's healthy development in china's the eleventh five-year plan and eleventh five-year science and technology plan of coal industry definitely indicated that automation would be progress direction in the fully mechanized long-wall coal mining face. The outline of the medium-term and long-term science and technology development stressfully put forward that it was necessary to research on monitoring, pre-warning and prevention technologies of the equipments in the coal mine. The remote control system of the electrical drawing shearer was studied in this paper. On the basis of building the redundancy control platform, finite state machines and multi-sensor information fusion method were adopted to research on parametric control model, status diagnosis of the logical sensor, and cutting path programming and its continuous adjustment, and so on. The main research results are showed as follows.The system architecture and the parametric control model of the remote control platform for the shearer were established based on wire industry Ethernet and MESH network. On the basis of I/O control pattern of the controller equipped in the shearer and memory cutting model, the parametric control method of the shearer was presented by use of industry Ethernet, MESH network and Profibus technology, and build the parametric multi-layer control model of the shearer, then bring forward the parametric control interface and control algorithm of the frequency drawing. The key parameters were obtained, which included performance curve, change range of speed and acceleration, parameter of the unwarrantable speed interval of the frequency drawing unit.The models of the multi-sensor information fusion and status diagnosis were put forward based on hierarchical finite state machines. Finite state machines was expanded in this paper, it included additional characteristics, restraints, and finite state machines of the value function's logical sensor. Some logical models of the sensors were defined, which included frequency drawing control, cutting and crushing control, moving attitude control and adjustment height control of the drum. The logical sensor members were managed according to the additional characteristic queue, the restraint queue, and the value function queue, the logical sensor set was renewed in time by scanning scheduling method. In the process of the status diagnosis for the logical sensor set, two-stage diagnosis algorithm based on pivot variable identification and cutting path diagnosis was put forward, which supplied the new data fusion pattern to dynamically describing the status and status evaluation of the logical control unit.The work stability of the shearer was regarded as the control object, the identification algorithm of the cutting path interval was presented, and established representation model of the uniform B-spline curve in the adjustment interval, then bring forward the deBoor generation algorithm. In order to resolving the following instances which included adjustment range overrun of the drum, drawing speed overrun and not to push conveyer, the four-layer iterative algorithm of the cutting path was presented.The optimization algorithm and artificial immune algorithm were put forward. The artificial immune model of the shearer's cutting path planning was built by applying immune algorithm to continuously adjustment process of the cutting path. GAUSS variation operator of the cutting path planning, immune operator based on negative selection algorithm and probability algorithm and segmented sufficiency function were defined. In order to resolving the following conditions including adjustment interval overrun of the drum, drawing adjustment overrun, drawing speed overrun and not to push conveyer, the relevant immune operators and dynamic calculation models were defined.The experimental result shows that the remote control system of the shearer based on logical sensor and cutting path planning can realize the anticipative function in the laboratory and the factory, the research establish the groundwork for the practical application of the shearer's remote control.