Research Of Identification Of Coal And Rock And Load Torque Observer Of Roadheader Based On Multi-sensor Information Fusion

The identification technique of coal and rock of the roadheader is one of the core technique in the automation of excavating, a reliable identification technique not only enables roadheader to achieve the identification of the top and the bottom of coal roadway automatically, but also can identify the coal bed and rock stratum which lie on the both sides of the roadway. Besides, it can also achieve the identification of Coal gangue and its location through the use of displacement sensors. This technology is profitable to improve the speed of excavating, as well as reduce the labor intensity, which impacts the profound effect on both improvement of economy efficiency and safely work. The identification technology of coal and rock is based on the analysis of the actual power of the roadheader cutting motor, placement of the lift cylinder, pressure of rotating oil cylinder and other parameters of the cylinder. In his paper, a torque observer was constructed by the parameters mentioned above. An automatic correction strategy was also proposed by use of fuzzy control, its aim is to achieve the modification of the center slants spacing and azimuth deviation.