Study On The Key Technologies Of Relative Positon Fusion And Correction System Between Shearer And Hydraulic Support

The coal production automation level is not enough, which is one of the important reasons for mine accident casualties, so fully mechanized working face automation is an important guarantee of the safty and efficient production for coal mine. As the core equipment of fully mechanized working face, the automation and intelligentize is the prerequisite for fully mechanized working face automation. Therefore the implementation of shearer high speed and precise self-localization is the primary target of fully mechanized automatic mining face. There are still some shortcomings in this localization technology such as the error brought by floor curve not being considered, active measures not being taken to eliminate positioning error and single positioning strategy being difficult to ensure the accuracy and reliability. Through the combined use of three positioning means, being the infrared sensor, shaft encoder and INS, the relative position between shearer and hydraulic support can be determined accurately and reliably. Then the correction strategy is put into use of eliminating positioning error caused by floor curve. The main research contents and results are shown as follows:1) In order to realize the control strategy of fusion and correction system, physical sensing system is launched. Based on the in-depth study of collaborative work for fully mechanized mining equipment, the general control scheme of fusion and correction system is designed.2) The shearer inertial navigation model, based on mining face inertial coordinate system, is established; the performance of three common real-time solving algorithms for shearer posture matrix is evaluated, including error analysis; the mathematical model and overall algorithm implementation scheme is finished; finally fusion positioning model is designed.3) The storage strategy of shear working condition sensing data is studied in this part, including the design of storage structure and classification strategy; an improved negative selection method is introduced in detail and is used for abnormality diagnosis of shear working condition sensing data.4) The correction model of fusion and correction system has been build, including the shearer rigid body kinematics model and the floor curve calculation method; the position and posture change during the cutting process has been analyzed and based on the study above, the real-time dynamic correction strategy is created.In this paper, the experiments have been carried out to test the contents above, the results show that: the cumulative error brought by the floor curve and considered by inertial navigation algorithm reduce from 2.34 m to 0.04m; positioning relative deviation is only around 0.4% during 200 times tests, and it proves the algorithm being stable and reliable; after the correction strategy being conducted, the average recognition rate is more than 4.8 during 50 times tests in the size of 500 data points in each group including 5 abnormal data points; the height difference of floor cutting path reduces from 0.0500 m to 0.0186 m, whose optimal rate reaches 62.8% and the standard deviation reduces from 0.0247 m to 0.0057 m, whose optimal rate reaches 76.9%.