Research On Key Technologies Of Scraper Conveyor And Shearer Coordinated Speed Control

As the production and transportation equipment in fully mechanized coal mining working face, the scraper conveyor(SC) can be negatively affected by huge load fluctuation and severe working conditions, leading to frequent breakdowns and excessive power consuming. To improve the load stability of SC, the key technologies of coordinated speed control method of SC and shearer has been studied in this paper. By analyzing the coal capacity variation and dynamically predicting the load current, the coordinated speed planning strategy and the speed control method for SC and shearer have been proposed. The main researches of this paper are sketched as follows:(1) Based on the basic structure and working mechanism of SC, a strategy of coordinated speed control of SC and shearer was proposed. A SC-shearer coordinated speed control system(SCSCS) was designed, which includes shearer airborne PLC control system, SC airborne PLC control system and crossheading coordinated speed control system.(2) A model for the coal capacity variation of SC was studied, and a prediction model of load current via BP neural network was established based on the positive correlation mapping between loads and motor current. After training network via field data, the result is satisfactory as the mean absolute error rate is 2.46%, establishing the basis for coordinated speed control system of SC and shearer.(3) Based on multi-objective particle swarm optimization algorithm, a speed planning strategy was designed to provide speed tracking targets for shearer and SC. Meanwhile, this paper adjust running speed of shearer and SC by fuzzy PID control method when SC load current anomalies appear. Simulation results showed that the speed planning strategy and control method can guarantee load stability of SC from coal capacity and load current.The ground experiment of SCSCS was performed at Zhangjiakou Coal Mining Machinery Co., Ltd in November 2015. The results show that the load current fluctuation decreases by 61.3%, the load current precision reaches to 92.4%, and the proposed SCSCS got a satisfactory performance and improve the load stability of SC.