Research Of Cutting Rock Dynamic Load Identification For Rock Roadheader

The content of this paper is an important part of "the manufacture of intelligent super-heavy rock roadheader" (No:2012AA06A405),the topic five of the important projects national 863 plan resources environment technology "Intelligent coal mining technology and equipment(one)".It is proposed on the issue that the conditions of poor environment,complex working conditions and complex load,the difficult precise control of rotation arid feed speed of roadheader.The reliable dynamic load identification system is the based of automatic adjustment of cutting parameters in accordance with rock hardness,and reliable basis can be provided for the operation safety,stability and higher cutting efficiency.Therefore,the technology of cutting rock dynamic load identification system was developed.Also,it has very important practical significance.Based on the analysis of the cutting mechanism of rock drivaging and dynamic characteristics analysis in cutting process,combining with the practical operation of rock roadheader,the realized method of the dynamic load identification system of cutting rock was studied.The main research contents are as follows:Refer to a large number of relevant literature,the research status and development trend about cutting rock dynamic load identification technology were expounded.The cutting mechanism of rock drivaging and dynamic characteristics analysis in cutting process was analysed.The characteristic parameters reflecting the cutting dynamic load were determined, mainly including the cantilever vibration,hydraulic cylinder pressure,cutting current and torque.According to the function requirement about project,the overall plan of dynamic load identification system,with the four monitoring signals:the vibration, pressure, current and torque, was designed.Sensors, data acquisition card and industrial computer,which suit for rock roadheader conform to the requirements of the mine safety and explosion-proof,were confirmed.The dynamic load identification system with industrial computer as the core was developed. The results of calculation and analysis show that this scheme can obtain the dynamic load signal synchronous and process the data.According to the real time changing characteristics about the cutting rock dynamic load,the advantages and disadvantages of FFT, wavelet analysis and wavelet packet analysis, wavelet packet technology was determined as the tool of dynamic load signal denoising and feature extraction. Under the development environment of LabVIEW, wavelet packet denoising and energy extraction procedures were designed,and a comparative analysis with measured data was carried out.The analysis results show that the wavelet packet energy extraction as the method of signal energy extraction about cutting rock dynamic load of is effective.And the accurate and reliable feature level data was provided for multi-sensor information fusion recognition.According to the system function requirements, the synchronous sampling method of cutting rock dynamic load signal was determined. Under the development environment of LabVIEW, the multiple parameter synchronization acquisition program was designed. The database storage management system,combined with the SQL server database,was development. Human-computer interaction interface was designed,and the debugging of program has carried on.The debugging results show that the application software runs stably and satisfies the requirement of the system function.Combined with the actual situation of cutting rock dynamic load identification of rock roadheader,the characteristics of the multiple sensor information fusion based on RBF neural network used for dynamic load identification were expounded. And the structure and algorithm of RBF network wrere determined. The RBF neural network system for cutting rock dynamic load identification was designed and builted.The dynamic load identification method of two levels of RBF neural network was proposed,and the program of RBF neural network on the Lab VIEW platform was designed. The network was trained and tested with the test data. The results show that, the cutting rock dynamic load identification method is feasible and effective.