Study On The Control Technology Of Scraper Conveyor Straightness In Fully Mechanized Mining Face

Nowadays,coal is still one of the most important energy sources,and the efficiency and safety of coal production have received widespread attention currently.It is an effective way to improve the efficiency and safety that the shearer,scraper conveyor and hydraulic support in fully mechanized mining face can achieve the coordinated automation operation.As the walking track of shearer and coal transportation machinery,the scraper conveyor plays a significant role that the running resistance of scraper conveyor and the cutting resistance of shearer will increase while the shape of scraper conveyor is not effectively guaranteed to be straight,which will accelerate the damage of coal mining equipment and there will be a great potential safety hazard.Thus,the scraper conveyor straightness is of great significance to the safety and efficiency of coal production and the straightness control technology is the key to realize intelligent mining.Scraper conveyor is selected as the research object and the factors affecting the straightness of scraper conveyor are analyzed.Scraper conveyor straightness control method is proposed,which is based on the straightness error compensation model of scraper conveyor,and the scraper conveyor straightness control experiment platform was set up to carry out the experiment research.The main research contents include as follows:(1)Study on the factors influencing the straightness of scraper conveyor.By analyzing the structural characteristics of the scraper conveyor,it is determined that the connection of central point of central chutes is the shape expression of scraper conveyor.The SINS positioning error,straightness expression error,hydraulic cylinder motion error,pin-lug clearance error and linkage effect error,as the factors affecting the straightness of scraper conveyor,are studied.(2)Linearity error compensation model and straightness control method of scraper conveyor.In order to overcome the detection process error of the scraper conveyor straightness,a method for measuring the straightness of scraper conveyor based on dead reckoning is presented and the experimental study is carried out.The error compensation models of pin-lug clearance error and the central chute linkage effect error are built.A method for straightness control of scraper conveyor based on fuzzy adaptive PID controller is presented and the simulation research is carried out.(3)Experimental platform construction and experimental system design.On the basis of theoretical analysis,the experimental platform of straightness control of scraper conveyor is set up.Labview software is used to write the program in PC of the experimental system to realize the data transmission,display and storage.The TIA Portal software is used to write the program in PLC of the experimental system,the sensor data acquisition,straightness control and other functions of PLC are realized.(4)Analysis of straightness control experiments of scraper conveyor.The experiments of sigle central chute and multiple central chutes are carried out,and the influence of pin-lug clearance and central chute linkage effect are investigated.The process experiment of four morphological adjustment process for scraper conveyor shape,such as straight line to straight line,straight line to oblique line,random line to straight line,and random line to oblique line are carried out,the results show that the position adjustment error of central chute is less than 2 cm,which can verify the effectiveness of the control method of scraper conveyor straightness based on fuzzy adaptive PID controller.