Research On Simulation Model Of Shearer For Hardware-in-the-Loop

As the core mining equipment of fully mechanized mining face,the intelligent degree of shearer is the key to determine whether the fully mechanized mining face can realize intelligent control.In March 2020,the National Development and Reform Commission and other eight ministries and commissions issued the Guiding Opinions on Accelerating the Intelligent Development of Coal Mines,which put forward the guiding ideology,principles and objectives of the intelligent development of coal mines,and defined the main tasks of the intelligent development of coal mines,including improving the intelligent level of shearer and developing intelligent mining technology.To improve the intelligent level of shearer,it is necessary to develop its intelligent control system and study its intelligent control technology.The feasibility and control effect of the studied intelligent control technology need to be evaluated through field tests before its practical application.However,the heavy underground production tasks make the control technology test scheme conflict with the coal output of the working face,and the control effect is difficult to be fully verified.Based on the hardware-inthe-loop simulation technology,this thesis studies the hardware-in-the-loop simulation model of shearer,establishes a set of hardware-in-the-loop simulation platform of shearer,and provides a reliable test platform for the verification and optimization of intelligent control technology of shearer.The main research work and conclusions are as follows:(1)The hardware-in-the-loop simulation platform architecture of shearer is proposed,including software architecture and hardware composition.The software architecture is mainly divided into two parts.One part is Simpole real-time simulation software,which provides a real-time simulation environment for the compilation of shearer simulation models and provides a real-time interactive path for parameter transmission among simulation models.The other part is to compile and download the real-time simulation model of shearer to Simpole real-time simulation software.The hardware part consists of shearer control system,shearer positioning system,real-time simulation server,upper computer and three-axis turntable.(2)Based on Lagrange method,the dynamic equation of shearer is derived,which is simplified into matrix form and the corresponding dynamic simulation model is built in Simulink.Aiming at the input of drum cutting load,the drum cutting load model is established in Simulink,which is used to solve the generalized force part of the dynamic simulation model of shearer.Aiming at the input of the motion state of the rocker arm,the mechanical-hydraulic coupling model of the height adjustment system established by the research group in the early stage is coupled with the input end of the dynamic simulation model of the shearer,which is used to output the dynamic change process of the angle,angular velocity and angular acceleration of the rocker arm to the dynamic simulation model of the shearer.(3)Hardware-in-the-loop simulation experiment platform of shearer is built,and hardware-in-the-loop simulation experiments under five different working conditions are carried out,and the simulation data output under different working conditions are compared and analyzed to verify the rationality of the whole dynamics simulation model of shearer.In order to further verify the simulation model,the real underground data of MG1000/2660-WD shearer are collected and input into the whole dynamics simulation model of shearer.The traction load acting on the traveling wheels of the traction unit and the traction motor current under the corresponding load are simulated and output,and the simulation value of traction current is compared with the measured value to verify the accuracy of the whole dynamics simulation model of shearer.The thesis contains 56 figures,4 tables,and 110 references.