【摘要】：采煤機(jī)是綜采工作面重要設(shè)備之一,采煤機(jī)自適應(yīng)截割技術(shù)是實現(xiàn)綜采工作面“無人化”和“少人化”的重要組成部分。目前,采煤機(jī)記憶截割技術(shù)在我國的煤礦企業(yè)得到了廣泛應(yīng)用,但是當(dāng)沿采煤機(jī)進(jìn)刀方向地質(zhì)情況發(fā)生顯著變化時,采煤機(jī)無法自適應(yīng)地對記憶的截割軌跡進(jìn)行調(diào)整,從而造成采煤機(jī)滾筒截割到頂板或底板,降低采煤機(jī)的回采效率,對截齒造成損害。本文以采煤機(jī)自適應(yīng)通過采煤機(jī)進(jìn)刀方向上的斷層、褶皺等復(fù)雜地質(zhì)構(gòu)造為主要研究內(nèi)容,在分析了以往基于煤巖界面識別和基于記憶截割的采煤機(jī)自適應(yīng)控制技術(shù)的基礎(chǔ)上提出了基于三維精細(xì)化地質(zhì)模型的采煤機(jī)自適應(yīng)通過復(fù)雜地質(zhì)構(gòu)造的方法。本文主要針對采區(qū)局部地理坐標(biāo)下采煤機(jī)滾筒的絕對定位技術(shù)、采煤機(jī)自適應(yīng)過褶皺技術(shù)、采煤機(jī)自適應(yīng)過斷層技術(shù)進(jìn)行了深入的研究,主要研究成果包括:(1)對用于采煤機(jī)機(jī)身和滾筒定位的參考坐標(biāo)系進(jìn)行定義,通過三次坐標(biāo)變換建立了采煤機(jī)截割軌跡的數(shù)學(xué)模型,將采區(qū)局部地理坐標(biāo)系下的采煤機(jī)牽引方向截割軌跡表示出來,并且對所得的截割軌跡進(jìn)行誤差分析,確定所用傳感器的誤差允許范圍,從而得到較高精度的采煤機(jī)截割軌跡。(2)在煤層褶皺地質(zhì)構(gòu)造發(fā)育的情況下,對現(xiàn)有自適應(yīng)控制技術(shù)存在的不足進(jìn)行分析;利用三次樣條曲線插值算法得到頂?shù)装迕簬r界面曲線;以獲得的頂?shù)装迩�為參照,利用循環(huán)坐標(biāo)變換法對采煤機(jī)的截割路徑進(jìn)行規(guī)劃,推導(dǎo)出采煤機(jī)每一刀臥底量的調(diào)整量和俯仰采角度的計算公式。(3)將斷層地質(zhì)構(gòu)造的特征參數(shù)作為輸入量,將斷層帶的整體構(gòu)造準(zhǔn)確表示出來;以實現(xiàn)最大回采率和最少割巖量為研究目標(biāo),綜合考慮設(shè)備的通過能力、前后兩刀截割的連續(xù)性等約束條件,對采煤機(jī)截割軌跡進(jìn)行規(guī)劃;根據(jù)采煤機(jī)采煤工藝要求,提出基于插補(bǔ)算法和循環(huán)坐標(biāo)變換算法的采煤機(jī)理論規(guī)劃路徑的修正方法。仿真分析和實驗室驗證表明:采煤機(jī)滾筒絕對定位技術(shù)能夠?qū)崿F(xiàn)滾筒的準(zhǔn)確定位,且定位精度在0.01m之內(nèi)�；谘h(huán)坐標(biāo)變換法的采煤機(jī)自適應(yīng)過褶皺技術(shù)能夠安全可靠地通過采煤機(jī)進(jìn)刀方向上的褶皺地質(zhì)構(gòu)造,且最大調(diào)高誤差0.038m�；诓逖a(bǔ)算法和循環(huán)坐標(biāo)變換算法的采煤機(jī)自適應(yīng)過斷層技術(shù)能夠保證采煤機(jī)安全可靠地通過沿采煤機(jī)進(jìn)刀方向上的斷層地質(zhì)構(gòu)造。
[Abstract]:Shearer is one of the important equipments in fully mechanized mining face, and the self-adaptive cutting technology of shearer is an important part of realizing "no man" and "less person" in fully mechanized mining face. At present, the memory cutting technology of shearer has been widely used in coal mining enterprises in our country, but when the geological situation along the direction of coal cutter feed changes significantly, the shearer can not adaptively adjust the cutting track of memory. Therefore, the cutting of the shearer drum to the roof or floor reduces the recovery efficiency of the shearer and causes damage to the cutting teeth. In this paper, the main content of this paper is the complex geological structure such as faults, folds and so on, which self-adapts through the feed direction of the shearer. Based on the analysis of the previous coal mining machine adaptive control technology based on coal and rock interface identification and memory cutting, the method of self-adapting coal shearer through complex geological structure based on three-dimensional fine geological model is proposed. This paper mainly focuses on the absolute positioning technology of shearer drum in local geographical coordinates, the self-adapting folding technology of shearer, and the self-adaptive fault crossing technology of shearer. The main research results are as follows: (1) the reference coordinate system for the position of the shearer's fuselage and drum is defined, and the mathematical model of the cutting track of the shearer is established through the cubic coordinate transformation. The cutting track of the shearer's traction direction in the local geographical coordinate system of the mining area is expressed, and the error analysis of the cutting path is carried out to determine the error allowable range of the sensor used. Therefore, the cutting path of shearer with high accuracy is obtained. (2) the shortcomings of existing adaptive control techniques are analyzed under the condition of the development of fold geological structure in coal seam, and the interface curves of coal and rock between roof and floor are obtained by cubic spline curve interpolation algorithm. According to the curve of top and bottom plate, the cutting path of shearer is planned by using the method of cyclic coordinate transformation. The formulas for calculating the depth of each shaft and the angle of pitching mining are derived. (3) the characteristic parameters of the fault geological structure are taken as the input quantity and the whole structure of the fault zone is accurately expressed; In order to realize the maximum recovery rate and the minimum rock cutting quantity as the research goal, considering the passing ability of the equipment and the continuity of the cutting before and after cutting, the cutting path of the shearer is planned, and according to the requirements of the coal mining technology of the shearer, the cutting path of the shearer is planned. Based on interpolation algorithm and cyclic coordinate transformation algorithm, a method for modifying the path planning of shearer theory is proposed. Simulation analysis and laboratory verification show that the absolute positioning technology of the shearer drum can realize the accurate positioning of the drum, and the positioning accuracy is within 0.01m. Based on the method of cyclic coordinate transformation, the self-adaptive folding technique of shearer can safely and reliably pass through the fold geological structure in the direction of the shearer's feed, and the maximum elevation error is 0.038 m. Based on interpolation algorithm and cyclic coordinate transformation algorithm, the self-adaptive fault crossing technique of shearer can ensure the safe and reliable passage of shearer along the direction of fault geological structure.
【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TD421.6

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本文編號：2278177