摘要
A mathematical hydraulic support self-tracking model for three-machine cooperative mining is proposed to address low efficiency and difficulties in strategy evaluation of a fully mechanized coal face.The proposed model uses the coordinates and traction speed of the shearer to calculate the frequency of the circular hydraulic support and realize the coordinated operation of the three-machine mining technology.A unity3d hardware-in-the-loop simulation experimental hearer and hydraulic support platform was used to validate the model of autonomous follow-up.The results indicate that collaborative control of coal mining allowed for an efficiency 3.76%higher than under automatic operation mode and 46.03%higher than under manual control;thus,The mathematical model provided an improved production efficiency of the fully mechanized mining face.The mathematical model also provides a more intelligent and reliable security support,and improves the intelligent level of hydraulic support follow-up control.
基金
This work was supported by the Project funded by China Postdoctoral Science Foundation under Grant 2019M651081
the Merit Funding for the Returned Overseas Personnel Sci-Tech Activities of Shanxi Province under Grant 2016 and Key Research and Development Program of Shanxi(2019)and Innovation Programs of Higher Education Institutions in Shanxi(2019L0305).
