摘要
采煤机在实际作业中,由于地质条件的变化或机器自身的移动,截割头会发生俯仰角度的变化,导致控制器难以获取采煤机的重心分布情况,从而使得采煤机截割高度控制误差较大。为了解决该问题,提出了采煤机截割高度自适应控制方法。引入考虑俯仰角的旋转矩阵,将采煤机前、后滚筒质心转换为北天坐标,根据获取的前后滚筒中心相对于采煤机质心位置。构建控制点数据格网模型,设计基于C8051F021采煤机截割自适应高度控制器。计算前后滚筒中心相对于采煤机质心位置之间的距离,为优化采煤机的重心分布,以底板曲率半径最大化为约束条件,根据质心距离,结合底板凸起、凹陷段高度差,实现对采煤机割煤高度自适应控制。由实验结果可知,该方法控制后滚筒随摇臂角度和俯仰角变化的高度最大值为15.0 m,与前滚筒数值完全一致;截割高度控制误差随俯仰角变化,由0.075逐渐减小到0.050,提高了采煤作业的安全稳定性。
In actual operation of coal mining machines,due to changes in geological conditions or the movement of the machine itself,the cutting head will undergo changes in pitch angle,making it difficult for the controller to obtain the distribution of the center of gravity of the coal mining machine,resulting in significant control errors in the cutting height of the coal mining machine.To solve this problem,an adaptive control method for the cutting height of the coal mining machine was proposed.Introduce a rotation matrix considering the pitch angle,convert the centroids of the front and rear drums of the coal mining machine into northerly coordinates,and based on the obtained positions of the center of the front and rear drums relative to the centroid of the coal mining machine.Build a control point data grid model and design an adaptive height controller for cutting based on C8051F021 coal mining machine.Calculate the distance between the center of the front and rear drum and the center of gravity of the shearer.In order to optimize the distribution of the shearer’s center of gravity,the maximum curvature radius of the bottom plate is used as a constraint condition.Based on the distance between the center of gravity and the height difference between the raised and depressed sections of the bottom plate,adaptive control of the shearer’s cutting height is achieved.According to the experimental results,the maximum height of the roller controlled by this method with changes in rocker arm angle and pitch angle is 15.0 m,which is completely consistent with the value of the front roller;The control error of cutting height gradually decreases from 0.075 to 0.050 as the elevation angle changes,improving the safety and stability of coal mining operations.
作者
刘超
郭林林
李堂
LIU Chao;GUO Linlin;LI Tang(Binhu Coal Mine of Zaozhuang Mining(Group)Co.,Ltd.,Tengzhou,Shandong 223003,China)
出处
《自动化与仪器仪表》
2025年第8期234-238,共5页
Automation & Instrumentation
基金
枣庄矿业(集团)有限责任公司科技项目(SNZB-ZKJT-D20226-0300)资助成果。
关键词
采煤机
截割高度控制
前后滚筒
截割底板
coal mining machine
cutting height control
front and rear rollers
cutting floor
