基于截割声信号识别的采煤机电液比例调高控制系统研究

With the implementation of coal mine high yield and high efficiency development strategy step by step, shearer cutting drum automatic height adjustment system and its control technology become the bottleneck restricting the automation level of working face. Aiming at the existing problem of the shearer drum height adjustment system, this project proposes using electro-hydraulic proportional height adjustment system. The mathematical model of this system is established. Its characteristic is compared with traditional switching height adjustment hydraulic system. The shearer simulation cutting experiment system is built. The new method of multi-sensor data fusion coal-rock interface recognition taking the cutting sound signal as the main signal is proposed. Based on memory cutting, the coal-rock interface prediction and cutting path optimization algorithm are studied. The desired cutting trajectory and its planning algorithm are determined. The virtual prototype simulation model and the experimental device of the electro-hydraulic proportional automatic height adjustment control system are built. Tracking control under complex coal seam with big inertia and big load and variable speed is studied. The reasonable and feasible control structure and tracking control strategy are proposed. The shearer electro-hydraulic proportional automatic height adjustment control theory is founded. Research production has the important theory significance and application value for the realization of shearer automatic height adjustment and fully mechanized mining face's automation & unmanned.

随着煤矿开采高产高效发展战略的逐步实施，采煤机截割滚筒自动调高系统及其控制技术越来越成为制约工作面自动化水平的技术瓶颈。本项目针对目前采煤机滚筒调高系统存在的问题，提出采用电液比例调高液压系统，建立系统的数学模型，与传统的开关式调高液压系统进行特性对比分析；搭建采煤机模拟截割实验系统，提出以截割声信号特征为主体的多传感器数据融合煤岩界面识别新方法；以记忆截割法为基础，研究煤岩界面预测与截割轨迹优化算法，确定期望截割轨迹；研究轨迹规划算法；建立电液比例自动调高控制系统虚拟样机仿真模型和实验系统，研究复杂煤层下的大惯量重载变速行走工况条件的跟踪控制，提出合理可行的控制结构和跟踪控制策略，建立采煤机电液比例自动调高控制理论。研究成果对于实现采煤机自动调高和综采工作面的自动化与无人化具有重要的理论意义和应用价值。

本项目主要完成了如下几方面的工作：（1）以某型薄煤层采煤机为原型，按相似理论确定了模拟螺旋滚筒的相关结构参数，完成了模拟截割部、调高及牵引部的设计，完成油箱组件、集成阀块设计及泵站集成，配置所需传感器及电控元件，完成了试验装置整机设计，经加工组装，最终搭建完成采煤机模拟截割调高试验装置。该试验装置的搭建，为煤岩识别和采煤机自动调高控制实验研究提供了平台。（2）针对该试验装置，设计了组态监控系统，应用LabVIEW软件开发了试验装置的数据采集系统，建立了该试验装置的虚拟样机模型及电液比例调高液压系统模型，进行了试验装置的性能仿真研究，为后续利用该试验装置进行实验研究提供了理论支撑。（3）建立了采煤机的虚拟样机动力学模型，给出了电液比例改造方案和主要元件选型，进行了采煤机电液比例调高系统的AMESim与ADAMS的机液耦合仿真研究，给出了摇臂下调时改善调高性能的方法，为采煤机调高系统的电液比例改造提供了理论依据和借鉴。（4）建立了采煤机电液比例调高控制系统的数学模型，进行了采煤机电液比例调高控制的仿真实验研究及智能控制策略研究，为采煤机电液比例调高控制提供了有益参考。