无人驾驶采煤机滚筒调高模型与避障策略  

Drum Height Adjustment Model and Obstacle Avoidance Strategy of Unmanned Driving Shearer

作　　者：张丹[1,2,3] 王栋辉 郝尚清[2] 徐鹏 万丰 Zhang Dan;Wang Donghui;Hao Shangqing;Xu Peng;Wan Feng(Heilongjiang University of Science and Technology,Harbin 150022,China;Taiyuan Heavy Machine Coal Machine Co.,Ltd.,Taiyuan 030000,China;China University of Mining and Technology,Xuzhou 221000,China)

机构地区：[1]黑龙江科技大学,哈尔滨150022 [2]太重煤机有限责任公司,太原030000 [3]中国矿业大学,江苏徐州221000

出　　处：《煤矿机械》2021年第7期53-56,共4页Coal Mine Machinery

基　　金：国家自然科学基金项目(51804104);黑龙江科技大学基本科研项目(2017-KYYWF-0511)。

摘　　要：在智能化开采过程中,需要实时获取滚筒位置并对其高度进行调整。建立了滚筒调高机构数学模型,给出了任意时刻滚筒高度的数学表达式、滚筒调高范围以及滚筒位于最低点和最高点时的中心轨迹方程。滚筒调高范围与大摇臂长度、小摇臂与铅垂线摆角范围以及大摇臂与小摇臂夹角有关。同时,提出了一种基于油缸压力增量变化的滚筒避障策略,该策略在初始时刻采用较大的采样时间,通过调整滚筒高度变量ΔH来提高避障精度,整体上提高了整机的可靠性。采煤机工作效率和采样时间与滚筒调高变量的比值非线性相关,单纯调整采样时间并不能提高采煤机的工作效率。研究结果可为滚筒调高机构设计提供理论依据,为智能化开采提供理论基础。In the process of intelligent mining, it is necessary to obtaining the position of the drum in real time and adjusting its height. The mathematical model of the drum height adjustment mechanism was established, and the mathematical expression of the drum height at any time, the range of the drum height and the center trajectory of the drum at the lowest and highest point were given. The height adjustment range of the drum is related to the length of the large rocker arm, the swing angle range of the small rocker arm and the vertical line, and the angle between the large rocker arm and the small rocker arm. At the same time, a drum obstacle avoidance strategy based on the incremental change of cylinder pressure was proposed. This strategy uses a larger sampling time at the initial moment,improves the accuracy of obstacle avoidance by adjusting the drum height variable ΔH, and improves the reliability of the whole machine. The working efficiency of the shearer is non-linearly related to the ratio of the sampling time to the variable height adjustment of the drum. Simply adjusting the sampling time cannot improve the working efficiency of the shearer. The research results can provide a theoretical basis for the design of the drum height adjustment mechanism and provide a theoretical basis for intelligent mining.

关 键 词：采煤机 滚筒 调高机构 避障策略 

分 类 号：TD421.6[矿业工程—矿山机电]