基于巷道底板力学特性的掘进机自动纠偏动态分析与控制  

Dynamic Analysis and Control of Automatic DeviationCorrection of Roadheader Based on MechanicalCharacteristics of Roadway Floor

作　　者：张鹏 ZHANG Peng(Tashan Coal Mine,Jinneng Holding Coal Industry Group,Datong 037003,China)

机构地区：[1]晋能控股煤业集团塔山煤矿,山西大同037003

出　　处：《山西煤炭》2024年第3期93-98,107,共7页Shanxi Coal

基　　金：山西省煤基重点科技攻关资助项目(201803D121128)。

摘　　要：掘进机的自动纠偏是巷道自动截割过程中最关键的步骤,其中巷道底板力学参数的选择是掘进机自动化掘进的挑战和难点。结合巷道底板力学性质和实验参数对力学参数回归方程进行拟合,计算巷道底板阻力;并对掘进机轨道的抗压实和抗转向有限元部分进行分析,建立准确可靠的掘进机纠偏动力学模型。提出了能够实时调整控制参数的神经网络PID(比例整合差异化)控制方法;然后通过Matlab对动力学模型和控制方法进行仿真,并通过掘进机控制实验系统对控制方法进行测试。测试结果表明,控制系统能够很好地满足控制要求,保证了掘进机良好的动态性能和巷道的截割质量,可作为煤矿智能化开采的理论基础和技术支撑。Automatic deviation correction of the roadheader is the most critical step in the process of automatic roadway cutting,in which the determination of mechanical parameters for the roadway floor is the challenge and difficulty in the automated tunneling of the roadheader.The mechanical characteristics and experimental parameters of the roadway floor were combined to fit the regression equations for mechanical parameters and calculate the resistance of the roadway floor.Additionally,finite element analysis was conducted on the compaction resistance and steering resistance of the roadheader track,establishing an accurate and reliable dynamic deviation correction model for the roadheader and proposing a neural network PID(Proportional Integral Differentiation)control method capable of adjusting the parameters in real time.Then,we simulated the dynamic model and control method with Matlab and tested the control method with the roadheader control experimental system.The test results showed that the control system could well meet the control requirements,ensuring the dynamic performance of the roadheader and the quality of the roadway cutting,which could be the theoretical foundation and technical support for intelligent coal mining.

关 键 词：机械化掘进工作面 掘进机 巷道底板属性 动力模型 

分 类 号：TD421[矿业工程—矿山机电]