Trajectory Measurement and Straightness Control Method of Fully Mechanized Mining Face
Ensuring the straightness of the fully mechanized mining face is the foundation for achieving safe and efficient coal mining.Based on the geometric constraint relationship between shearer,scraper conveyor and hydraulic support,the straightness of scraper conveyor and the operating trajectory of shearer were taken as the reflection of the straightness of fully mechanized mining face.In order to improve the calculation accuracy of the operating trajectory of the shearer,the inertial navigation sensor and hydraulic support displacement sensor data were iteratively corrected and fused.Firstly,a longitudinal error model was established for the historical displacement sequence of a single hydraulic support,and a lateral error model was established for the primary displacement sequence of all hydraulic supports.Grey system theory was used to eliminate errors and correct data for the two sequences.Then,the data from the inertial navigation sensor was used to obtain the shearer trajectory.The processed hydraulic support data was overlaid to form the support trajectory,and the Kalman filtering method was used to iteratively update the shearer trajectory and the support trajectory to obtain the predicted trajectory.At the same time,the shearer trajectory and the predicted trajectory data were iteratively corrected.Simulation experiments show that this method can effectively compensate for the errors of the inertial navigation sensors and hydraulic supports,and improve control accuracy.
万方数据
维普
