智能化无人开采系列关键技术之一综采智能化工作面调斜控制技术研究

461Vol.46No.120181CoalScienceandTechnologyJan．2018———12345132613131.1000132.1000833.1000134.1000835.2320016.100013、、、、、、。125．0mm025．9mm。TD353TD67A0253－2336201801－0139－11StudyonkeytechnologiesofintelligentunmannedcoalminingseriesⅠstudyondiagonaladjustmentcontroltechnologyofintelligentfully－mechanizedcoalminingfaceZHANGKexue12345LIShoubin13HEManchao2NINGYu6ZHANGLiang13HUANGZenghua131.BeijingTiandi－MarcoElectro－HydraulicControlSystemCompanyLimitedChinaCoalTechnologyandEngineeringGroupCo．Ltd．Beijing100013China2.StateKeyLabofGeomechanicsandUndergroundEngineeringChinaUniversityofMiningandTechnologyBeijingBeijing100083China3.IntelligentControlTechnologyBranchChinaCoalＲesearchInstituteBeijing100013China4.StateKeyLabofCoalＲesourcesandSafetyMiningChinaUniversityofMiningandTechnologyBeijingBeijing100083China5.ProvinceandMOEJointKeyLabofMineSafetyandHighEfficientCoalMiningAnhuiUniversityofScienceandTechnologyHuainan232001China6.ChinaCoalTechnologyandEngineeringGroupCo．Ltd．Beijing100013ChinaAbstractInordertosolveadiagonaladjustmentcontrolproblemwhichoneofthekeydifficultyproblemsoftheintelligentunmannedminingasiteinvestigationmechanicsanalysisandindustrialtestcombinedmethodwasappliedandaninternalrootcauseandtheexter-nalinducedcauseofthediagonaladjustmentcontrolinthecoalminingfacewereobtained．Thepaperstatedthemechanicsbehaviorofthescraperconveyorinthefully－mechanizedcoalminingface．Thepaperobtainedtheupwardrunningdownwardslidingofthescrapercon-2017－09－12DOI10.13199/j.cnki.cst.2018.01.0202017YFC08043002017YFC08043042017M620955SKLCＲSM16KFD082017QN0102016ZYQN004JYBSYS20171051986—。[e-mail]intelligentunmannedcoalminingseriesⅠstudyondiagonaladjust-mentcontroltechnologyofintelligentfully－mechanizedcoalminingfaceJ.CoalScienceandTechnology2018461139－149.9312018146veyorandthemechanicsconditionsofnoupwardrunningordownwardslidingofthescraperconveyor．Thepaperpointedoutthesingledirectionalcoalminingreversedpushedscraperconveyoradditionalcuttingdepthminuscuttingdepthandthepluscuttingdepthandminuscuttingdepthcombinedcontroltechnicalprinciple．Thediagonaladjustmentcontroltechnologyofthefullymechanizedintelligentcoalminingfacewasprovidedbasedonthemonitoringandmeasuringoftherealtimepushingforwardrate．Thepushingforwardrateofthetransportationgatewaypushingforwardrateoftheairreturninggatewayandthefalse－inclinedanglewererealtimelymonitoredandmeas-ured．Meanwhileanautomaticcomparisonanalysiswasconductedwiththepushingforwardratemeasuringdeviceinstalledattheheadandtailofthemachineinordertoconducttheintelligentcontroloftherealtimediagonaladjustmentinthefullymechanizedintelligentcoalminingface．Thesiteindustrialtrialshowedthatbasedonthemonitoringandmeasuringoftherealtimepushingforwardrateamaxerrorofthedistancemeasurementintheoverwidezoneofthecoalminingfacewas125．0mmtheminerrorwas0andtheaverageerroras25．9mm．Theerrorwithinthescopecouldmeetthesiterequirementsofthediagonaladjustmentcontroltechnologyforthefully－mecha-nizedintelligentcoalminingfaceandcouldconducttheaccurateintelligentdiagonaladjustmentcontrol．Keywordsfully－mechanizedminingintelligentcoalminingfaceunmanneddiagonaladjustmentupwardrunninganddownwardsliding0、、1－5。36－10。、、、。。1、2、236。7。11、、12ZF4000/16/28、1314“”、15、16。3－717－1819、0。、04120181。13－11000t/a。3111025．00～5．80m5．40m3°2550m260m。3111021。1。1311102Fig．1ExcavationengineeringplansofNo．311102coalminingface1Table1Lithologyofcoalseamroofandfloor/m9．54～44．3821．45、0．5～7．743．090．80～8．854．946．78～12．678．80、211－16、。、、。。、2。FFQ、FZ2Fig．2Stressanalysiswhentheheadgoesscraperconveyordirection3。、。3。3Fig．3Forceanalysisofscraperconveyorinslopeadjustmentcontrolforfully－mechanizedcoalminingface1412018146X、Y。XYFXFY12。FX=F1+F2－G11FY=F3－G22F2=μG23F3=G24G1=Gsinθ5G2=Gcosθ6F1F2G、G1G2F3θμ。1—610YFY=0。23FX=0FX＞0FX＜0。3F1XF1XF1F2F2F2G1。F1+F2－G1=0G1F1。F2F1G1FHF2=－FHFH=F1－Gsinθ。F2FHFHF2=μGcosθ。4。4Fig．4Statusofscraperconveyorslopeadjustmentcontrolinfully－mechanizedcoalminingface4FH|FH|＞|μG×cosθ|FH|FH|＞|μGcosθ||FH|≤|μGcosθ|。FH。4FH。、、、。4．1FH。。24120181。5。5Fig．5Controltechnologyprincipleofone－waycoalcutting4．2FH。、、。6。6Fig．6Controltechnologyprincipleofreversepushscraperconveyor4．34．3．101/2、。7。4．3．201/2、。8。34120181467Fig．7Controltechnologyprincipleofplusdepth－web8Fig．8Controltechnologyprincipleofcutdepth－web4．3．3。。9。①—④7Ⅰ—Ⅳ⑤—⑧8Ⅰ—Ⅳ9Fig．9Controltechnologyprincipleofplusandcutdepth－web4．4FH。。4．52。5、、。441201815．1。。5．25．2．1、。10。10Fig．10Technicalideasofintelligentmonitoringbasedonreal－timeadvancedegrees5．2．2、。1α。。L=a－b111Mαα=arcsina－bM2abM。11Fig．11Schematicofslopeadjustmentinfully－mechanizedintelligentcoalminingface2β。。SsinβSS0。A12。Ssinβ=S03ββ=arcsinS0S412Fig．12Schematicdiagramofscraperconveyorupwardinintelligentslopeadjustment3。α=β。5．2．35412018146、。、、。311102。2。213。13Fig．13Originaltestresultsofranging3111022714。14Fig．14Datamapoferroroutlier1417174mm。3。2Table2Originaldataofrangingtestincoalminingface/cm/cm/cm/mm009430—1801023800280102481131601103160042401183240053201263320064001337394674001343