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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—。Tel13366030731E-mailzhkexue@163.com.J.2018461139-149.ZHANGKexueLIShoubinHEManchaoetal.StudyonkeytechnologiesofintelligentunmannedcoalminingseriesⅠstudyondiagonaladjust-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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