【作者】 赵学雷；

【导师】 孟国营；

【作者基本信息】 中国矿业大学（北京） ， 机械设计与理论， 2011， 博士

【摘要】 悬臂式掘进机煤岩识别技术是实现煤矿采掘自动化的关键技术之一,可靠的煤岩识别技术不但能够使掘进机在作业过程中能正确对煤巷的顶板或底板自动识别,而且还能够实现对巷道两帮的煤层与岩层的识别,结合位移传感器能够对煤层夹矸识别并判断其存在的位置。煤岩识别有利于提高掘进机的掘进速度,降低工人的劳动强度,对提高经济效益和保障采掘安全作业两方面都将发挥重要的作用。本文通过对悬臂式掘进机在截割过程中截割电机实际功率、升降油缸和回转油缸压力及位移等状态变量的分析,构建了转矩观测器实现对煤岩的初步判断与识别。本文提出了具有模糊控制的掘进机自动纠偏控制策略,实现掘进机中心偏距和方位角偏差的调整。更多还原

【Abstract】 The identification technique of coal and rock of the roadheader is one of the core technique in the automation of excavating, a reliable identification technique not only enables roadheader to achieve the identification of the top and the bottom of coal roadway automatically, but also can identify the coal bed and rock stratum which lie on the both sides of the roadway. Besides, it can also achieve the identification of Coal gangue and its location through the use of displacement sensors. This technology is profitable to improve the speed of excavating, as well as reduce the labor intensity, which impacts the profound effect on both improvement of economy efficiency and safely work. The identification technology of coal and rock is based on the analysis of the actual power of the roadheader cutting motor, placement of the lift cylinder, pressure of rotating oil cylinder and other parameters of the cylinder. In his paper, a torque observer was constructed by the parameters mentioned above. An automatic correction strategy was also proposed by use of fuzzy control, its aim is to achieve the modification of the center slants spacing and azimuth deviation.更多还原