基于采煤机摇臂销轴载荷数据融合的煤岩识别方法.pdf

全日制全日制硕士学位论文硕士学位论文 基于采煤机摇臂销轴载荷数据融合的煤岩识别 方法 Coal-rock Identification Based on Load Data Fusion of Shearer Rocker Axle 作者姓名戴渤鸿 导师姓名田立勇 学科专业机械工程 研究方向机械电子工程 完成日期 2020 年 8 月 11 日 辽宁工程技术大学 Liaoning Technical University 万方数据 基 于 采 煤 机 摇 臂 销 轴 载 荷 数 据 融 合 的 煤 岩 识 别 方 法 戴 渤 鸿 辽 宁 工 程 技 术 大 学 作 万方数据 关于学位论文使用授权的说明关于学位论文使用授权的说明 本学位论文作者及指导教师完全了解 辽宁工程技术大学辽宁工程技术大学 有关保 留、使用学位论文的规定，同意 辽宁工程技术大学辽宁工程技术大学 保留并向国家有关 部门或机构送交论文的复印件和磁盘，允许论文被查阅和借阅，学校可 以将学位论文的全部或部分内容编入有关数据库进行检索，可以采用影 印、缩印或扫描等复制手段保存、汇编本学位论文。 保密的学位论文在解密后应遵守此协议。 学位论文作者签名____________导师签名_____________ 年月日年月日 万方数据 中图分类号TH421学校代码10147 UDC621密级公 开 辽宁工程技术大学 全日制硕士学位论文全日制硕士学位论文 基于采煤机摇臂销轴载荷数据融合的煤岩识别方 法 Coal-rock Identification based on load data fusion of shearer rocker axle 作者姓名戴渤鸿学号471720028 导师姓名田立勇副导师姓名（教授） 申请学位工学硕士培养单位机械工程学院 学科专业机械工程研究方向机械电子工程 二○二○年八月 万方数据 致致 谢谢 时间飞逝，转眼间我的研究生生活即将结束，在人生最后的校园生活中，应该 好好珍惜最后学生时代，为步入职场做好准备。研三的最后一年中，在田立勇老师 的悉心指导和严格要求下以及自身的努力与学习，毕业论文业已初步完成。 在研究生的三年学习中，不断的提高自己的理论知识，与本科最大的区别是理 论可以依靠实践来验证。在读研期间，多次参与老师项目，提高自己的动手能力， 自己可以慢慢做到将理论应用于实践，同时通过与企业的合作，可以更好的了解到 该行业目前发展的前景以及目前存在的问题，结合自己的兴趣与意向，可以更好的 投入到将来的岗位中。通过参加多次的招聘会，了解了目前企业所需要的人才，明 确了自己知识与能力的差距，为今后的提高个人能力明确了方向。 在这里，我首先要感谢田立勇老师，感谢田老师一直以来的细心指导，我才能顺利的 完成本次毕业论文。从论文的开始到最后的修改完善，都离不开田老师的细心指导，同时 也感谢陈洪月老师对我论文的指导，感谢实验室的师兄弟，在我写论文的时候帮助我查阅 资料，同时也在我艰难时刻陪我度过研究生的几年生涯。 不负遇见，不谈亏欠。在我的研究生生涯中，每个人都是不可或缺的一部分，感谢那 些不曾说后悔的时光，感谢大家三年的陪伴。 今年的毕业季是非常特殊的一次毕业季，感谢强大的祖国作为我们的后盾，感谢疫情 中“最美的逆行者”白衣天使。 最后，衷心感谢答辩与外审的各位老师，您们辛苦了 万方数据 I 摘摘要要 采煤机是采煤工作面的主要截煤机械设备，采煤机的安全智能运行是保证生产 效益和人身安全的关键。而目前在智能控制上最大的阻碍就是无法判别采煤机的截 割状态，不能确定截割的是煤或者岩石，继而无法对其进行相应的控制。因此，本 文在综合分析目前国内外研究情况以及面临的问题之后，开展了基于摇臂销轴载荷 差异的煤岩识别研究。 首先，分析采煤机滚筒的截割受力，建立了滚筒与摇臂销轴之间的力学模型， 为论文研究提供了理论基础。 其次，对两种加权融合算法 LMS 算法与 RLS 算法进行研究，并通过仿真对比 分析，RLS 算法具有更好的性能优势，所以确定 RLS 算法作为本文载荷数据的融合 算法。 再次，利用 PFC3D离散元与 Adams 动力学分析软件相结合的方法，建立了不同 硬度煤壁和岩壁工况下的基于摇臂销轴的仿真模型，根据仿真结果，确定了销轴的 关键受载部位，分析了在两种工况下销轴载荷的差异性，并结合时域上的自适应数 据融合处理算法 RLS 算法，使销轴载荷数据方差降低，波动降低，使两种工况下销 轴的受力差异更明显，能够根据销轴受力范围判别此时的截割状态。 最后，以实验作为仿真的验证，在中煤张家口采掘实验中心搭建了销轴载荷的 无线传感采集系统，开展了不同硬度煤岩壁的截割实验。实验结果表明，各个工况 下每个方向销轴受力均有一定差异，但是此时截岩与截煤工况下载荷范围存在重 叠，以此判断煤岩具有一定误差；采用 RLS 自适应数据融合算法对载荷数据进行处 理，与原始载荷进行对比分析，均方差降低了 43.8 87.4，载荷不存在重合部 分，受力差异更加明显，验证了该方法能够更准确达到煤岩判别的目的。 本论文有图 60 幅，表 10 个，参考文献 65 篇。 关键词摇臂销轴；自适应数据融合；煤岩识别仿真；无线采集；受力差异； 万方数据 II Abstract Shearer is the main coal cutting machinery equipment in coal mining face, and the safe and intelligent operation of shearer is the key to ensure the production benefit and personal safety. At present, the biggest obstacle in intelligent control is that the cutting state of shearer can not be judged, the coal or rock can not be determined, and then it can not be controlled accordingly. Therefore, after comprehensive analysis of the current research situation at home and abroad, this paper has carried out a research on coal and rock identification based on the difference of load of rocker pin shaft. Firstly, the cutting force of shearer drum is analyzed, and the mechanical model between drum and rocker arm is established, which provides the theoretical basis for the research of this paper. Secondly, the two weighted fusion algorithms LMS algorithms and RLS algorithms are studied, and through simulation and comparative analysis, RLS algorithm has better perance advantages, so determine the RLS algorithm as the fusion algorithm of load data in this paper. Thirdly, the dynamic simulation model based on rocker pin under different working conditions of Hard Coal Wall and rock wall is established by using the of PFC3D and Adams. According to the simulation results, the key loading position of pin shaft is determined, the difference of pin-axle load under two working conditions is analyzed, and combined with the adaptive data fusion algorithm RLS algorithm in time domain, the variance of pin-axle load data is reduced and the fluctuation is reduced, which makes the difference of pin-axle force between two working conditions more obvious, the cutting state can be judged according to the force range of the pin shaft. Finally, the wireless sensor acquisition system of pin shaft load is built in Zhangjiakou mining experimental center of Zhongmei, and the cutting experiment of coal rock wall with different hardness is carried out. The experimental results show that there are some differences in the stress of each pin shaft under each working condition, but the load range of rock cutting and coal cutting is overlapped to judge that the coal rock has certain error. The RLS adaptive data fusion algorithm is used to process the load data and compare with the original load. The mean variance is reduced by 43.887.4, the load does not overlap, and the force difference is more obvious. It is verified that this 万方数据 III sideThe can achieve the purpose of coal and rock discrimination more accurately. KeyWords rocker pin shaft; adaptive data fusion; coal and rock Identification simulation; wireless acquisition; force difference 万方数据 IV 目录目录 摘摘要要.............................................................................................................................................I I 目目录录...........................................................................................................................................IV 图清单图清单.........................................................................................................................................VIIIVIII 表清单表清单...........................................................................................................................................XIIXII 变量注释表变量注释表..................................................................................................................................XIIIXIII 1 绪论绪论...............................................................................................................................................1 1.1 选题背景与意义..........................................................................................................................1 1.2 国内外煤岩识别研究现状...........................................................................................................2 1.3 煤岩识别存在的问题..................................................................................................................4 1.4 主要研究内容.............................................................................................................................4 1.5 技术路线.....................................................................................................................................4 1.6 本章小结.....................................................................................................................................5 2 基于摇臂销轴的截割理论分析基于摇臂销轴的截割理论分析......................................................................................................6 2.1 煤岩的力学特性分析..................................................................................................................6 2.2 采煤机截割部结构组成...............................................................................................................8 2.3 截齿及滚筒截煤理论分析.........................................................................................................10 2.4 摇臂销轴空间力学模型.............................................................................................................13 2.5 基于摇臂销轴载荷数据加权融合方法的煤岩识别原理.............................................................14 2.6 本章小结...................................................................................................................................15 3 载荷数据自适应加权载荷数据自适应加权融合融合算法研究算法研究.............................................................................................16 3.1 概述..........................................................................................................................................16 3.2 LMS算法研究..........................................................................................................................16 3.3 RLS算法研究...........................................................................................................................20 3.4 两种算法仿真分析....................................................................................................................23 3.5 本章小结...................................................................................................................................26 4 煤岩识别仿真研究煤岩识别仿真研究.......................................................................................................................27 4.1 滚筒离散元截割仿真................................................................................................................ 27 4.2 基于Adams的采煤机摇臂销轴动力学仿真..............................................................................35 万方数据 V 4.3 本章小结...................................................................................................................................47 5 实验研究实验研究..................................................................................................................................... 48 5.1 实验测试...................................................................................................................................48 5.2 实验方案设计........................................................................................................................... 51 5.3 实验结果分析........................................................................................................................... 51 5.4 本章小结...................................................................................................................................59 6 结论与展望结论与展望..................................................................................................................................60 6.1 结论..........................................................................................................................................60 6.2 创新点...................................................................................................................................... 60 6.3 展望..........................................................................................................................................61 参考文献参考文献.........................................................................................................................................62 作作 者者 简简 历历....................................................................................................................................65 关于学位论文使用授权的说明关于学位论文使用授权的说明........................................................................................................66 学位论文数据集学位论文数据集..............................................................................................................................67 万方数据 VI Contents Abstract...........................................................................................................................................I Contents........................................................................................................................................IV List of Figures............................................................................................................................ VIII List of Tables...............................................................................................................................XII List of Variables.........................................................................................................................XIII 1 Introduction..................................................................................................................................1 1.1 Background and significance of the topic................................................................................... 1 1.2 Currentstatus of coal and rock identification at home and abroad.............................................2 1.3 Problems existing incoal and rock identification.........................................................................4 1.4 Main Research Content...............................................................................................................4 1.5 Technical routes.......................................................................................................................... 4 1.6 Chapter Summary........................................................................................................................5 2 Analysis of Cutting Theory Based on Rocker Pin Shaft......................................................... 6 2.1 Analysis of Mechanical Properties of Coal and Rock................................................................6 2.2 Structure of cuttingpart of shearer..............................................................................................8 2.3 Analysis of Cutting Gear and Coal Cutting by Drum..............................................................10 2.4 On the Space Mechanics Model ofRockerPinShaft.................................................................13 2.5 Principle of coalandrockidentificationbasedonloaddataweightedfusion of RockerPin. 14 2.6 Chapter Summary......................................................................................................................15 3 Research of Load Data Adaptive Weighting Algorithm.........................................................16 3.1 Overviews..................................................................................................................................16 3.2 LMS Algorithm Research..........................................................................................................16 3.3 RLS Algorithm Research.......................................................................................................... 20 3.4 Simulation Analysis of Two Algorithms...................................................................................23 3.5 Chapter Summary......................................................................................................................26 4 Coal and Rock Identification Simulation................................................................................. 27 4.1 Cutting Simulation of Drum Discrete Element..........................................................................27 4.2 DynamicSimulation of RockerPinShaft of Shearer BasedonAdams........................................34 4.3 Chapter Summary......................................................................................................................46 5 ExperimentalStudies...................................................................................................................48 万方数据 VII 5.1 Experimental Tests.................................................................................................................... 48 5.2 Design of Experimental Scheme............................................................................................... 51 5.3 Analysis Experimental Results.............