Tests and error analysis of a self-positioning shearer operating at a manless working face

doi:10.1016/S1674-5264(09)60160-5

Mining Science and Technology (China)

Volume 20, Issue 1, January 2010, Pages 53-58

https://doi.org/10.1016/S1674-5264(09)60160-5 Get rights and content

Abstract

Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitations. We analyzed an inertial navigation system intended to guide the movement a shearer and designed a self-positioning device for the shearer. Simulation tests were also performed on the system. We analyzed the errors observed in these tests to show that the main reason for the low precision of the self-positioning system is accumulated error in the inertial sensor. A Kalman filtering algorithm used in combination with the shearer motion model effectively reduces the measurement errors of the self-positioning system by compensating for gyroscopic drift. Finally, we built an error compensation model to reduce accumulated errors using continuous correction to provide self-positioning of the shearer within a certain range of accuracy.

References (17)

J Wang et al.
EMD-based GPS baseline solution and validation test
Journal of China University of Mining & Technology
(2008)
XQ Fang et al.
Study on unmanned workface mining technology
Science and Technology Review
(2008)
LX Wu et al.
Research to the mine in the 21st century: digital mine
Journal of China Coal Society
(2000)
LX Wu et al.
Restudy on digital mine: characteristics, frame work and key technologies
Journal of China Coal Society
(2003)
XQ Fang et al.
Key technologies in manless working face
XQ Fang et al.
Self-positioning system of the shearer in unmanned workface
Journal of Xi'an University of Science and Technology
(2008)
YC Yang
Mining the thin coal seam with integrated automation manless workface
Express Information of Mining Industry
(2004)
EK Hou et al.
Study on the coupling of 3D geoscience modeling with numerical simulation
Journal of China Coal Society
(2002)

There are more references available in the full text version of this article.

Cited by (22)

Tribological properties of PEEK composites reinforced by MoS<inf>2</inf> modified carbon fiber and nano SiO<inf>2</inf>
2023, Tribology International
An anti-wear filler of molybdenum disulfide (MoS₂) coated chopped carbon fiber (SCF) was synthesized by hydrothermal method and blended with nano-SiO₂ to enhance the tribological properties of PEEK composites materials. The results show that the SCF-MoS₂ has stronger adhesion with the PEEK matrix, which is more conducive to the internal stress transfer of PEEK composites. Compared with pure PEEK, the elastic modulus and tensile strength of PEEK/SiO₂/SCF-MoS₂ composites are increased by 62.04% and 26.49% respectively. The friction coefficient and wear rate of PEEK/SiO₂/SCF-MoS₂ composites are reduced by 31.43% and 79.18% respectively. In addition, it also shows good tribological properties in the simulation coal mine environment.
Tunnel personnel positioning method based on TOA and modified location-fingerprint positioning
2016, International Journal of Mining Science and Technology
Citation Excerpt :
Mine accurate positioning, a vital technologic means to ensure personnel safety in mine production, is one of key technologies in researches concerning “six systems” for mine safety protection [1–4].
To position personnel in mines, the study discussed in this paper built on the tunnel personnel positioning method on the basis of both TOA and location-finger print (LFP) positioning. Given non-line of sight (NLOS) time delay in signal transmission caused by facilities and equipment shielding in tunnels and TOA measurement errors in both LFP database data and real-time data, this paper puts forth a database data de-noising algorithm based on distance threshold limitation and modified mean filtering (MMF), as well as a real-time data suppression algorithm based on speed threshold limitation and MMF. On this basis, a nearest neighboring data matching algorithm based on historical location and the speed threshold limitation is used to estimate personnel location and realize accurate personnel positioning. The results from both simulation and the experiment suggest that: compared with the basic LFP positioning method and the method that only suppresses real-time data error, the tunnel personnel positioning methods based on TOA and modified LFP positioning permits effectively eliminating error in TOA measurement, making the measured data close to the true positional data, and dropping the positioning error: the maximal positioning error in measurements from experiment drops by 9 and 3 m, respectively, and the positioning accuracy of 3 m is achievable in the condition used in the experiment.
Control strategy for an intelligent shearer height adjusting system
2010, Mining Science and Technology
An intelligent shearer height adjusting system is a key technology for mining at a man-less working face. A control strategy for a shearer height adjusting system based on a mathematical model of the height adjusting mechanism is proposed. It considers the non-linearity and time variations in the control process and uses Dynamic Fuzzy Neural Networks (D-FNN). The inverse characteristics of the system are studied. An adaptive on-line learning and error compensation mechanism guarantees system real-time performance and reliability. Parameters from a German Eickhoff SL500 shearer were used with Matlab/Simulink to simulate a height adjusting control system. Simulation shows that the trace error of a D-FNN controller is smaller than that of a PID controller. Also, the D-FNN control scheme has good generalization and tracking performance, which allow it to satisfy the needs of a shearer height adjusting system.
Research on the Three-Machines Perception System and Information Fusion Technology for Intelligent Work Faces
2023, Sensors
Experimental study on running attitude sensing and error compensation of shearer based on SINS
2023, Caikuang yu Anquan Gongcheng Xuebao/Journal of Mining and Safety Engineering
A NEW ALGORITHM FOR ADJUSTING PI CONTROLLER COEFFICIENTS IN SHEARER OPERATION CONTROL
2023, Eurasian Mining

View all citing articles on Scopus

View full text

Tests and error analysis of a self-positioning shearer operating at a manless working face

Abstract

Journal of China University of Mining & Technology

Study on unmanned workface mining technology

Science and Technology Review

Research to the mine in the 21st century: digital mine

Journal of China Coal Society

Restudy on digital mine: characteristics, frame work and key technologies

Journal of China Coal Society

Key technologies in manless working face

Self-positioning system of the shearer in unmanned workface

Journal of Xi'an University of Science and Technology

Mining the thin coal seam with integrated automation manless workface

Express Information of Mining Industry

Study on the coupling of 3D geoscience modeling with numerical simulation

Journal of China Coal Society