Construction and experimental verification of the spatial attitude kinematic model of advanced support equipment

Abstract

The roadway in coal mine is prone to deformation of the surrounding rock under the influence of complex disturbance, which induces the imbalance of support attitude matching between roadway surrounding rock and advanced coupling support equipment, breaks the mechanical balance of the original coupling support system, and causes safety accidents. The postures and offsets of the various working spaces of the advanced hydraulic supports under the influence of complex disturbances are systematically analyzed. The D–H parameter matrix transformation method is used to establish the spatial posture kinematic model of a single/group of advanced hydraulic supports. The posture parameters of each key node are obtained through global coordinate transformation. Based on the comparison of the working attitude parameters of the support obtained through simulation analysis and model calculation, the average absolute error of the support height calculation results of the single group of advanced hydraulic support attitude model is 3.92 mm, and that of the coordinate calculation results of the advanced hydraulic support group is (3.26 mm, 1.99 mm), which meet the accuracy requirements of the advanced hydraulic support attitude monitoring. Finally, the spatial attitude kinematic model of a single/group of advanced hydraulic supports is verified and analyzed by using the advanced hydraulic support attitude monitoring test bench. The maximum error value of the experimental results is 4.9 mm, which verifies the accuracy of the established spatial attitude kinematic model of the advanced hydraulic support. The research results can provide theoretical and technical support for the intelligentization of the advanced coupling support system and the safe and efficient mining of coal mine.

Research on High Precision FFT Pre Scan Technology Based on RBW Adaptation

“…It is generally used for an engineering project between the maximum signal and background noise. (10) In the formula, MAX is the maximum value of ] [n X s , in V; MSEj is the Mean squared error between the swept frequency domain signal and the frequency domain signal of the jth test FFT, in V, and the formula is as follows:…”

“…This article uses the peak signal-to-noise ratio as the third supplementary indicator to evaluate the accuracy of amplitude frequency maps. From equation (10), it can be seen that the smaller the MSE, the greater the peak signal-to-noise ratio, and the smaller the error between the FFT frequency domain signal and the swept frequency domain signal. By comparing the magnitude of the signal-to-noise ratio, we can compare and analyze which RBW value of the FFT amplitude frequency map is more accurate and which peak signal-to-noise ratio indicator is better.…”

“…The proportional scaling method is based on the evaluation criteria for the differences in matter, and generally represents the differences in matter with five levels of discrimination. [9][10] When higher accuracy is required for evaluation analysis, 9 discrimination levels can be used for evaluation, as shown in Table 3.…”

Research on the Calculation Model and Control Method of Initial Supporting Force for Temporary Support in the Underground Excavation Roadway of Coal Mine

“…Zhao et al [20] presented a technique for the sectional adjustment of the hydraulic support setting load, aimed at pre-cracking and weakening coal walls in the context of comprehensive mining operations in hard and thick coal seams. Chen et al [21] conducted a study on maintaining the spatial position of support braces during coal mining operations. However, their research did not encompass the calculation of initial bracing force or the investigation of regulatory systems.…”