A flexible suspension type filling scraper conveyor intelligent resistance reduction control method

Abstract

The application discloses a flexible suspension type filling scraper conveyor intelligent resistance reduction control method, which realizes real-time sensing of the position and attitude angle of a middle trough, realizes real-time solving of coordinates and poses by using a quaternion method, and constructs a real-time pose equation of the scraper conveyor; the deflection angle and the carrying resistance equation obtained by calculation quantize the carrying resistance of the whole machine and the tension of each section of the scraper chain; whether the tension of the scraper chain exceeds a safety threshold and whether the driving force of the tail motor is overloaded are taken as discrimination indexes to autonomously identify abnormal working conditions with excessively large carrying resistance; when the abnormal working conditions are identified, a horizontal straightening or vertical leveling control path is selected according to the pose state, and a "sensing-identification-decision-execution" closed-loop intelligent resistance reduction control mechanism is formed. The application can improve the carrying capacity of the filling scraper conveyor, greatly reduces the underground manual intervention, improves the filling efficiency, and effectively reduces the energy consumption and equipment wear.

Description

Technical Field

[0001] This invention belongs to the field of coal mine solid backfilling mining technology, specifically relating to an intelligent resistance reduction and control method for a flexible suspended backfilling scraper conveyor. Background Technology

[0002] As a core piece of equipment in coal mine solid backfilling mining technology, the filling scraper conveyor, due to its structural characteristics, is prone to complex operating conditions such as misalignment, bending, and jamming during process execution. Its transport resistance comes not only from the frictional resistance between the bulk materials and the scraper chain system, but also from the additional resistance generated by the linkage behavior of other mechanisms, forming a complex resistance source that severely restricts its operating efficiency. In implementing process flows under complex operating conditions, it is crucial to clarify the sources of resistance, quantify the multi-source superimposed resistance, and effectively control and reduce resistance. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent resistance reduction and control method for a flexible suspended filling scraper conveyor, which can improve the carrying capacity of the filling scraper conveyor, greatly reduce downhole manual intervention, and improve filling efficiency.

[0004] To achieve the above objectives, the present invention provides an intelligent resistance reduction and control method for a flexible suspended filling scraper conveyor, comprising the following steps: S1. Working condition self-sensing: Real-time acquisition of the position parameters and attitude angles of the middle trough of each section of the scraper conveyor in the carrier coordinate system, and construction of the attitude characterization equation of the middle trough. The attitude angles include pitch angle, yaw angle and roll angle. Real-time calculation of coordinate transformation matrix using quaternion method M T The position parameters and attitude angles are transformed into the navigation coordinate system to construct the real-time pose representation equation of the central slot; S2. Quantification of transport resistance and autonomous identification of working conditions: Based on the real-time pose obtained in step S1, combined with the filling process time, the transport resistance of the entire scraper conveyor and the scraper chain tension at any section in the middle trough are quantified through the preset transport resistance equation. With the tension of the scraper chain in the middle section of a single section F zj Real-time driving force of tail motor T w To determine the indicators, with F zj Does it exceed its breaking load? T w The logic establishes a criterion to determine whether the maximum critical driving force is exceeded, and autonomously identifies abnormal working conditions with excessive carrying resistance. S3. Autonomous Decision-Making and Control for Abnormal Operating Conditions: When an abnormal operating condition is identified, a self-regulation path is selected based on the main positional factors causing the abnormal condition. If the yaw angle is abnormally significant, then the sliding cylinder of the hydraulic support is selected for horizontal adjustment. If the pitch angle is abnormally significant, then the rear column cylinder of the hydraulic support is selected for vertical leveling. Based on the self-regulating parameter decision model, the reference stroke of the selected regulating cylinder is calculated, and the cylinder is driven to correct the posture of the scraper conveyor. S4. Closed-loop feedback control: After executing the control action in step S3, return to step S1 and perform pose perception and working condition recognition again until the working condition is determined to be normal, thus completing this intelligent drag reduction control.

[0005] As a further aspect of the present invention: In S1, the equation representing the pose of the middle slot is as follows: (1); In the formula, P ZBC ( j ) is the first j The pose matrix equation for the middle slot of the section; f The pitch angle is °; ψ Yaw angle, °; c The roll angle is in degrees. x , y , z The coordinates of the central trough position; coordinate transformation matrix M T as follows: (2); Representing coordinate transformation matrices using quaternions M T ( Q )as follows: (3); The Bursa-Wolf model is used for coordinate transformation, and the model is represented as follows: (4); In the formula, [ x , y , z ] T The coordinates before transformation, [ x (u) , y (u) , z (u) ,] T The coordinates are the transformed coordinates. l For scaling factor, [ x 0, y 0,z 0] T These are translation parameters; The real-time pose representation equation is as follows: (5); In the formula, P ZBC ( j ) (u) For the first j The real-time pose matrix equation of the middle slot.

[0006] As a further aspect of the present invention: In S2, the transport resistance equation is as follows: (6); In the formula, W zhj For the first j The heavy-load side transport resistance of the middle section of the trough; q b The mass per unit length of the material, in kg / m; q l The mass per unit length of the scraper is expressed in kg / m. m b The coefficient of friction between the material and the central tank; m l The coefficient of friction between the scraper chain system and the central groove; f j For the first j Pitch angle of the middle section groove; g The acceleration due to gravity is expressed in m / s². L The length of the central groove in a single section, in meters (m). t z The total time for this filling process is seconds. t c The time required for a single unloading process at a single discharge port, in seconds; (7); In the formula, W cj For the first j The unloaded side transport resistance of the middle section of the channel; m w The coefficient of friction between the material and the scraper chain system; f j For the first j Pitch angle of the middle section groove; Then the first n Tension at the chain outlet in the middle of the link F n(n+1) for: (8); In the formula, m 0 represents the coefficient of friction between the scraper and the sidewalls of the central trough; Dp j For the first j The relative yaw angle between the middle trough of the section and the middle trough adjacent to the conveying direction, in °; F 0 represents the tension at the inlet of the middle channel in section 1, in N.

[0007] As a further aspect of the present invention: In S2, the tail motor provides real-time driving force. T w as follows: (9); In the formula, S 1. S 2. S 3. S 4 represents the scraper chain tension values ​​(in N) at the tail chain exit point, head chain entry point, head chain exit point, and tail chain entry point. W zh , W c The carrying resistance, N, of the heavy-load and unloaded sides of the scraper conveyor used for filling the working face; Assume the real-time drive power of the head motor P t Real-time drive power of the tail motor P w The ratio of drive power between the engine head and the engine tail is K We can conclude that: (10); In the formula, P t This refers to the real-time drive power of the head motor. P w This refers to the real-time drive power of the tail motor. K The ratio of drive power between the engine head and the engine tail. v The scraper chain traction speed is in m / s; k r The resistance coefficient of the scraper chain as it passes through the drive sprocket. k r =0.03~0.045; (11); In the formula, F p To apply preload to the scraper chain, equations (9) to (11) are combined, and the rated power of the head motor is substituted into the calculation to obtain the result. S 1. S 2. S 3. S Tension value of 4, driving force of tail motorT w = S 4- S 1。

[0008] As a further aspect of the present invention: In S2, the tension of the scraper chain at the middle groove of a single section is used. F zj The standard for judgment can be determined based on the strength of the conveyor scraper chain. F zj maximum value F zjmax And set a safety factor. m =1.2~1.3, the judgment criteria are as follows: ; Driven by the tail motor T w To determine the indicator, the driving force can be calculated using equation (13). T w Maximum critical value T wmax : (12); In the formula, or For motor efficiency; N Rated power of the electric motor, in kW; The discrimination criteria are: .

[0009] As a further aspect of the present invention: In S3, the self-regulation path is as follows: Path 1: Relative yaw angle of the central trough Dp j Reduce, that is, control the extension and retraction of the sliding cylinder to adjust the yaw angle of the central groove. ψ j This makes the scraper conveyor appear in a straight line; Path 2: Relative pitch angle of the central trough Df j Reduce, that is, control the movement of the extension cylinder of the column after filling the hydraulic support, adjust the position of the rear bearing beam, and keep the scraper conveyor horizontal.

[0010] As a further aspect of the present invention: In S3, the self-regulating parameter decision model includes regulation parameter decisions for horizontal attitude anomalies and vertical attitude anomalies. When the preferred path 1 is adjusted, the pose equation obtained from step S1 is used to adjust the movement of the central trough towards the goaf or working face. y j (u) The distance; the reference stroke that the sliding cylinder should be adjusted for. lhy for: (13); when l hy When the value is positive, the sliding cylinder extends; conversely, when the value is negative, the sliding cylinder retracts. When the preferred path 2 is adjusted, assuming the filling scraper conveyor is in a horizontal state, the length of the rear column of the solid filling hydraulic support is... L b If the lengths of the front and rear columns are not adjusted... L BD = L b - l lz , l lz This is the reference stroke for the rear column hydraulic cylinder; (14); (15); In the formula, L CE The vertical distance between the front suspension chain of the scraper conveyor and the bottom plate of the coal seam, in meters; g The angle of inclination of the rear column is °; L BC The distance, in meters, is the distance between the rear column of the hydraulic support and the hinge point of the front hanging chain of the filling scraper conveyor on the rear top beam. g b The rear column tilt angle of the solid-filled hydraulic support under optimal filling conditions, in °; d b The angle of subsidence of the bearing beam at the optimal filling state of the solid-filled hydraulic support is °; The reference stroke of the rear column cylinder can be obtained by combining equations (14) and (15): (16); when l lz When the value is positive, the rear column cylinder extends; conversely, when the value is negative, the rear column cylinder retracts.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention forms a closed-loop intelligent resistance reduction control mechanism of "perception-recognition-decision-execution", which can effectively solve the problem of excessive carrying resistance caused by abnormal posture of flexible suspended filling scraper conveyors, significantly reduce energy consumption and equipment wear, improve the carrying capacity of filling scraper conveyors, reduce underground manual intervention, improve filling efficiency, promote the development and popularization of coal-based solid waste filling mining, and further improve the economic benefits of coal mining enterprises. Attached Figure Description

[0012] Figure 1 Flowchart for intelligent drag reduction control of filling scraper conveyor Figure 2 This is a schematic diagram of the tension distribution in the scraper chain; Figure 3 Logic diagram for selecting self-regulating paths; Figure 4 A schematic diagram showing the structural positional relationship between the rear column, rear top beam, and filling scraper conveyor of the hydraulic support.

[0013] In the figure: S1, S2, S3, and S4 are the scraper chain tension values ​​at the tail chain exit point, head chain entry point, head chain exit point, and tail chain entry point, respectively; δ is the sinking angle of the top beam of the solid filling hydraulic support; ζ is the tilt angle of the rear column of the solid filling hydraulic support. Detailed Implementation

[0014] The invention will now be further described with reference to the accompanying drawings.

[0015] like Figure 1 As shown, an intelligent resistance reduction and control method for a flexible suspended filling scraper conveyor includes the following steps: S1. Working condition self-awareness: An inertial navigation system is installed on the middle trough of a single section of the flexible suspended filling scraper conveyor to obtain the position parameters and attitude angles of each middle trough in the carrier coordinate system in real time, and to construct the attitude characterization equation of the middle trough. The attitude angles include pitch angle, yaw angle and roll angle.

[0016] Specifically, the pose representation equation for the middle slot is as follows: (1); In the formula, P ZBC ( j ) is the first j The pose matrix equation for the middle slot of the section; f The pitch angle is °; ψ Yaw angle, °; c The roll angle is in degrees. x , y , z The coordinates of the central trough position; Real-time calculation of coordinate transformation matrix using quaternion method M T The position parameters and attitude angles are transformed into the navigation coordinate system to construct the real-time pose representation equation of the central slot; Specifically, coordinate transformation matrix M T as follows: (2); Representing coordinate transformation matrices using quaternionsM T ( Q )as follows: (3); The Bursa-Wolf model is used for coordinate transformation, and the model is represented as follows: (4); In the formula, [ x , y , z ] T The coordinates before transformation, [ x (u) , y (u) , z (u) ,] T The coordinates are the transformed coordinates. l For scaling factor, [ x 0, y 0, z 0] T These are the translation parameters.

[0017] Since the coordinate systems of each vehicle and the navigation coordinate system have the same scale, then l =1. Regarding the initial state setting of the navigation coordinate system, let the starting position of the scraper conveyor head be the navigation coordinate system. X The origin of the axis, the position of the scraper conveyor under standard pulling conditions, is the navigation coordinate system. Y The origin of the axis, the height of the scraper conveyor under optimal support conditions for the solid-filled hydraulic support, serves as the navigation coordinate system. Z By identifying the origin of the axis, the translation parameters of the middle trough of each section can be derived from the structural parameters of the scraper conveyor. x 0, y 0, z 0] T Then, the position coordinates in equation (1) [ x j ( t ), y j ( t ), z j ( t )] T By left multiplying the transformation matrix M T By performing a coordinate transformation, the position parameters in the navigation coordinate system can be obtained. Combining this with the original attitude angles, the real-time pose representation equation is as follows: (5); In the formula, P ZBC (j ) (u) For the first j The real-time pose matrix equation of the middle slot.

[0018] S2. Quantification of transport resistance and autonomous identification of working conditions: Based on the real-time pose obtained in step S1, combined with the filling process time, the transport resistance of the entire scraper conveyor and the scraper chain tension at any section in the middle trough are quantified through the preset transport resistance equation.

[0019] Specifically, the equation for the resistance of the vehicle is as follows: (6); In the formula, W zhj For the first j The heavy-load side transport resistance of the middle section of the trough; q b The mass per unit length of the material, in kg / m; q l The mass per unit length of the scraper is expressed in kg / m. m b The coefficient of friction between the material and the central tank; m l The coefficient of friction between the scraper chain system and the central groove; f j For the first j The pitch angle of the middle groove of the section, when f j When >0, take "+"; when f j When <0, take "-"; g The acceleration due to gravity is expressed in m / s². L The length of the central groove in a single section, in meters (m). t z The total time for this filling process is seconds. t c The time required for a single unloading process at a single discharge port, in seconds; (7); In the formula, W cj For the first j The unloaded side transport resistance of the middle section of the channel; m w The coefficient of friction between the material and the scraper chain system; f j For the first j The pitch angle of the middle groove of the section, when f j When >0, take "+"; when f j When <0, use "-"; Then the firstn Tension at the chain outlet in the middle of the link F n(n+1) for: (8); In the formula, m 0 represents the coefficient of friction between the scraper and the sidewalls of the central trough; Dp j For the first j The relative yaw angle between the middle trough of the section and the middle trough adjacent to the conveying direction, in °; F 0 represents the tension at the inlet of the middle channel in section 1, in N.

[0020] Considering the coupling of horizontal and vertical bending, the total tension is 110%~120% of the unidirectional tension. This refers to the tension of the scraper chain in the middle of each section of the heavy-duty side of the filling scraper conveyor. F zj The solution can be obtained by equation (8), and the solution for the unloaded side is the same.

[0021] With the tension of the scraper chain in the middle section of a single section F zj Real-time driving force of tail motor T w To determine the indicators, with F zj Does it exceed its breaking load? T w The logic establishes a criterion to determine whether the maximum critical driving force is exceeded, and autonomously identifies abnormal operating conditions with excessive carrying resistance.

[0022] Specifically, such as Figure 2 As shown, the real-time driving force of the tail motor T w as follows: (9); In the formula, S 1. S 2. S 3. S 4 represents the scraper chain tension values ​​(in N) at the tail chain exit point, head chain entry point, head chain exit point, and tail chain entry point. W zh , W c The carrying resistance, N, of the heavy-load and unloaded sides of the scraper conveyor used for filling the working face; W zh , W c The carrying resistance, N, of the scraper conveyor for filling the working face on the heavy-load side and the unload side can be calculated by formula (8); Assume the real-time drive power of the head motor Pt Real-time drive power of the tail motor P w The ratio of drive power between the engine head and the engine tail is K We can conclude that: (10); In the formula, P t This refers to the real-time drive power of the head motor. P w This refers to the real-time drive power of the tail motor. K The ratio of drive power between the engine head and the engine tail. v The scraper chain traction speed is in m / s; k r The resistance coefficient of the scraper chain as it passes through the drive sprocket. k r =0.03~0.045; Tension at the minimum tension point of the scraper chain S min =min{ S 1, S 3}, when W zh > W c hour, S min = S 1. When W zh Keep increasing S The value of 1 can be equal to or less than zero, which can cause excessive slack in the scraper chain, leading to chain slippage or jamming. Therefore, a preload must be applied to the scraper chain. F p It can be deduced that: (11); In the formula, F p To apply preload to the scraper chain, equations (9) to (11) are combined, and the rated power of the head motor is substituted into the calculation to obtain the result. S 1. S 2. S 3. S Tension value of 4, driving force of tail motor T w = S 4- S 1.

[0023] Furthermore, the tension of the scraper chain at the middle groove of a single section... F zj The standard for judgment can be determined based on the strength of the conveyor scraper chain. Fzj maximum value F zjmax And set a safety factor. m Based on long-term engineering practice, effective traction force accounts for about 80% of the total traction force, so a safety factor is set. m =1.2~1.3, the judgment criteria are as follows: ; Driven by the tail motor T w To determine the indicator, the driving force can be calculated using equation (13). T w Maximum critical value T wmax : (12); In the formula, or For motor efficiency; N Rated power of the electric motor, in kW; The discrimination criteria are: .

[0024] S3. Autonomous Decision-Making and Control for Abnormal Operating Conditions: When an abnormal operating condition is identified, a self-regulation path is selected based on the main positional factors causing the abnormal condition. Specifically, the self-regulation pathway is as follows: Path 1: Relative yaw angle of the central trough Dp j Reduce, that is, control the extension and retraction of the sliding cylinder to adjust the yaw angle of the central groove. ψ j This makes the scraper conveyor appear in a straight line; Path 2: Relative pitch angle of the central trough Df j Reduce, that is, control the movement of the extension cylinder of the column after filling the hydraulic support, adjust the position of the rear bearing beam, and keep the scraper conveyor horizontal.

[0025] If the yaw angle is abnormally significant, then the sliding cylinder of the hydraulic support is selected for horizontal adjustment. If the pitch angle is abnormally significant, then the rear column cylinder of the hydraulic support is selected for vertical leveling. Based on the self-regulating parameter decision model, the reference stroke of the selected regulating cylinder is calculated, and the cylinder is driven to correct the posture of the scraper conveyor. Furthermore, such as Figure 3 and Figure 4 As shown, the self-regulating parameter decision model includes regulation parameter decisions for horizontal and vertical attitude anomalies. When the preferred path 1 is adjusted, the pose equation obtained from step S1 is used to adjust the movement of the central trough towards the goaf or working face. y j (u) | distance; considering that the bearing beam will sink at a certain angle after the solid filling hydraulic support. d Based on geometric relationships, the reference stroke that the sliding cylinder should be adjusted to... l hy for: (13); when l hy When the value is positive, the sliding cylinder extends; conversely, when the value is negative, the sliding cylinder retracts. When the preferred path 2 is adjusted, assuming the filling scraper conveyor is in a horizontal state, the length of the rear column of the solid filling hydraulic support is... L b If the lengths of the front and rear columns are not adjusted... L BD = L b - l lz , l lz This is the reference stroke for the rear column hydraulic cylinder; (14); (15); In the formula, L CE The vertical distance between the front suspension chain of the scraper conveyor and the bottom plate of the coal seam, in meters; g The angle of inclination of the rear column is °; L BC The distance, in meters, is the distance between the rear column of the hydraulic support and the hinge point of the front hanging chain of the filling scraper conveyor on the rear top beam. g b The rear column tilt angle of the solid-filled hydraulic support under optimal filling conditions, in °; d b The angle of subsidence of the bearing beam at the optimal filling state of the solid-filled hydraulic support is °; The reference stroke of the rear column cylinder can be obtained by combining equations (14) and (15): (16); when l lz When the value is positive, the rear column cylinder extends; conversely, when the value is negative, the rear column cylinder retracts. The structural parameters of the solid-filled hydraulic support in equations (13) to (16) can be directly obtained from a pre-set database. d , H 0、 gThe dynamic parameters of the solid-filled hydraulic support are obtained through real-time monitoring and calculation, and can be used as known quantities for calculation.

[0026] S4. Closed-loop feedback control: After executing the control action in step S3, return to step S1 and perform pose perception and working condition recognition again until the working condition is determined to be normal, thus completing this intelligent drag reduction control.

Claims

1. A method for intelligent resistance reduction and control of a flexible suspended filling scraper conveyor, characterized in that, Includes the following steps: S1. Working condition self-sensing: Real-time acquisition of the position parameters and attitude angles of the middle trough of each section of the scraper conveyor in the carrier coordinate system, and construction of the attitude characterization equation of the middle trough. The attitude angles include pitch angle, yaw angle and roll angle. Real-time calculation of coordinate transformation matrix using quaternion method M T The position parameters and attitude angles are transformed into the navigation coordinate system to construct the real-time pose representation equation of the central slot; S2. Quantification of transport resistance and autonomous identification of working conditions: Based on the real-time pose obtained in step S1, combined with the filling process time, the transport resistance of the entire scraper conveyor and the scraper chain tension at any section in the middle trough are quantified through the preset transport resistance equation. With the tension of the scraper chain in the middle section of a single section F zj Real-time driving force of tail motor T w To determine the indicators, with F zj Does it exceed its breaking load? T w The logic establishes a criterion to determine whether the maximum critical driving force is exceeded, and autonomously identifies abnormal working conditions with excessive carrying resistance. S3. Autonomous Decision-Making and Control for Abnormal Operating Conditions: When an abnormal operating condition is identified, a self-regulation path is selected based on the main positional factors causing the abnormal condition. If the yaw angle is abnormally significant, then the sliding cylinder of the hydraulic support is selected for horizontal adjustment. If the pitch angle is abnormally significant, then select the rear column cylinder of the hydraulic support for vertical leveling. Based on the self-regulating parameter decision model, the reference stroke of the selected regulating cylinder is calculated, and the cylinder is driven to correct the posture of the scraper conveyor. S4. Closed-loop feedback control: After executing the control action in step S3, return to step S1 and perform pose perception and working condition recognition again until the working condition is determined to be normal, thus completing this intelligent drag reduction control.

2. The intelligent resistance reduction and control method for a flexible suspended filling scraper conveyor according to claim 1, characterized in that, In S1, the equation representing the pose of the middle slot is as follows: (1) ； In the formula, P ZBC ( j ) is the first j The pose matrix equation for the middle slot of the section; φ The pitch angle is °; ψ Yaw angle, °; γ The roll angle is in degrees. x , y , z The coordinates of the central trough position; coordinate transformation matrix M T as follows: (2) ； Representing coordinate transformation matrices using quaternions M T ( Q )as follows: (3)； The Bursa-Wolf model is used for coordinate transformation, and the model is represented as follows: (4)； In the formula, [ x , y , z ] T The coordinates before transformation, [ x (u) , y (u) , z (u) ,] T The coordinates are the transformed coordinates. λ For scaling factor, [ x 0, y 0, z 0] T These are translation parameters; The real-time pose representation equation is as follows: (5)； In the formula, P ZBC ( j ) (u) For the first j The real-time pose matrix equation of the middle slot.

3. A method for intelligent resistance reduction and control of a flexible suspended filling scraper conveyor according to claim 1, characterized in that, In S2, the equation for the carrying resistance is as follows: (6)； In the formula, W zhj For the first j The heavy-load side transport resistance of the middle section of the trough; q b The mass per unit length of the material, in kg / m; q l The mass per unit length of the scraper is expressed in kg / m. μ b The coefficient of friction between the material and the central tank; μ l The coefficient of friction between the scraper chain system and the central groove; φ j For the first j Pitch angle of the middle section groove; g The acceleration due to gravity is expressed in m / s². L The length of the central groove in a single section, in meters (m). t z The total time for this filling process is seconds. t c The time required for a single unloading process at a single discharge port, in seconds; (7)； In the formula, W cj For the first j The unloaded side transport resistance of the middle section of the channel; μ w The coefficient of friction between the material and the scraper chain system; φ j For the first j Pitch angle of the middle section groove; Then the first n Tension at the chain outlet in the middle of the link F n(n+1) for: (8)； In the formula, μ 0 represents the coefficient of friction between the scraper and the sidewalls of the central trough; ∆ψ j For the first j The relative yaw angle between the middle trough of the section and the middle trough adjacent to the conveying direction, in °; F 0 represents the tension at the inlet of the middle channel in section 1, in N.

4. A method for intelligent resistance reduction and control of a flexible suspended filling scraper conveyor according to claim 3, characterized in that, In S2, the tail motor provides real-time driving force. T w as follows: (9)； In the formula, S 1. S 2. S 3. S 4 represents the scraper chain tension values ​​(in N) at the tail chain exit point, head chain entry point, head chain exit point, and tail chain entry point. W zh , W c The carrying resistance, N, of the heavy-load and unloaded sides of the scraper conveyor used for filling the working face; Assume the real-time drive power of the head motor P t Real-time drive power of the tail motor P w The ratio of drive power between the engine head and the engine tail is K We can conclude that: (10)； In the formula, P t This refers to the real-time drive power of the head motor. P w This refers to the real-time drive power of the tail motor. K The ratio of drive power between the engine head and the engine tail. v The scraper chain traction speed is in m / s; k r The resistance coefficient of the scraper chain as it passes through the drive sprocket. k r =0.03~0.045; (11) ； In the formula, F p To apply preload to the scraper chain, equations (9) to (11) are combined, and the rated power of the head motor is substituted into the calculation to obtain the result. S 1. S 2. S 3. S Tension value of 4, driving force of tail motor T w = S 4- S 1.

5. A method for intelligent resistance reduction and control of a flexible suspended filling scraper conveyor according to claim 4, characterized in that, In S2, the tension of the scraper chain at the middle groove of a single section is used. F zj The standard for judgment can be determined based on the strength of the conveyor scraper chain. F zj maximum value F zjmax And set a safety factor. μ =1.2~1.3, the judgment criteria are as follows: ； Driven by the tail motor T w To determine the indicator, the driving force can be calculated using equation (13). T w Maximum critical value T wmax : (12)； In the formula, η For motor efficiency; N Rated power of the electric motor, in kW; The discrimination criteria are: .

6. A method for intelligent resistance reduction and control of a flexible suspended filling scraper conveyor according to claim 1, characterized in that, In S3, the self-regulation path is as follows: Path 1: Relative yaw angle of the central trough Δψ j Reduce, that is, control the extension and retraction of the sliding cylinder to adjust the yaw angle of the central groove. ψ j This makes the scraper conveyor appear in a straight line; Path 2: Relative pitch angle of the central trough Δφ j Reduce, that is, control the movement of the extension cylinder of the column after filling the hydraulic support, adjust the position of the rear bearing beam, and keep the scraper conveyor horizontal.

7. A method for intelligent resistance reduction and control of a flexible suspended filling scraper conveyor according to claim 6, characterized in that, In S3, the self-regulating parameter decision model includes regulation parameter decisions for horizontal and vertical attitude anomalies. When the preferred path 1 is adjusted, the pose equation obtained from step S1 is used to adjust the movement of the central trough towards the goaf or working face. y j (u) The distance; the reference stroke that the sliding cylinder should be adjusted for. l hy for: (13)； when l hy When the value is positive, the sliding cylinder extends; conversely, when the value is negative, the sliding cylinder retracts. When the preferred path 2 is adjusted, assuming the filling scraper conveyor is in a horizontal state, the length of the rear column of the solid filling hydraulic support is... L b If the lengths of the front and rear columns are not adjusted... L BD = L b - l lz , l lz This is the reference stroke for the rear column hydraulic cylinder; (14)； (15)； In the formula, L CE The vertical distance between the front suspension chain of the scraper conveyor and the bottom plate of the coal seam, in meters; ζ The angle of inclination of the rear column is °; L BC The distance, in meters, is the distance between the rear column of the hydraulic support and the hinge point of the front hanging chain of the filling scraper conveyor on the rear top beam. ζ b The rear column tilt angle of the solid-filled hydraulic support under optimal filling conditions, in °; δ b The angle of subsidence of the bearing beam at the optimal filling state of the solid-filled hydraulic support is °; The reference stroke of the rear column cylinder can be obtained by combining equations (14) and (15): (16)； when l lz When the value is positive, the rear column cylinder extends; conversely, when the value is negative, the rear column cylinder retracts.

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