Modeling and Simulation of the Coal Flow Control System for the Longwall Scraper Conveyor

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1 Annls of he Unesy of Co, Elel Engneeng sees, No. 40, 016; ISSN Modelng nd Sulon of he Col Flow Conol Syse fo he Longwll Spe Coneyo Olpu Souţă, eodo Pnă Unesy of Peosn / Depen of Conol Engneeng, Copues, Elel Engneeng nd Powe Engneeng ehnl Unesy of Cluj Npo / Depen of Elel Mhnes nd Des OlpuSou@upe.o, eodo.pn@ed.uluj.o As - In hs ppe, he odelng nd sulon of ol flow onol syse fo he longwll spe oneyo s pesened. he ol flow on he spe oneyo, s onolled y he followng les: he ol flow, dne speed nd ung speed of he longwll shee. he elel de syse of he longwll spe oneyo ogehe wh he elel de syse of he dneen nd he ung ehns of he longwll shee e done y ens of nduon oos. he onol of speeds nd eleogne oque of nduon oos s elzed y usng sensoless eo onol syses. Whn hese onol syses, he eson of poson nd of oponens of he oo flux spe-phso, s well s he oo speed of he nduon oo, s done y n exended Gopnh osee. he dnges of ol flow onol syse e onol of poduy nd lso h ele oos of he flow of nspo n e oplly hosen, ledng ulely o uh lowe onsupon of eley fo ol exon. Modelng nd sulon of onol syses s done kng no oun he hel equons h ke he onneon eween onsue nd funonl pees of he longwll shees wh he feues of he s of nng ol, speflly he ol deposs fo he Ju Vlley, on. Keywods: ol flow onol syse; nduon oo; sensoless eo onol; longwll nng; longwll she; spe oneyo. I. INODUCION A longwll nng syse onsss of he longwll shees, spe oneyo, poweed oof suppos nd uxly equpen (see Fg.1) [1]. he uen ehnology of exng he ol n he longwll nng s sed on hee n ehnologl poesses h e de wh he eleens of longwll syse. he hee ehnologl poesses e [1]: exng nd lodng ol ono oneyo (of he longwll shees); he ol nspo (spe oneyo); he oof suppo longwll nng (poweed oof suppos). he longwll shees e nng hnes h e desgned o dslodge, ek nd lod he oken el on he ens of nspo. he uoon of he longwll shees fo he ung of he ol lyes fo he longwll fe s done n ode o hee he followng ojees: heng xu poduy; geng nu enegy onsupon; poeon of ele oos nd eong he hun opeo. Fg. 1. he eleens oposng he longwll nng syse []. Unl now, he s joy of fs podung he longwll shees he plly soled he ojees enoned oe. he onsn onol of he flow of ol on he spe oneyo uenly ouns fo one of he os pon ssues n he feld of uoon of longwll syses. he n ojee of he le s pesenon nd nlyss of new onol syse fo he flow of ol on he spe oneyo of he longwll syse. Auo onol of he flow of ol on he spe oneyo s de y ens of onol syse whee n he n loop hee s flow of ol, whle he seondy loop s fo dneen nd ung speed of he longwll shees. he dneen nd he ung speed e onsdeed oponens of he npu eo of he longwll shees, egded y he onol heoy s n eleen exeuon. he onol syses of nduon oos speeds n he oneyo syse, dneen syse nd he ung syse e ul sed on sensoless eo onol syses wh de oo flux oenon. Poson eson nd dq oponens of oo flux spephso, s well s he oo speed of he nduon oo e ul on n exended Gopnh osee (EGO). he onsn onol of he flow of ol on he spe oneyo offes he opl hoe fo he nduon oos nd of he ge edues fo he oneyo syse of ol. 101

2 Annls of he Unesy of Co, Elel Engneeng sees, No. 40, 016; ISSN Anlyss of he new onol syse s done y sulon on Ml-Sulnk. Modelng nd sulon of onol syses s done kng no oun he hel equons h ke he onneon eween onsue nd funonl pees of he longwll shees, wh he feues of he s of ol, speflly he ol deposs of he Ju Vlley. he ol sn of Ju Vlley s loed n on, n he shen p of Hunedo Couny, n he Sh-Wes of nsyln. II. HE ANALYSIS OF HE CUING SYSEM he ung ogns exeue oeen of oon ound he own xs nd oeen of dneen, due o he dspleen of he longwll shee. he jeoy of en knfe of he ung ogns (see Fg.), pefos oe of oo-nslon defned y he followng elons x sn y os Bsed on elons (1) we n we he followng equon x y whee D, nd D s he dee of he ung ogns esued fo he p of he splneng knfe. Beuse he longwll shee he ung speed s uh gee hn he dneen speed, he splne hkness u n e ppoxed y snusodl funon of he fo: hh sn whee h Whee we lso ke no oun he nue of knes on he ung lne, he xu splne hkness u s h k whee k, nd epesens he nue of knes on he ung lne. Fo elon (5) s oseed h he o of he dneen speed nd ung speed n onol he xu splne hkness u y longwll shee. Fo he pl esehes of Kos nd e. l.[1], he xu lue of he splne hkness u, fo wh we ge nu spef enegy onsupon he splne ung, s d h n fo pllelepped knes. In elons (6) we used he followng noons: d s he dsne eween he ung lnes, s ke ngle of he splne n he nsesl seon, nd s he wdh of he ung edge of he pllelepped knfe. he pl esehes of Kos nd e. l. [1], shows h he slope of he lus ngle of he splne u (fo ung deph gee hn, see Fg.3), fo he Ju Vlley ols, s n 1.8. Fg.. he nlyss of he ung syse. he elons (1), epesen he oodnes of he pon P n X O Y xs syse nd he expesson () s he equon of le wh he le ene. Unde hese usnes, he expesson whh defne he splne hkness u n longudnl seon s [1]: h h h sn h h os whee h ; d h ; ; 1 ; 1. d 1 Fg.3. he on of he lus ngle dependng of he ung deph. he elons (5) nd (6) llow fo pesng he lok of ung speed odng o he dneen speed. he elon undelyng pleenon of he pesng lok (EP ), n he se of pllelepped knes, s: 10

3 Annls of he Unesy of Co, Elel Engneeng sees, No. 40, 016; ISSN k d n he lok dg of he onol syse fo he ung speed, espeely of he dne speed, e shown n Fg.4. whee D, D s he dee of he ung ogns esued fo he p of he splneng knfe nd s he ge o fo P 1 nd P. he ge o of he P 1 nd P, pezened n he Fg. 6, s luled y he followng foul: Fg.4. he lok dg of he opl of he speed onol syse. he onol syse shown n Fg.4, llows fo he onol of he xu splne hkness u y onollng he dneen speed s well s he ung speed [3]. In Fg. 4, y he SA nd SA A s noed ung speed onol syse, espeely, dne speed onol syse. z 3 z5 z 10 z z z z z whee: z s he nue of eeh n he ges. III. HE CUING SPEED CONOL SYSEM hs syse s nended fo dsloon of ol fo he sse nd fo he ol lodng ono he oneyo. he de of he ung ogns s usully done wh he help of squel ge nduon oos (M 1 nd M ), loed nsde ung s. he eleogne oques deeloped y ele oos e sued o he ung ogns (1 nd ), hough soe plney nsssons nd he ouplng eleens loed nsde he s. he ung onol syse of longwll shees s pesened n Fg 5. Fg.5. he lok dg of he ung speed onol syse (SA ). he ung ogns e n fo of helodl oo, nd he ung knes e nged n helodl shpe. he plney nsssons P 1 nd P e onsdeed denl, hng n equl nssson epo (see Fg.6). In hs ppe, P1 nd P he plney nsssons e onsdeed denl o he plney nsssons of he longwll shee KSW-460NE (see Fg.6). he onol of speeds nd eleogne oque of nduon oos (M 1 nd M ) s elzed usng sensoless eo onol syses (CS 1 nd CS ). On he ohe hnd, o e le o onol he se speed fo oh ung ogns, he pesng eleen of he wo unng syses (CS 1 nd CS ), hs o e he se. he pesng eleen (EP ) s defned y he followng elon: Fg.6. he lok dg of he plney nssson P 1 [4]. he equons h defne he plney nsssons (P 1 nd P ), e: n k k M M e whee: k 1, ; M e s eleogne oque of he nduon oo (M 1 o M ); M s oque he shf of he ung ogns (1 nd ); s he ol effeny of he plney nssson (P 1 o P ). IV. HE ADVANCE SPEED CONOL SYSEM hs syse s nended fo he dspleen of he longwll shees dung wok nd nng of ous neues s well s fo he nenne of penen on eween he ung ody nd sse. he dspleen of he longwll shees dung opeon n e done hough soe ype of dneen syses, ehe ehnl, hydul o ele. If he se n whh he ol lyes he sll o edu l, he ung syse of he dne syse oponen s ouned on he longwll shees. In een yes, he s joy of he longwll shees fo he ol s h he hd sll o ege nlnon, hng n dneen syse h s elelly poweed, genelly de hough wo nduon oos (M L nd M ). he oque deeloped y he ele oo s nsed o he dne ehns ehnl wh plney equpen (P L nd P ), see Fg.7. Beween he dneen ehnss, he os oonly used n Euopen Unon ounes e: ollk ehnss, Eok nd Dynk. 103

4 Annls of he Unesy of Co, Elel Engneeng sees, No. 40, 016; ISSN In hs le, he de syse hosen fo nlyss s n ele one, deeloped ound he wo nduon oos, nd he dneen ehns s of Eok ype. he Eok dne ehns hs een deeloped y he Ekhoff opny nd onsss of wo pnons - dng ( L nd ) h ene n geng wh k ge (3) fxed on he edge of he oneyo (k nd pnon ehns). he pnons - dng e den hough plney nssson nd he wo ele oos, see Fg.7. he sng nd he loweng s, on whh e ouned ung ogns s usully done y ens of hydul uos (H 1 nd H ). he pesng eleen (EP ) of he wo onol syses s he se nd s defned y he followng elon: A whee s he dsne eween he pons O nd B, nd A s he ge o fo P L nd P. In hs ppe, P L nd P, he plney nsssons, e onsdeed denl o he plney nsssons of he longwll shee KSW-460NE (see Fg.9). Fg.7. he lok dg of he dne speed onol syse (SA A). In he se of he dneen ehnss, he k pn hs ul pofle nd he ooh of he wheel hs eolen pofles, he lne of geng s deened y lne (d), wh s defned y he pon of on (P) nd he xs pn (A), see Fg.8. Fg.9. he lok dg of he plney nssson P [4]. he ge o of he P L nd P, pezened n he Fg. 9, s luled y he followng foul z z z z z z A 1 1 z1 z3 z4 z6 z9 z1 whee: z s he nue eeh of he ges. he equons h defne he plney nsssons (P L nd P ), e: n k k A Fg.8. he neon ode of he pnon wh k [3]. he k wh ols h hs he sep (P ) s ouned no spe exploed wh poes he lodng ondons of he ol on he oneyo whle elnes he dnges of lokng. In he se of he dneen ehns, he es loed n he ge he he oe enoned pofles nd dneen speed s gen y he nex elon whee L s he ngul speed of he lede eleen, nd s he dsne eween pons O nd B wh s onsn dung he whole phse of geng. he onol of speeds nd eleogne oque of nduon oos (M L nd M ) s elzed usng he sensoless eo onol syses (CS L nd CS ). L M M A e whee: k L, ; M e s eleogne oque of he nduon oo (M L o M ); M s oque he shf of he pnon ( L o ); s he ol effeny of he plney nssson (P L o P ). V. HE SENSOLESSVECO CONOL SYSEM he uo onol of he dneen speed nd of he ung speed s done hough he speeds onol syses of he nduon oos fo he oponen of he dneen nd ung syse of he longwll shees. In he le, he speed onol of he nduon oos s ul on sensoless eo onol syses, wh de oenon fe he oo fluxes (see CS 1, CS, CS nd CS n he peous fgues). Whn hese onol syses, he eson of he poson nd dq oponens of he oo flux spe-phso, s well s he oo speed of he nduon oo, e done y n 104

5 Annls of he Unesy of Co, Elel Engneeng sees, No. 40, 016; ISSN exended Gopnh osee (EGO) [5]. he onol syses of nduon oo speeds n he nng hnes e of he se ype. he lok dg of speed onol syse fo nduon oos s pesened n Fg. 10. e e e1 ds e qs 1 q d u u s s ds jqs d jq us uds juqs ˆ ˆ jˆ ˆ ˆ ˆ d jq g g jg s ds qs he oeffens whh defne he Gopnh x G, e [5]: ds qs g k zp Fg.10. he sensoless eo onol syse of he speed nduon oo. In he followng, we wll pesen he hel equons h defne he n loks of he onol syse [3], [5], pesened n Fg. 10. he nlyze lok of he oo flux phso (AF). he equons defnng he phso odule nd poson of he oo flux e: d q q d sn ; os Exended Gopnh Osee (EGO). he equons h defne hs ype he osee e pesened on he followng elons [5] d d x A xa xbugc e d d x k k d ˆ whee x s x s e x xx A A B G g L j14 zp jz 33 p L 13 Ls L 1 L L s L 0 33 L 14 Ls L 1 s s 1 11 Ls C Ls s 1 L g k 31 z 33 zp p whee k s oeffen of popoonly ( k 0 ). In he oe elons, we ked wh, he elel pees, deened expeenlly, of he nduon oo. he dyn onollng of he speed osee s done onsns k nd. he ohe loks of Fg.10, e pesened n del n [5], [6]. VI. HE COAL FLOW CONOL SYSEM he onsn onol of he flow of ol on he spe oneyo uenly ouns fo one of he os pon ssues n he feld of uoon of longwll syses. he os sgnfn onsupon of eley n ol exploon n nng of ol s due o ele oos n he nssson of ol flow n n undegound slo, nd hen, wh he help of he exon hne, he sufe. he ele oos fo he oneyo flux oponen e oeszed, whh enl ey hgh onsupon of ele enegy. he dnge of syse o onol he flow of ol on he spe oneyo s h ele oos fo he flow of nspo n e opl hosen, ledng ulely o uh lowe onsupon of eley fo ol exon. In ode o desgn he onol syse of he flow of ol on he spe oneyo, n he followng we wll defne he s flow e u y he longwll shee. I s gen y he followng elon: Q A whee Q s he s flow of ol h s heed y he longwll shee, A B H he don of he e exploed, B s he wdh ue of he longwll shee, H s he hegh ue of he longwll shee, s he ege densy of ol, nd s he dne speed of he longwll shee, s Koneke funon. he flow of lodng ol on he spe oneyo usng wo ung dees s gen y he followng elon [7]: Q k A 105

6 Annls of he Unesy of Co, Elel Engneeng sees, No. 40, 016; ISSN whee Q s he ss of ol loded on he spe oneyo, A s he e of he snl seon; s he dus of he ung; s he dus of he hu ung ogns; s he ung speed; s he ege densy of ol; k s densonless oeffen. Unde hese ondons, n he dynl ege n we he followng dffeenl equon: Q Q dm d whee M s he ss of uuled ol on he heh eween he oneyo nd he ol sse. In he onex of he elonshp (5) s oseed h, n ode o edue he ss of ol lef on he heh, he ss flow es us ssfy he followng equly Q Q. Unde hese ondons, he equly Q Q, n e pu unde he followng fo A k A he elon (6) hs n essenl ole n he poposed onol syse. Fo elon (6) nd (7), on: k n A d ka If he elonshp (7) s espeed, enng ol ss on s ey sll. In hese ondons, he lod pe un lengh of he spe oneyo s gen y he followng elons: Q q A In he onex of he elon (8), ol lod pe un lengh of he spe oneyo n e onolled on he ss of he o of he dneen speed nd he ung speed, espeng he ondon (7) nd (7). In ode o onol he ss flow of ol on he spe oneyo, n he followng we wll keep n nd h he s flow e of he oneyo s gen y he followng elon Q q whee q s he lods of hol pe un lengh of he oneyo nd s he speed of he oneyo. In he elon (9) s oseed h when he speed, s nned onsn, ss flow onol of ol on he spe oneyo n e done y odfyng he go of ol pe un lengh of he oneye. In ohe wods, he ss flow e onol of he oneyo s poded y ens of he o eween he dne speed nd he ung speed. he ss flow esueen of ol h s soe pon of e on he oneyo s poded y ens of sle wh onnuous esueen (F). On he ohe hnd, s oseed h when he oneyo speed s hosen sed on he followng elon: he ss flow of ol fo he oneyo s: Q A he elon (31) eels h he ss flow of ol fo he oneyo n e onolled dely hough he dneen speed, f he expesson (30) s ssfed. he speed onol syse of he oneyo s pesened n Fg.11 [3]. Fg.11. he lok dg of he speed onol syse of he oneyo. he syse onsss of wo oneyos ( 1 nd ), elelly opeed hough wo nduon oos (M C1 nd M C ). he speed of he wo nduon oos s onolled wo sensoless eo onol syses (CS C1 nd CS C ). he onol syses fo he speed of he nduon oos n he spe oneyos oponen he he se fo s n Fg.10. he eleogne oques nd he speeds of he wo nduon oos e sued o he de ehnss of he oneyos, usng he plney nsssons (P C1 nd P C ). On he ohe hnd, he pesng eleen (EP d ) of he speed of he wo onol syses s defned y he followng elon whee s he ge nssson o fo P C1 nd P C, nd s he eel dus y de. he equon h defne he plney nsssons (P C1 nd P C ), s denl wh (3). he lok dg of he onol syse of he ss flow of ol, of he spe oneyo, sed on equon (31), s shown n Fg. 1. he uo onolle of he ss flow (PI_F), s one of he negl popoonl ype. he weghng sle s pled on he spe oneyo, loed sde he hewng ol. Due o he oe onsdeons, he hel odel s ffeed y ded e. he ded e n e luled s n he followng elon: 106

7 Annls of he Unesy of Co, Elel Engneeng sees, No. 40, 016; ISSN whee L L L L s dsne (he poson) of he longwll shee oped wh he esueen eleen o he flow ss (he weghng sle oneyo). Fg.1. he ol flow onol syse of on he spe oneyo [3]. he ol flow Q (see Fg.1), s ffeed y ded e. he hel equon h defne hs flow of ol, s: Q s Q s e s whee L ; L L L; L s onsn dsne nd he L s le dsne. In he elon (34), le s C esuls fo pplyng Lple nsfo. o opense fo ded e effes, we use he onol segy h uses Sh pedo (SP) [8]. VII. ANALYSIS BY SIMULAION OF HE CONOL SYSEM he sulon of he onol syse poposed s sed on he equons pesened n he le nd he lok dg n Fg. 1. he sulon s pefoed n Ml-Sulnk [9], [10]. In he sulon of he onol syses he dneen nd ung speeds of he longwll shee, e ken no oun he dyn effes nodued y s fequeny onee (CSF). Swhng fequeny of he IGB nssos n he nee s khz. he equons h defne he essne oques e pesened n del n [3]. he elel nd ehnl pees of he nduon oo fo he onol syse oponen of he flow of he ol e pesened elow: he elel nd ehnl pees of he nduon oos fo he dneen syse: Pn 45kW; Un 440V; In 74A; z p ; nn 1459o/n ; Mn 95N ; Ls L 0.053H L H; s ; ; J 0.17 kg ; F 0.08N s/d; n 90 % ; f 50Hz; os 0.98 n ; he elel nd ehnl pees of he nduon oos fo he ung syse: Pn 00kW; Un 1000V; In 155A; z p ; nn 1470o/n ; Mn 1300N ; Ls L 0.04H L H; s ; ; J. kg ; F 0.06N s/d; n 93.5 % ; f 50Hz; os 0.8 n ; he elel nd ehnl pees of he nduon oos fo he spe oneyos: Pn 00kW; Un 1000V; In 14A; z p ; nn 1480o/n ; Mn 190N ; Ls L 0.073H L H; s ; ; J 5.8 kg ; F 0.065N s/d; 94.5 % n ; f 50Hz; os 0.86 n ; he ehnl pees of he ges nd he n ehnl d of he longwll shee nd spe oneyo e gen elow: he ge os of he ge uns: A ; 36.75; 33. he dus of he wheels de: ; 0.3; 0.5. ; he ohe pees used n he sulon e: ; d 0.05; 0.015; H ; B 0.6; n 1.8 ; L 5. Fo he unng of PI onolles fo he onol syse oponen n Fg., we used he followng lues of he onsns d1 nd d : 3 3 Fo SA nd SA C: d1 310 ; d Fo SA A: d1 310 ; d 910 Pees h defne he exended Gopnh osee e: k 0. ; k 1 ; k d1 U whee: ku 14 zp x ; f u N U U n. 3 ; x hs ded e n he poess of he odel kes dfful he onol he flow of ol y he spe oneyo. In hs sense, he pees whh defnng he PI (Popoonl Inegl) flow onol e: d 1 10 kq ; q d o opense fo ded e effes, we use he onol segy h uses Sh pedo [8]. So, he nsfe funon of he Sh pedo used s: 107

8 Annls of he Unesy of Co, Elel Engneeng sees, No. 40, 016; ISSN G s H s G s e 1s0 whee G0 s, nd he oeffens h defne s 1s0 he nsfe funon e: 1 5 ; 0 65 ; ; In hese ondons, he sulon pog nd he sulon esuls e pesened n he followng. Fg.16. he sep esponse of he ol flow onol syse se. Fg.17. he e on of he speeds (, nd ) se. Fg.13. he sulon pog of he ol flow onol syse. Fg.14. he sep esponse of he ol flow onol syse se 1. Fg.15. he e on of he speeds (, nd ) se 1. Fo he gphs of Fgues 14 nd 15, s oseed h when ol flow posed s 35 [kg/s], dne speed s slzed [/n]. he ung speed s slzed 1.75 [/s] nd oneyo speed s 0.87 [/s]. Fo he gphs of Fgues 16 nd 17, s oseed h when ol flow posed s 0 [kg/s], dneen speed slzes.499 [/n]. In hs se, he ung speed s slzed o 1 [/s] nd oneyo speed s y 0.5 [/s]. VIII. CONCLUSIONS In hs le, he odelng nd sulon of new ol flow onol syse fo he longwll spe oneyo s pesened. Afe nlyzng y sulon n he Ml-Sulnk of he ol flow onol syse, we fnd h he onol syse woks popely, hng good dyn pefones. Gen he oe, we elee h he onol syse of he ol flow, pesened n hs le, n e suessfully used n pe. eeed on July 0, 016 Edol Appol on Noee 15, 016 EFEENCES [1] I. Kos, N. Ils, M.S. Nn, he Wokng ege of he Cue Lodes, Uness Pulshng House, Peosn, 000. [], [3] O. Sou,. Pn, C. Mndesu, he Conol Syse Anlsys of he Col Flow on he Spes Coneyo n Longwll Mnng Syse, In. Conf. IEEE ICAE, O [4], he ehnl douenon of he longwll shee - KSW460NE, [5] Pn., Sou O., Sll Speed Asypo Sly Sudy of n Induon Moo Sensoless Speed Conol Syse wh Exended Gopnh Osee, Jounl of Adnes n Elel nd Copue Engneeng, ol.11, no., pp.15-, 011. [6].Pn, O. Sou, Conolles unng fo he Speed Veo Conol of Induon Moo De Syses, In. Conf. IEEE AQ, ol.1, pp.1-6, My 010. [7] S.S.Peng, H.S. Chng, Longwll Mnng, John Wley&Sons, [8] O.J. Sh, A Conolle o Oeoe Ded e, ISA J., ol.6, no., pp. 8-33, Fe [9] C.H. Ong, Dyn Sulons of Ele Mhney: usng Ml/Sulnk, Pene Hll, [10]. Pnă, Ml Applon oolox Elel Des Induon Moo, Med Pulshes, Cluj-Npo, on,