Research on drum shearer speed control strategies under sudden-
Received: 22 June 2017 / Accepted: 26 April 2018 / Published online: 1 June 2018
Ó The Brazilian Society of Mechanical Sciences and Engineering 2018
In order to reduce the dynamic load of cutting transmission system and maintain the coal productivity under sudden-
changing load conditions, the drum speed control strategy and traction-drum speed combined control strategy were
proposed to adapt to different sudden-changing load conditions based on analyzing the inﬂuence factors of drum load and
productivity. When sudden-changing load is small, the drum speed control strategy is adopted; when sudden-changing load
is large, the traction-drum speed combined control strategy is adopted. The model of cutting transmission system has been
established and analyzed, and the results show that the proposed strategies can not only reduce the dynamic load effec-
tively, but also maintain the highly coal productivity under sudden-changing load conditions. Aiming at the overshoot of
system load in the variable speed process, the speed variation rate of cutting motor of the two control strategies was
optimized, respectively, and the load overshoot can be reduced effectively. The conclusions have been veriﬁed by building
the test bench.
Keywords Shearer Á Sudden-changing load Á Control strategy Á Optimization
At present, coal accounts for 64% of China’s energy con-
sumption, and in the next decades, coal will still be the
main energy source in China . So the improvement in
coal production can guarantee the national energy security.
In the coal mining process, shearer has been one of the key
coal mining machines, which is mainly composed of cut-
ting unit, intermediate box and traction unit, as shown in
Fig. 1a. The load on cutting unit has the characteristics of
strong randomness, high ﬂuctuation and strong impact.
Moreover, the drum speed of existing shearers can’t be
adjusted, so these shearers have the shortages of high
failure rate, bad adaptability and low coal productivity.
And the trend of unmanned coal mining in deep coal bed
has made strict requirements on the reliability and adapt-
ability of shearer [2–4]. So it is of great signiﬁcance to
improve the reliability and adaptive capacity of cutting
In the existing research, the references [5–8] analyzed
the inﬂuence factors such as traction speed and shearing
media by establishing drum load model, and results show
that the drum load can be adjusted by adjusting drum speed
and traction speed. The references [9, 10] achieved better
coal productivity and lump coal rate through matching
drum speed and traction speed. However, most researches
haven’t considered the load of transmission system and
coal productivity synthetically when studying on how to
reduce drum load. Besides, there is few theoretical research
combined with experimental testing.
Therefore, based on the analysis of inﬂuence factors of
drum load and coal productivity, this paper aims to
improve the reliability of cutting transmission system and
Technical Editor: Victor Juliano De Negri.
& Jianjun Hu
The State Key Laboratory of Mechanical Transmissions,
Chongqing University, Chongqing, China
Journal of the Brazilian Society of Mechanical Sciences and Engineering (2018) 40:323