Mathematical model of automatic following control in the middle of fully mechanized mining face

With consideration of bi-directional cutting characteristics of fully mechanized mining face and analysis of coordinated control of shear, hydraulic support and scraper conveyor, a mathematical model was firstly proposed to describe curved path of scraper conveyor according to formation principle of curved route when scraper conveyor was working during the mining production. Based on the model, working process of automatic following technology of hydraulic support in the middle of fully mechanized mining face was analyzed and a mathematical model of automatic following control in the middle of fully mechanized mining face was further built. Parameters of 3107 work face of a coal mine were calculated according to the mathematical model of automatic following control, and experiences during real production were concluded. The application result shows the model of automatic following control has a good coincidence with the actual following technique in working process, which can provide a theoretical basis for further realization of intelligent mechanized mining face.