CN103775080B - A kind of construction process of thin coal seam unmanned working surface coal mining machine attitude angle adjustment model - Google Patents

Abstract

A construction process for thin coal seam unmanned working surface coal mining machine attitude angle adjustment model, belongs to coal-winning machine pose adjustment model building method.This construction process is installed based on gyroscope on thin coal seam unmanned work plane short fuselage coal-winning machine body, front roll and back roll, builds manless working face coal-winning machine attitude angle adjustment model; When coal-winning machine comes and goes traction automatic Memory coal cutting along manless working face, initial coordinate system is set up with coal-winning machine center, in conjunction with the mutual transfer principle of space coordinates, derive the conversion between the moving axes after the adjustment of coal-winning machine attitude angle and initial coordinate system, the inclination angle of and attitude angle adjustment back roll rocking arm initial by gyroscope survey coal-winning machine, constructs the Controlling model of attitude angle adjustment and horizon control further.Advantage: the method computing is reasonable, and productivity effect, safety and reliability are good, this Controlling model construction process, improve the Automated condtrol of coal-winning machine, improve functional performance, improve equipment dependability and life-span.

Description

A kind of construction process of thin coal seam unmanned working surface coal mining machine attitude angle adjustment model

Technical field

The present invention relates to a kind of construction process of coal-winning machine pose adjustment model, specifically a kind of construction process of thin coal seam unmanned working surface coal mining machine attitude angle adjustment model.

Background technology

Through exploitation for many years, in the many regional mines of China, the reserves of thick and high seam are close to exhausted, and for the exploitation of girdle (thickness≤1.3m), are in the state of slowly development for a long time due to reasons such as economic technology and safety.In coal in China reserves, the recoverable reserves of girdle is about 61.5 hundred million t, account for about 19% of the total recoverable reserves of national coal, but according to incompletely statistics, the annual production of China's girdle only accounts for about 10.4% of national coal total output, the serious disproportion of output and reserves.In recent years, along with the lifting of girdle coal excavation apparatus manufacturing technology and automated control technology, and country is to the raising of the requirement of resource rational exploitation and utilization, and the safety and high efficiency of girdle comes into one's own day by day.For the mineral resources that abundant development and utilization is limited, solve " one large three low " problem that long-standing problem the development of girdle safety and high efficiency, improve economic benefit and the social benefit of bargh, strengthen and the research and exploitation of girdle safety and high efficiency technology is seemed very necessary.

Manless working face coal-mining technique is the important channel solving coal industry safety in production and sustainable development, and the difficulty particularly slowly even stayed cool for China's long-run development adopts the exploitation of girdle, will have its own strategic significance.Due to underground coal mine particular surroundings, radionavigation, celestial navigation, satellite fix need by means of external strength, have its limitation, cannot normal use at down-hole complex condition; Coal-winning machine working environment is complicated, severe in addition, coal petrography character, coal mining route constantly change, cause the uneven change of coal-winning machine external load, various disturbance is caused to coal-winning machine motion, change coal-winning machine motion state, add time factor, determine that the operation of a certain moment coal-winning machine motion state parameters and control coal-winning machine is by extremely difficult.

Summary of the invention

Technical problem: in order to overcome the deficiency of the relationship technology that the adjustment of existing thin coal seam unmanned working surface coal mining machine attitude angle controls with Roller shear, the invention provides that a kind of thinking is simple, computing is reasonable and automaticity is high, productivity effect, safety and reliability are good, and a kind of thin coal seam unmanned working surface coal mining machine attitude angle that can realize the relation that the adjustment of coal-winning machine attitude angle controls with Roller shear adjusts the construction process of simulating.

Technical scheme: object of the present invention is achieved through the following technical solutions: this construction process is installed based on gyroscope on thin coal seam unmanned work plane short fuselage coal-winning machine body, front roll and back roll, builds manless working face coal-winning machine attitude angle adjustment model; When coal-winning machine comes and goes traction automatic Memory coal cutting along manless working face, initial coordinate system is set up with coal-winning machine center, in conjunction with the mutual transfer principle of space coordinates, derive the conversion between the moving axes after the adjustment of coal-winning machine attitude angle and initial coordinate system, the inclination angle of and attitude angle adjustment back roll rocking arm initial by gyroscope survey coal-winning machine, constructs the Controlling model of attitude angle adjustment and horizon control further; Concrete steps are as follows:

A, in the main body and two cylinders of the short fuselage coal-winning machine of thin coal seam unmanned work plane, 1 gyroscope is installed respectively, measures the angle change of coal-winning machine body and the rotational angle of two cylinders respectively;

B, come and go traction memory coal cutting process based on short fuselage coal-winning machine along manless working face, setting up initial coordinate system I is OXYZ, using short fuselage coal-winning machine center as origin of coordinates O, to point to goaf for X-axis perpendicular to manless working face, to point to tailgate for Y-axis along manless working face, with vertically upward for Z axis, and moving coordinate system II when setting short fuselage coal-winning machine to implement memory coal cutting process is as O ' X ' Y ' Z ';

C, according to changes in coordinates principle, initial coordinate system is first around X-axis rotation alpha angle, then β angle is rotated around Y-axis, finally rotate γ angle around Z axis, obtain the moving coordinate system O ' X ' Y ' Z ' of short fuselage coal-winning machine attitude angle adjustment, wherein α is roll angle, β is the angle of pitch, γ is deflection angle, operation conditions according to short fuselage coal-winning machine :-pi/2 < α < pi/2,-pi/2 < β < pi/2,-pi/2 < γ < pi/2, so by moving coordinate system II relative to the changes in coordinates of initial coordinate system I be:

$\begin{array}{c}{T}_{\mathrm{II}}^I=\mathrm{RPY}(\mathrm{\&alpha;},\mathrm{\&beta;},\mathrm{\&gamma;})=\mathrm{Rot}(Z,\mathrm{\&gamma;})\mathrm{Rot}(Y,\mathrm{\&beta;})\mathrm{Rot}(X,\mathrm{\&alpha;})\\ =\left[\begin{array}{cccc}\cos \mathrm{\&gamma;}& -\sin \mathrm{\&gamma;}& 0& 0\\ \sin \mathrm{\&gamma;}& \cos \mathrm{\&gamma;}& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}\cos \mathrm{\&beta;}& 0& \sin \mathrm{\&beta;}& 0\\ 0& 1& 0& 0\\ -\sin \mathrm{\&beta;}& 0& \cos \mathrm{\&beta;}& 0\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \mathrm{\&alpha;}& -\sin \mathrm{\&alpha;}& 0\\ 0& \sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}& 0\\ 0& 0& 0& 1\end{array}\right]\\ =\left[\begin{array}{cccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&beta;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&beta;}\sin \mathrm{\&alpha;}-\sin \mathrm{\&gamma;}\cos \mathrm{\&alpha;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&beta;}\cos \mathrm{\&alpha;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&alpha;}& 0\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&beta;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&beta;}\sin \mathrm{\&alpha;}+\cos \mathrm{\&gamma;}\cos \mathrm{\&alpha;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&beta;}\cos \mathrm{\&alpha;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&alpha;}& 0\\ -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\sin \mathrm{\&alpha;}& \cos \mathrm{\&beta;}\cos \mathrm{\&alpha;}& 0\\ 0& 0& 0& 1\end{array}\right]\end{array}$

Be divided into during the normal automatic Memory coal cutting of d, short fuselage coal-winning machine that front roll cuts ground coal, back roll cuts top coal and front roll cuts top coal, back roll ground coal two kinds of cutting coal methods, when supposing employing the 2nd kind of coal cutting mode, peak A coordinate is:

$P_A^{\mathrm{II}}={[X_0,-(Y_0+L\cos {\mathrm{\&theta;}}_Y),h+L\sin {\mathrm{\&theta;}}_Y+r,1]}^T,$

Minimum point B coordinate is x in formula ₀for the X-axis coordinate of cylinder axis, Y ₀for the Y-axis coordinate of cylinder axis, θ _yfor front roll rocking arm inclination angle, θ _zfor back roll rocking arm inclination angle, L is rocking arm length, and r is radius roller;

E, according to principle of coordinate transformation, moving coordinate system O'X'Y'Z' relative to the coordinate of initial coordinate system OXYZ is: then front roll peak A is relative to the Z coordinate of initial coordinate system OXYZ $P_{\mathrm{AZ}}^I=-X_0\sin \mathrm{\&beta;}-(Y_0+L\cos {\mathrm{\&theta;}}_Y)\cos \mathrm{\&beta;}\sin \mathrm{\&alpha;}+(h+L\sin {\mathrm{\&theta;}}_Y+r)\cos \mathrm{\&beta;}\cos \mathrm{\&alpha;},$ In like manner back roll nadir B relative to the Z coordinate of initial coordinate system OXYZ is:

$P_{\mathrm{BZ}}^I=-X_0\sin \mathrm{\&beta;}-(Y_0+L\cos {\mathrm{\&theta;}}_z)\cos \mathrm{\&beta;}\sin \mathrm{\&alpha;}+(h+L\sin {\mathrm{\&theta;}}_Z+r)\cos \mathrm{\&beta;}\cos \mathrm{\&alpha;};$

F, when short fuselage coal-winning machine memory coal cutting, the initial tilt being recorded front roll rocking arm by gyroscope is θ _y0, the initial tilt of back roll rocking arm is θ _z0; After short fuselage coal-winning machine attitude angle adjustment, the initial tilt that gyroscope records front roll rocking arm is again θ _y, the initial tilt of back roll rocking arm is θ _z, i.e. θ _y=θ _y0+ Δ θ _y, θ _z=θ _z0+ Δ θ _z, then time initially, front roll peak A is relative to the Z coordinate of initial coordinate system OXYZ back roll minimum point B is relative to the Z coordinate of initial coordinate system OXYZ by the height change of front roll peak A after short fuselage coal-winning machine attitude angle adjustment be then: the height change of back roll minimum point B

G, establish sin σ=cos β sin α, cos σ=cos β cos α, then tan σ=sin σ/cos σ=tan α ,-pi/2 < σ < pi/2, arrange and can obtain the adjustment of short fuselage coal-winning machine attitude angle and the model heightening control planning:

The inclination angle knots modification of front roll rocking arm:

Δθ _Y＝α-θ _Y0+arcsin([ΔH+X ₀sinβ+Y ₀sinα+h+r+Lsinθ _Y0-(h+r)cosα]/L)；

The inclination angle knots modification of back roll rocking arm:

Δθ _Z＝α-θ _Z0-arcsin([ΔH'+X ₀sinβ-Y ₀sinα+h-r-Lsinθ _Y0+(h-r)cosα]/L)。

Beneficial effect, owing to have employed such scheme, at coal-winning machine body, front roll and back roll install gyroscope, when coal-winning machine comes and goes traction automatic Memory coal cutting along manless working face, initial coordinate system is set up with coal-winning machine center, in conjunction with the mutual transfer principle of space coordinates, derive the conversion between the moving axes after the adjustment of coal-winning machine attitude angle and initial coordinate system, by gyroscope survey coal-winning machine, initial and attitude angle adjusts the inclination angle of back roll rocking arm, the Controlling model of further structure attitude angle adjustment and horizon control, for manless working face realizes providing basis and foundation, by analyzing the relation that the adjustment of thin coal seam unmanned working surface coal mining machine attitude angle controls with Roller shear, set up the adjustment of coal mining attitude angle and heighten Controlling model, reliability and the life-span of the equipment work that improves the design of the Automated condtrol of coal-winning machine, improves its functional performance, improves.Thinking is simple, computing is reasonable and automaticity is high, and productivity effect, safety and reliability are good, can realize the relation that the adjustment of coal-winning machine attitude angle controls with Roller shear.

Advantage: the method thinking is simple, computing is reasonable and automaticity is high, productivity effect, safety and reliability are good, this Controlling model construction process, reliability and the life-span of the equipment work that improves the design of the Automated condtrol of coal-winning machine, improves its functional performance, improves.

Accompanying drawing explanation

Fig. 1 is the present invention's short fuselage coal-winning machine coordinate system and Transformation Graphs thereof.

Fig. 2 is the present invention's short fuselage coal-winning machine automatic Memory coal cutting schematic diagram.

In figure: 1, short fuselage coal-winning machine; 2, front roll; 3, back roll; 4, short fuselage coal-winning machine center; 5, gyroscope.

Detailed description of the invention

By reference to the accompanying drawings the concrete implementation step of the present invention is described:

Embodiment 1: in fig. 1 and 2, O(I) represent initial coordinate system; O(II) dynamic coordinate system is represented; α is roll angle; β is the angle of pitch; γ is deflection angle; R represents coal mining machine roller radius; Y ₀represent the Y-axis coordinate of cylinder rocker shaft; L represents cylinder rocking arm length; θ _yrepresent front roll rocking arm inclination angle; θ _zrepresent back roll rocking arm inclination angle; A represents the peak of front roll position; B represents the minimum point of back roll position.

Install based on gyroscope on thin coal seam unmanned work plane short fuselage coal-winning machine body, front roll and back roll, build manless working face coal-winning machine attitude angle adjustment model; When coal-winning machine comes and goes traction automatic Memory coal cutting along manless working face, initial coordinate system is set up with coal-winning machine center, in conjunction with the mutual transfer principle of space coordinates, moving axes after coal-winning machine attitude angle of having derived adjustment and the conversion between initial coordinate system, the inclination angle of and attitude angle adjustment back roll rocking arm initial by gyroscope survey coal-winning machine, constructs the Controlling model of attitude angle adjustment and horizon control further; Concrete steps are as follows:

A, main body 1, front roll 2 and back roll 3 at the short fuselage coal-winning machine of thin coal seam unmanned work plane install 1 gyroscope 5 respectively, measures the angle change of coal-winning machine body and the rotational angle of two cylinders respectively;

B, come and go traction memory coal cutting process based on short fuselage coal-winning machine 1 along manless working face, setting up initial coordinate system I is OXYZ, using short fuselage coal-winning machine 1 center 4 as origin of coordinates O, to point to goaf for X-axis perpendicular to manless working face, to point to tailgate for Y-axis along manless working face, with vertically upward for Z axis, and moving coordinate system II when setting short fuselage coal-winning machine 1 to implement memory coal cutting process is as O ' X ' Y ' Z ';

C, according to changes in coordinates principle, initial coordinate system is first around X-axis rotation alpha angle, then β angle is rotated around Y-axis, finally rotate γ angle around Z axis, obtain the moving coordinate system O ' X ' Y ' Z ' of short fuselage coal-winning machine 1 attitude angle adjustment, wherein α is roll angle, β is the angle of pitch, γ is deflection angle, operation conditions according to short fuselage coal-winning machine 1 :-pi/2 < α < pi/2,-pi/2 < β < pi/2,-pi/2 < γ < pi/2, so by moving coordinate system II relative to the changes in coordinates of initial coordinate system I be:

$\begin{array}{c}{T}_{\mathrm{II}}^I=\mathrm{RPY}(\mathrm{\&alpha;},\mathrm{\&beta;},\mathrm{\&gamma;})=\mathrm{Rot}(Z,\mathrm{\&gamma;})\mathrm{Rot}(Y,\mathrm{\&beta;})\mathrm{Rot}(X,\mathrm{\&alpha;})\\ =\left[\begin{array}{cccc}\cos \mathrm{\&gamma;}& -\sin \mathrm{\&gamma;}& 0& 0\\ \sin \mathrm{\&gamma;}& \cos \mathrm{\&gamma;}& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}\cos \mathrm{\&beta;}& 0& \sin \mathrm{\&beta;}& 0\\ 0& 1& 0& 0\\ -\sin \mathrm{\&beta;}& 0& \cos \mathrm{\&beta;}& 0\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \mathrm{\&alpha;}& -\sin \mathrm{\&alpha;}& 0\\ 0& \sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}& 0\\ 0& 0& 0& 1\end{array}\right]\\ =\left[\begin{array}{cccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&beta;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&beta;}\sin \mathrm{\&alpha;}-\sin \mathrm{\&gamma;}\cos \mathrm{\&alpha;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&beta;}\cos \mathrm{\&alpha;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&alpha;}& 0\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&beta;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&beta;}\sin \mathrm{\&alpha;}+\cos \mathrm{\&gamma;}\cos \mathrm{\&alpha;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&beta;}\cos \mathrm{\&alpha;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&alpha;}& 0\\ -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\sin \mathrm{\&alpha;}& \cos \mathrm{\&beta;}\cos \mathrm{\&alpha;}& 0\\ 0& 0& 0& 1\end{array}\right]\end{array}$

Be divided into during the normal automatic Memory coal cutting of d, short fuselage coal-winning machine 1 that front roll 2 cuts ground coal, back roll 3 cuts top coal and front roll 2 cuts top coal, back roll 3 ground coal two kinds of cutting coal methods, when supposing employing the 2nd kind of coal cutting mode, peak A coordinate is $P_A^{\mathrm{II}}={[X_0,-(Y_0+L\cos {\mathrm{\&theta;}}_Y),h+L\sin {\mathrm{\&theta;}}_Y+r,1]}^T,$ Minimum point B coordinate is:

x in formula ₀for the X-axis coordinate of cylinder 2 axis, Y ₀for the Y-axis coordinate of cylinder 2 axis, θ _yfor front roll 2 rocking arm inclination angle, θ _zfor back roll 3 rocking arm inclination angle, L is rocking arm length, and r is radius roller;

E, according to principle of coordinate transformation, moving coordinate system O'X'Y'Z' relative to the coordinate of initial coordinate system OXYZ is: then front roll 2 peak A is relative to the Z coordinate of initial coordinate system OXYZ $P_{\mathrm{AZ}}^I=-X_0\sin \mathrm{\&beta;}-(Y_0+L\cos {\mathrm{\&theta;}}_Y)\cos \mathrm{\&beta;}\sin \mathrm{\&alpha;}+(h+L\sin {\mathrm{\&theta;}}_Y+r)\cos \mathrm{\&beta;}\cos \mathrm{\&alpha;},$ In like manner back roll 3 nadir B relative to the Z coordinate of initial coordinate system OXYZ is:

$P_{\mathrm{BZ}}^I=-X_0\sin \mathrm{\&beta;}-(Y_0+L\cos {\mathrm{\&theta;}}_z)\cos \mathrm{\&beta;}\sin \mathrm{\&alpha;}+(h+L\sin {\mathrm{\&theta;}}_Z+r)\cos \mathrm{\&beta;}\cos \mathrm{\&alpha;};$

F, when supposing that coal cutting remembered by short fuselage coal-winning machine 1, the initial tilt being recorded front roll 2 rocking arm by gyroscope 5 is θ _y0, the initial tilt of back roll 3 rocking arm is θ _z0; After short fuselage coal-winning machine 1 attitude angle adjustment, the initial tilt that gyroscope records front roll 2 rocking arm is again θ _y, the initial tilt of back roll 3 rocking arm is θ _z, i.e. θ _y=θ _y0+ Δ θ _y, θ _z=θ _z0+ Δ θ _z, then time initially, front roll 2 peak A is relative to the Z coordinate of initial coordinate system OXYZ back roll 3 minimum point B is relative to the Z coordinate of initial coordinate system OXYZ by the height change of front roll peak A after short fuselage coal-winning machine 1 attitude angle adjustment be then: the height change of back roll minimum point B

G, establish sin σ=cos β sin α, cos σ=cos β cos α, then tan σ=sin σ/cos σ=tan α ,-pi/2 < σ < pi/2, arrange and can obtain the adjustment of short fuselage coal-winning machine 1 attitude angle and the model heightening control planning:

The inclination angle knots modification of front roll 2 rocking arm:

Δθ _Y＝α-θ _Y0+arcsin([ΔH+X ₀sinβ+Y ₀sinα+h+r+Lsinθ _Y0-(h+r)cosα]/L)；

The inclination angle knots modification of back roll (3) rocking arm:

Δθ _Z＝α-θ _Z0-arcsin([ΔH'+X ₀sinβ-Y ₀sinα+h-r-Lsinθ _Y0+(h-r)cosα]/L)。

The relation that the present invention controls with Roller shear by analyzing the adjustment of thin coal seam unmanned working surface coal mining machine attitude angle, construct the Controlling model of attitude angle adjustment and horizon control, the method thinking is simple, computing is reasonable and automaticity is high, productivity effect, safety and reliability are good, adopt the construction process of this Controlling model, for improve coal-winning machine Automated condtrol design, improve its functional performance, the reliability improving equipment work and life-span, significant.

Claims (1)

1. the construction process of a thin coal seam unmanned working surface coal mining machine attitude angle adjustment model, it is characterized in that: this construction process is installed based on gyroscope on thin coal seam unmanned work plane short fuselage coal-winning machine body, front roll and back roll, build manless working face coal-winning machine attitude angle adjustment model; When coal-winning machine comes and goes traction automatic Memory coal cutting along manless working face, initial coordinate system is set up with coal-winning machine center, in conjunction with the mutual transfer principle of space coordinates, derive the conversion between the moving axes after the adjustment of coal-winning machine attitude angle and initial coordinate system, the inclination angle of and attitude angle adjustment back roll rocking arm initial by gyroscope survey coal-winning machine, constructs the Controlling model of attitude angle adjustment and horizon control further; Concrete steps are as follows:

A, in the main body and two cylinders of the short fuselage coal-winning machine of thin coal seam unmanned work plane, 1 gyroscope is installed respectively, measures the angle change of coal-winning machine body and the rotational angle of two cylinders respectively;

B, come and go traction memory coal cutting process based on short fuselage coal-winning machine along manless working face, setting up initial coordinate is oXYZ, using short fuselage coal-winning machine center as the origin of coordinates o, to point to goaf perpendicular to manless working face be xaxle, to point to tailgate along manless working face is yaxle, to be vertically upward zaxle, and set short fuselage coal-winning machine implement memory coal cutting process time moving coordinate system as o ^' x ^' y ^' z ^' ;

C, according to changes in coordinates principle, initial coordinate system first around xaxle rotation alpha angle, then around yaxle rotates β angle, finally around zaxle rotates γ angle, obtains the moving coordinate system of short fuselage coal-winning machine attitude angle adjustment o ^' x ^' y ^' z ^' wherein α is roll angle, β is the angle of pitch, γ is deflection angle, operation conditions according to short fuselage coal-winning machine :-pi/2 < α < pi/2,-pi/2 < β < pi/2 ,-pi/2 < γ < pi/2, so by moving coordinate system relative to the changes in coordinates of initial coordinate system be:

Be divided into during the normal automatic Memory coal cutting of d, short fuselage coal-winning machine that front roll cuts ground coal, back roll cuts top coal and front roll cuts top coal, back roll ground coal two kinds of cutting coal methods, when supposing employing the 2nd kind of coal cutting mode, peak acoordinate is:

，

Minimum point bcoordinate is , in formula x ₀for cylinder axis xaxial coordinate, y ₀for cylinder axis yaxial coordinate, for front roll rocking arm inclination angle, for back roll rocking arm inclination angle, lfor rocking arm length, rfor radius roller;

E, according to principle of coordinate transformation, moving coordinate system o'X'Y'Z'relative to initial coordinate system oXYZcoordinate be: , then front roll peak arelative to initial coordinate system oXYZ's zcoordinate , in like manner back roll minimum point B is relative to initial coordinate system oXYZ's zcoordinate is:

；

F, when short fuselage coal-winning machine memory coal cutting, the initial tilt being recorded front roll rocking arm by gyroscope is , the initial tilt of back roll rocking arm is ; After short fuselage coal-winning machine attitude angle adjustment, the initial tilt that gyroscope records front roll rocking arm is again , the initial tilt of back roll rocking arm is , namely , , then front roll peak time initially arelative to initial coordinate system oXYZ's zcoordinate , back roll minimum point brelative to initial coordinate system oXYZ's zcoordinate , then by front roll peak after short fuselage coal-winning machine attitude angle adjustment aheight change be: , back roll minimum point bheight change ;

G, establish sin σ=cos β sin α, cos σ=cos β cos α, then tan σ=sin σ/cos σ=tan α ,-pi/2 < σ < pi/2, arrange and can obtain the adjustment of short fuselage coal-winning machine attitude angle and the model heightening control planning:

The inclination angle knots modification of front roll rocking arm: ;

The inclination angle knots modification of back roll rocking arm:

。