In the process of fully mechanized caving, it is an important direction to improve the recovery rate of top coal and reduce the gangue rate of coal. In this paper, the principle and process of intelligent coal discharging process are systematically analyzed. It is pointed out that the key of intelligent top-coal caving process is coal and gangue recognition. This paper describes the principle of intelligent top-coal caving technology based on vibration signal detection, audio and video detection and ash online detection. This paper describes three key technologies for precise control of intelligent top-coal caving. By installed in the front bracket UWB through penetrating radar measurement top-coal thickness as the benchmark of coal quantity, the coal gangue identification based on vibration acceleration sensor is used to identify the coal gangue, with 9.5 KHz to 10.5 KHz range to be an effective signal for the termination of the coal gangue down benchmark, insert by tail beam in sublevel caving support and suet cylinder installation magnetostrictive stroke sensor precision control of coal body movements. According to the practice of fully mechanized caving in the 12309 working face of Wangjialing coal mine, the extraction rate of top coal reached 91% and the coal gangue content rate reached 8% by using the intelligent coal drawing process, which increased by 3% and decreased by 2% respectively compared with the manual coal drawing method of "see gangue close the window". Overall recovery and release efficiency increased by about 20%.The study can provide reference for intelligent top-caving in fully mechanized caving face of thick coal seam.

In order to study the reasonable coal pillar width of fully mechanized caving face in extra thick seam with strong bursting liability, some outburst phenomenon frequently occurring along the coal pillar of the 250102 working face in Huating coal mine was analyzed. It is found that 20 m coal pillar of 250102 working face is under the stress conditions which can easily induce coal pillar type rock burst. By means of numerical simulation and theoretical calculation, the reasonable width of coal pillar in 2501 mining area was studied. The results show that: the stress concentration coefficient, when the coal pillar width is 5 m, is the lowest and it is 1.14, which indicates the low rock burst risk. When the coal pillar width is 20 m, the stress concentration coefficient reaches the highest and it is up to 3.40, and the corresponding rock burst risk reaches the highest. When the coal pillar width is more than 25 m, the stress curve in the pillar changes from a single peak to a double peak, and the coal pillar is in the bearing stage of a wide coal pillar instead of the yield stage of a narrow pillar. Moreover, the rock burst risk is increasingly decreased with the increasing of pillar width. The theoretical width of coal pillar 2501 mining area is 5.64 m and it is well consistent with the numerical simulation results. 6 m coal pillar was adopted in subsequent working face in 2501 mining area and it has a good effect on the prevention and control of rock burst risk based on the field monitoring. The study results are of significance for the prevention and control of rock burst in other coal mines with similar geological conditions.

Whether the position relation of vertical shaft is set reasonably affects not only the layout of the surface surface, but also the design of downhole vehicle yard. Only in the design process comprehensive consideration of the general layout of the ground, underground development, easy to construction and other issues, the design can achieve a beautiful ground, reasonable functional distinction, the bottom of the shaft vehicle yard line is reasonable, conducive to mine safety, high efficiency and high yield. This paper in the wellbore for well design, the influence of the up and down in the mouth transcribing east mine as the research object, the general layout design from the ground as the breakthrough point, again from the bottom and main cavern design aspects deeply study the relationship between shaft lining on the ground and the influence of bottom hole design, for the future similar shaft design has a certain guidance and reference significance.

After the repair of the main and andauxiliary shaft of Banji coal mine,The diameter of the shafts are reduced。In particular, after the repair of the auxiliary shaft, it is still inclined and curved.Under the circumstances,through systematic planning,we solved the problems of shaft section layout, ability restoration and correction design.In the end, the main and andauxiliary shafts were successfully pgraded. Provide a strong guarantee for the coal mine to resume production and maintain production capacity.

At present, the increasing of lifting terminal load challenges the design of shaft equipment.In order to solve this problem, the horizontal force of the main shaft and the auxiliary shaft of HuJiaHe coal mine is tested, and the characteristics of the shaft equipment load are analyzed.The concept of dynamic static ratio is introduced and the theoretical formula of horizontal force load is put forward.By analyzing the measured and calculated values of horizontal force, the values of relevant parameters under the formula are determined, and finally the calculation formulas of peak value, average value and equivalent static value of horizontal force are obtained.The shaft equipment of auxiliary shaft in MenKeQing coal mine has been checked by the formula, and the equipment is running well at present. It can provide a reference for other mine shaft equipment design.

Based on the actual mining geological conditions and development and mining status of Xiaohuigou coal mine, and aim for building a model green mine with zero gangue discharge in Shanxi Province, The overall plan is put forward by analysing the existing technology and the prediction of gangue output, which determines to adopt the fully-mechanized filling and coal mining technology to solve the problem of about 0.87mt gangue produced in each year, and make a profound study on the core problems of gangue filling mining system. Finally, the corresponding technical support measures are formulated for some possible problems. Through the design and research, the zero discharge technology system of gangue in the full life cycle of Xiaohuigou coal mine is established, which provides reference for the treatment of gangue in similar conditions.

The potential of ultra-low concentration gas is pointed out through the analysis of energy contained in ultra-low concentration gas drained from coal mine. This paper introduces the recovery and utilization of methane below 7% of the exhausted methane concentration in Dingji Coal Mine. The gas concentration is reduced to 1.2% after mixing with air. It is fed into regenerative thermal oxidizer for gas oxidation, generating high-temperature flue gas above 900℃, and generating medium-temperature and medium-pressure steam for power generation and heating of back-pressure steam turbine through flue gas waste heat boiler. This paper describes the method to solve the problem of safe transportation of concentrated gas by using the technology of secondary mixing transportation of low-concentration gas, describes the method to improve the thermal efficiency of regenerative thermal oxidizer furnace by using the technology of low-temperature hot air reuse of gas oxidation, and describes the application of combined heat and power technology of back-pressure turbine and post turbine to solve the problem of stable operation of units adapting to great fluctuation of thermal load in Dingji Coal Mine. The economic and social benefits of oxidation and utilization of ultra-low concentration gas in Dingji Coal Mine are analyzed.

Abstract：Response to the reasonable supporting of the open-off cut with large cross-section, based on the 122106 open-off cut in Caojiatan coal mine, this paper studies the loading and deformation characteristics of the roadway in the conditions of different roof span through theoretical analysis and discrete element numerical simulation. A high strength, high pre-tightening force and low density spanning reduction support technology, such as "secondary roadway + single hydraulic prop + high-strength Anchor Mesh Cable + W steel shield", has been proposed to support the large section coal roadway. Consequently, support efficiency has been improved and then the roadway driving speed has been accelerated significantly. The research shows that when the roof span exceeds 9m, the stability of the roof decreases dramatically, and the phenomenon of surface coal failure and collapse is easy to occur; the bearing capacity of the bolt is closely related to the pre-tightening force, and the larger the pre-tightening force, the better the bearing capacity of the bolt is; research results are verified by field measurement. The roadway did not appear obvious deformation, and the supporting body remain stable under loading.

In order to solve the engineering problem of deformation and instability of expansive muddy soft rock roadway under deep high stress in Kailuan mining area. The mineral composition, microstructure and physical and mechanical properties of expansive soft rock in typical area are tested and analyzed by means of X-ray diffraction, SEM scanning, uniaxial and conventional triaxial compression tests. It is found that the development of microcracks is the main cause of water absorption and expansion of surrounding rock. There are two types of surrounding rock instability under different confining pressures: tension failure and shear failure. The traditional anchoring and scaffolding supporting methods can not effectively give full play to the bearing efficiency of support. The multi-level anchoring grouting and bottom angle pressure relief scheme in this paper can combine the pressure reduction, support and surrounding rock modification, and obtain good support effect in the soft rock with high stress hydrolysis and expansion, which provides an example and reference for the safety support of the same kind of roadway.

In view of the large area collapse of the coal wall in the triangle area during the mining process of 3210 isolated island face in Wangpo coal mine, the influence range of the leading bearing stress and the failure depth of the coal wall in the isolated island face are analyzed, field measurement and industrial test, and the failure mechanism of the triangle coal at the end is expounded. In order to provide a basis for the selection of reasonable grouting area and grouting parameters for the prevention and control of triangular coal caving, grt-101 chemical grouting material is proposed to reinforce triangular coal and its surrounding rock. Based on this, industrial tests are carried out in 3210 isolated island working face, and good results are achieved.

In view of the characteristics of large air leakage and spontaneous combustion of coal seam in the goaf of Y-type ventilation working face, this paper analyzes the application effect of comprehensive fire-fighting technologies such as location determination method of high-temperature area, injection of liquid carbon dioxide, long borehole injection of high molecular materials, etc., based on the engineering background of the treatment of high-temperature points in the goaf of 50105 working face in fale coal mine, forming the inert injection of concentrated pressure Gas control fire, speed up the working face, precise injection of polymer materials to reduce the temperature of high-temperature area and other comprehensive treatment plan, eliminate the high-temperature hidden danger, ensure the safe mining of the working face, and provide experience reference for the fire prevention and extinguishing work of similar working faces

In order to solve the problem of optimization of coal reservoir permeability enhancement technology faced by mine gas control, In this paper a controllable shock wave coal reservoir permeability enhancement technology is introduced and Taking Jining Coal Mine as the background of engineering practice The effective extraction radius, extraction volume and time to reach the standard of impact drilling are taken as the evaluation indexes of the effect of controlled shock wave, The results of engineering practice show that Controllable shock wave can promote the communication between primary fissures to form a network of permeable fissures by forcing the internal structure of coal reservoirs to be destroyed, and thus the permeability of coal seams is significantly improved. Therefore, the effective radius of impact drilling is increased to 17m. Compared with ordinary drilling, this technology increases the single-hole extraction to 8.9 times, effectively reduces the time of gas extraction reaching the standard by 64%, saves a lot of economic investment, and with the increase of single-point mode of shock wave, its effect of enhancing permeability is more remarkable.

In order to reduce the influence of hydrogen sulfide gas on the main mining face, ensure the safety of working face personnel and mine efficiency, speed and safety production. Pulse hydrodynamic pressure injection of long and Short Boreholes for sulfur absorption is proposed. Based on the coal quality, occurrence characteristics and production conditions of 15# coal seam in Weishan Mine, this paper studies the abnormal situation of hydrogen sulfide germination in 15107 working face, and combines theoretical analysis and industrial test to study the long-short drilling pulse dynamic pressure injection alkali sulphur absorption. Mechanism; proposed the technology of long-short drilling pulse dynamic pressure injection alkali-sucking sulfur in Weishan Mine; formulated the hydrogen sulfide injection alkali-sulphur adsorption scheme of 15107 working face in Weishan Mine and carried out industrial test to effectively reduce the abnormal amount of hydrogen sulfide in the mine working face In the end, it achieved the goal of safe, high-yield and high-efficiency in Weishan Mine.

In order to prevent the water inrush accident caused by the forward structure of the confined water during the excavation process, the transient electromagnetic method "five-horizontal and one vertical" detection test plan was adopted in the Shuozhou Guoqiang coal mine to carry out the advanced detection of the water inrush structure. The profile, plan and perspective view accurately define the position of the water guiding channel and the water-rich zone, analyze the type and correlation of water damage, and carry out the design of the advanced exploration and drainage water on the basis of this, and propose the advanced exploration and release measures of the karst pressure-bearing water inrush structure. The results show that the transient electromagnetic method can cover the structure and water-rich conditions in the front of the excavation, form a three-dimensional map of multi-directional data, analyze the water-rich distribution and connectivity, and conclude that there may be faults or subsidence pillars in front of the heading of Guoqiang coal mine. Structure, connecting aquifers such as sandstone and limestone to form a water-rich zone; In view of the characteristics of high water pressure and sufficient water volume in the high-pressure karst area, on the basis of advanced detection, special drilling technology schemes, such as encrypted drilling arrangement and orifice safety device layout, can be developed for the front water-rich area. Water release work and timely safety analysis; During the process of exploration and release of water, when drilling signs are found, drilling must be stopped immediately, and the drill pipe must not be pulled out. If necessary, grouting should be used to block the water guiding structure or leave a waterproof coal pillar to ensure safe mining of the working face.

In order to make the value of stress increment in the method of multi factor stress superposition impact risk assessment more in line with the actual situation of the site, the stress measuring points of coal body are arranged in the different influence areas of different factors along the working face, the change of stress of coal body under different influence factors of impact pressure of the test working face is measured, and then the maximum stress increment of coal body under single influence factor is analyzed, which can be used for similar work The value of stress increment in the face impact risk pre evaluation can provide a reference to improve the accuracy of the impact risk pre evaluation. According to the actual measurement and analysis of the test working face, the maximum stress increment under the influence of "square" of the working face is about 2.50mpa, the maximum stress increment under the influence of the side bearing pressure of the goaf is 1.75mpa, the maximum stress increment under the influence of the fault structure is about 1.5MPa, and the maximum stress increment under the influence of mining is about 3.65mpa.

In order to explore the influence law of coal pillar on the evolution characteristics of mining stress for the protected layer in the process of coal seam group mining, the FLAC3D strain softening model is used to simulate the evolution law of support pressure and three-dimensional stress in the mining of the protected layer under the influence of coal pillar. The results show that the working face of the protected layer is in the state of pressure relief except for the coal pillar influence area. The evolution law of abutment stress is closely related to the mining progress of the protected layer. When the advancing position of working face is in the influence area of coal pillar, the abutment stress suddenly increases to 1.25 times of the original rock stress, and the curve shows a rapid rising trend. The higher the horizon is from the protective layer, the smaller the vertical stress value is. When the horizon distance is greater than 26 m, the three-dimensional stress distribution is basically no longer affected by the coal pillar. Under the influence of coal pillar, the working face of the protected layer can be divided into three parts: coal pillar influence area, coal pillar influence expanding area and pressure relief area. At the same time, the comprehensive measures of high-level through layer drilling, gas drainage by buried pipe in goaf, mesh through layer drilling and large-diameter pressure relief drilling were implemented in the working face. The total gas drainage is more than 90 days, and the gas drainage is 64805 m3. The effect inspection indexes are not over limit, and the safe mining is realized.

According to the problems existing in the prediction of gas emission in small fault structure area, this paper determines the gas parameters before and after the mining in the small fault tectonic area of Wu-yang mine, Chang-cun mine, Li-cun mine and Yu-wu mine in Lu'an mining area, then, the law of gas emission in the small fault tectonic area is analyzed and the main factor index system of the small fault tectonic area which affects the gas emission is established. Using the BP neural network analysis method, the relationship between geological structure of small fault tectonic and gas emission is studied, furthermore, a prediction model for gas emission in small fault structure area is established based on BP neural network. The application in Lu'an mining area shows that, the error between the method and the measured data is less than 5%, which can effectively predict the gas emission at different locations in the small fault structure area.

According to the actual working conditions of the water-bearing geological structures of coal roadway and the detection mechanism of focusing effect, the paper builds the geoelectric testing detection and its equivalent resistance-capacitance network model, and accurately constructs the simulation circuit model of the detection system by using the SimPowerSystems module in the Simulink component of MATLAB software in order to understand the abnormal IP characteristics of the water-bearing geological structures for comprehensive excavation detection in the coal roadway by focused dual-frequency IP method, reduce the system error of traditional RC network in the physical model experiment simulation, and improve the testing accuracy of forward simulation. By changing the parameters of the RC network model, the apparent resistivity and apparent amplitude of the water-bearing geological structures are simulated. The simulation results show that the apparent amplitude increases gradually, while the apparent resistivity decreases gradually with the increase of the distance between the measuring points and the excavation section. At the measurement point 48m away from the excavation section, the apparent amplitude reaches 19.7% and the apparent resistivity reaches 571.5 . That is, the closer the measuring point is to the water-bearing abnormal body, the more obvious the abnormal IP effect is.

In view of the hidden danger of water disaster caused by the closed pit to the adjacent production mines, in order to ensure the production safety of the adjacent mines after the closed pit in Zhaogezhuang mine, the evolution process of groundwater flow field in closed pit mine area is studied by numerical simulation method, and the concepts of safe water level and warning water level are put forward：After the mine is closed, the underground water level rises slowly, the water level depression funnel in the aquifer decreases gradually, and the speed of water level recovery slows down with the increase of mine closure time. After three years, the water level in the mine reaches the safe water level of - 570m；In order to ensure the safety production of Linxi mine, according to the recovery of water level and the damage of mine boundary, the warning water level of - 575M is determined，when it is considered that the water level in Zhaogezhuang mine is always lower than the warning level by using the drainage of Linxi mine, the increased drainage of Linxi mine is about 12.5m3/min. The results provide basis and reference for the prevention and control of old air water in adjacent mines.

Based on groundwater level and dewatering rate monitoring as well as the regional hydrogeological investigation and pumping tests at Chaoyang open-pit coal area, the numerical groundwater simulation model is developed for the purpose of dewatering schemes analysis. The integrated scheme, with considerations of ground dewatering wells, horizontal dewatering wells and dewatering hole, is proposed for different periods of mining. The simulation results illustrated that the scheme is feasible and effective for the dewatering systems. The maximum dewatering rate simulated is approximately 45000 cubic meters per day. The research results are meaningful for the decision of water control for the coal mining.

The rheological property of rock is one of the important mechanical properties that lead to slope deformation and failure. It is found that the deformation and failure of the slope are closely related to the rheology of the rock, and most of them are progressive. Therefore, clarifying the mechanical process of progressive failure of rocks has important engineering practical value in roadway support, surrounding rock stability analysis, and open-pit mine slope stability analysis and support. In order to reveal the mechanism of progressive failure of slope engineering, this paper combined with the actual slope of opencast mine engineering and simulated the progressive failure process of slope by using FLAC software. Finally, it is concluded that the failure of the slope of open-pit mine is not the whole failure in a moment, but the gradual process from the gradual extension of the local failure to the penetration of the slope, so as to guide the safe production of open-pit mine.

This paper studies the actual engineering geology and hydrogeological conditions of the dump in Nanwa village,which is the important part of Donglutian open-pit coal mine in the pingshuo mining area,an engineering geological model for slope stability study in Donglutian open-pit coal mine is established,the distribution characteristics of stress, displacement and plastic zone in slope instability are simulated by PFC software,the deformation failure mode and instability mechanism of slope were proved,then slide limit balance analysis software is used to evaluate the slope stability of nanwa village dump,finally, the prevention measures of slope deformation and failure are put forward according to the actual conditions,it provides theoretical basis for ensuring slope safety and realizing efficient production.

The 915MHz microwave irradiation experiment was carried out in Shanxi Huozhou coal. The FTIR analysis of the surface coal sample and the bottom coal sample after microwave irradiation was carried out, and the comparison with the original coal sample was carried out to study the effect of microwave radiation on the carbon structure in coal. The results show that the aromatic structure of Huozhou coal mainly exists in the form of disubstituted or tetrasubstituted benzene rings, which account for 73.58% of the aromatic structure. It can be seen that the degree of condensation of coal is low. The aliphatic structure mainly exists in the structure of -CH3 and methylene-CH2, wherein the proportion of -CH2 in the total fat structure content reaches 77.43%. Therefore, there are more alkyl side chains in the raw coal sample. After 915MHz microwave irradiation, the content of benzene ring monosubstituted and benzene ring pentasubstituted in the aromatic structure decreased, and the content of benzene ring disubstituted and tetrasubstituted compounds increased. Microwave radiation has an effect on the coal sample structure. Compared with the preirradiation coal sample, the relative content of the methylene (-CH2) symmetry and asymmetric stretching vibration in the aliphatic structure increased by 3.77% and 10.75%, the relative contents of CH stretching vibration and CH3 asymmetric stretching vibration decreased by 3.26%, 5.68%, and 0.51%, and 1.81%, respectively.

Aiming at the problem of spontaneous combustion of coal gangue in Yangmei Group, the mineral properties of coal gangue were analyzed firstly. The carbon in coal gangue was studied from the view of particle size by screening test. The sulfur in coal gangue was quantified by determination of total sulfur. The su8020 scanning electron microscope was used to study the sulfur embedding state and the distribution of sulfur under different liberation degrees. The image processing analysis was carried out by ImageJ software to provide a new method for quantifying the sulfur distribution law.

Abstract: A study is made of the promoting effect on flotation of oxidized coal product by agent C-1，compared with the flotation effect of traditional agents. Promoting mechanism of agent C-1 by Infrared Spectroscopy and Wetting Heat. The result show that the agent C-1 can be chemically adsorbed on the oxygen-containing functional groups on the surface of the oxidized coal, thereby improving the hydrophobic property of the surface of the coal particles. It significantly improves the yield of clean coal, the recovery rate of combustibles, and the perfection of flotation, and reduces the ash content of clean coal. When the amount of foaming agent is 100g / t and the amount of agent C-1 is 1200g / t, the minimum coal ash content is 12.02%, the flotation perfection index is36.35%, and the flotation effect is the best.

The conical structure of the tri-cone Angle hydrocyclone was studied by orthogonal experimental design and computational fluid dynamics.Firstly, the influence of cones from different angles on the separation effect of coarse coal slime was studied through orthogonal experiment. Then by using the method of CFD to three cone Angle of water medium cyclone, the internal flow field in numerical simulation of turbulent phase by using the Reynolds stress the RSM model, further DPM discrete phase model are adopted to simulate the three cone particles in water medium cyclone motion, analysis of internal flow field of the pressure, velocity distribution and solid particle trajectory, the results show that the three sections of the cone has influence on separation effect, influence degree for first cone > second cone >third cone; The first cone can obtain lower cleaned coal ash content, and the second and third cone can ensure higher cleaned coal yield within the required ash content range, providing reference for optimizing the cone structure parameters of the three-cone Angle hydrocyclone.

In order to study the working condition of vibrating bed when the linear exciting force deviates from the centroid, based on the dynamic analysis, the mechanical model of the vibrating bed under the condition is established, and the rotation angle is calculated. In combination with EDEM, the performance of the bed with the exciting force passing through the centroid, the front of the centroid, and the rear of the centroid is simulated. The mass flow rate of the material and the pressure of the particles on the bed are obtained and analyzed. The results show that when the exciting force passes through the front of the centroid, the amplitude of the ending of the vibrating bed rises, the particles run faster. In addition, the pressure on the bed is more evenly, and is reduced on the feeding of it, which is beneficial to prolong the life of the bed; however, the results are opposite when the exciting force passes behind the centroid. Based on these, it is proposed that the linear exciting force passing through the front of centroid favors the vibration feeding process, which provides a basis for the optimal design of the vibration conveying equipment.

At present, there are a lot of auxiliary work in tunneling face, such as advanced drilling, bolting and anchoring, dismantling and assembling water pipes, etc. There are many single-machine equipments used on site, and the labor intensity of personnel is high. In view of the above problems, the development of TM 55/200 multi-function anchor detecting machine is carried out. In order to meet the needs of the site, the design of the multi-functional anchor detector integrates the functions of water detection and drainage, anchor cable support, bolt support, water pipe snatch, roadway repair and breakage, conveyor belt winding, and adopts remote control, local automation and other control modes. Through the development and application of the multi-function anchor detector, the effect of reducing staff, increasing efficiency and improving operation safety can be achieved.

In this paper, the design and implementation of electro-hydraulic control system for heavy mine dump truck are presented. According to the functional requirements of mine dump truck products, a distributed network structure based on CAN bus is designed, and the specific functions of vehicle control unit are designed, including the function design related to driving, such as transmitter start, throttle pedal, brake pedal and lighting, and the control method of hydraulic lifting valve block and the principle of electro-hydraulic combined braking, which are finally carried out. Selection of controller and development of application program to realize all control functions of electro-hydraulic control system of mine dump truck.

According to the application requirements of large flow mud pump truck and the characteristics of open hydraulic system and closed hydraulic system, the hydraulic system of large flow mud pump truck is designed, and the working principle and functions of main hydraulic components are described in detail. Based on the performance parameters of mud pump truck, the important hydraulic components are calculated and selected. Considering the requirements of working environment and closed hydraulic system heat dissipation in coal mine underground, three corresponding cooling measures are adopted to improve the heat dissipation effect of the system, which can be well adapted to underground application in coal mine.

Aiming at the harsh environment of high coal dust and dark light in coal mine, a method of detecting the attitude of cantilever type roadheader based on strapdown inertial navigation is proposed. Strapdown inertial navigation technology does not rely on external information, is not subject to environmental interference, and is suitable for the harsh environment of coal mines. Strapdown inertial navigation technology measures the attitude and position information of the roadheader through three-axis gyroscope and three-axis accelerometer. The attitude calculation algorithm determines the accuracy of attitude and position to a large extent. The applicability and advantages and disadvantages of the cantilever tunneling machine are analyzed. The four pose calculation algorithms are compared. The simulation is carried out under the two conditions of noisy sinusoidal motion and simulated roadheader. An experimental platform was built and used to replace the roadheader's tunneling and experiment. The results show that both algorithms can meet the accuracy requirements of the roadhead attitude angle. The accuracy of the quaternion method is higher than that of the equivalent rotation vector method. The experimental results verify the simulation results, but the position correction error is better. The large and divergent state is for further study.

A reasonable profit distribution mechanism is the key to the stable development of the coal supply chain. This paper collects the data of three enterprises in the coal production, transportation and marketing supply chain of Shanxi Province. Based on the analysis of the cost-benefit composition of the individual and cooperative operation of each link subject, the Shapley value method is used to calculate the profit distribution of each subject in the coal production, transportation and marketing supply chain, and the following conclusions are obtained: 1) The profit of coal production, transportation and sales enterprises in cooperative operation increased by 6.34%, 17.88% and 0.56% respectively compared with that in separate operation, and the overall income increased by 6.4%. In the cooperative state, the overall income is greater than the sum of the income of each enterprise when operating independently, and the income of each link enterprise is greater than the income obtained when operating independently. 2) When operating independently, the revenues of production, transportation and sales enterprises account for 48.69%, 17.52% and 33.80% respectively. The reasonable profit distribution plan of the production, transportation and sales supply chain calculated by the Shapley value method are 48.65%, 19.41% and 31.94% respectively. 3) Contributions to the production, transportation and sales supply chain from large to small are coal production enterprise, sales enterprise and transportation enterprise.

With the gradual development of new and old kinetic energy conversion in coal enterprises, the problem of performance evaluation needs to be solved urgently. Based on this, this paper uses the nonparametric DEA Malmquist index method to quantitatively analyze the performance of coal enterprises in 2015-2018. The results show that the average technical efficiency of coal enterprises in china is 0.731, and there is a waste of resources. Technological progress has promoted the growth of TFP. In a short period of time, the transformation performance of new and old kinetic energy of enterprises is significant, but there is a downward trend. Only by maintaining technological innovation, improving management level and continuously optimizing resource allocation can coal enterprises improve the performance level of new and old kinetic energy conversion.

In order to study the relationship between coal consumption and economic growth in Beijing-Tianjin-Hebei, the paper constructs decoupling model to dynamically reflect the time evolution characteristics of the relationship between them. On this basis, LMDI is used to analyze the impacts of coal consumption in Beijing-Tianjin-Hebei. The result shows that the regional decoupling relationship between coal consumption and economic growth is weak decoupling for long. Among them, Beijing has realized the transition from weak decoupling to strong decoupling, Tianjin is still in weak decoupling state, Hebei has gradually realized the transformation from expanding connection to weak decoupling. Among the factors affecting coal consumption, economic growth effect is the leading factor for coal consumption increase in all regions. Both energy intensity effect and energy structure effect restrain local coal consumption. And industrial structure effect is gradually changing from coal consumption driving factor to restraining factor, the mode of action varies from place to place.