Digital twin: meeting the technical challenges of intelligent fully mechanized working face
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摘要: 基于智能化综采工作面目标任务−自主完成综采工作面可靠割煤、保持工作面几何关系、顶板可靠支护，提出了综采工作面智能控制关键技术，包括采煤机定位技术、工作面可视化技术、液压支架电液控制技术（装置）、工作面通信技术、综采装备协同控制技术、采煤机自动调高技术、工作面自动调直技术和工作面围岩支护控制技术（其中前3种技术属于智能化综采工作面的感知与执行层，工作面通信技术是智能化综采工作面的传输层，后4种技术属于智能化综采工作面的决策层）。指出智能化综采工作面面临的挑战为决策层的自主决策能力不能适应复杂多变的工况、感知与执行层不能支撑决策层的信息需求和决策指令的可靠执行。针对上述挑战问题，采用基于仿真的数字孪生建模方法，提出了综采工作面数字孪生系统架构。综采工作面数字孪生系统虚拟实体包括机理模型和行为模型，利用综采装备机理模型可获得综采装备物理系统的不可测数据，行为模型可为综采工作面智能控制系统提供反映物理装备运行状态的全息信息，解决决策层数据信息匮乏问题；综采装备机理模型与其控制系统组合的离线运行模式形成综采工作面硬件在环仿真系统，为基于工艺规则的智能控制算法提供测试平台；综采装备机理模型、行为模型与其控制系统组合的离线运行模式形成综采工作面计算实验系统，为综采工作面智能控制系统真正的自主决策复杂算法开发提供测试平台。Abstract: The goal and task of intelligent fully mechanized working face are to independently complete the reliable coal cutting of the fully mechanized working face, maintain the geometric relationship of the working face and reliable roof support. According to the goal and task, the key technologies of intelligent control of fully mechanized working face are proposed. The technologies include shearer positioning technology, working face visualization technology, hydraulic support electro-hydraulic control technology (device), working face communication technology, collaborative control technology of fully mechanized mining equipment, autonomous height adjustment technology of shearer, autonomous straightening technology of working face and surrounding rock support control technology of working face. Among these technologies, the first three technologies belong to the perception and execution layer of intelligent fully mechanized working face. The working face communication technology is the transmission layer of intelligent fully mechanized working face. And the last four technologies belong to the decision-making layer of intelligent fully mechanized working face. The challenges faced by the intelligent fully mechanized working face are pointed out, which are that the autonomous decision-making capability of the decision-making layer cannot adapt to the complex and changeable working conditions, and the perception and execution layer cannot support the information demand of the decision-making layer and the reliable execution of the decision-making instructions. In order to solve the above challenges, the digital twin system architecture of fully mechanized working face is proposed by use of the simulation-based digital twin modeling method. The virtual entity of the digital twin system of the fully mechanized working face comprises a mechanism model and a behavior model. The unmeasurable data of a physical system of the fully mechanized working face equipment can be obtained by the mechanism model. The behavior model can provide holographic information reflecting the running state of the physical equipment for an intelligent control system of the fully mechanized working face. Thus the problem of the lack of data information in the decision-making layer is solved. The off-line run mode of the combination of the mechanism model of fully mechanized mining equipment and its control system forms the hardware in the loop simulation system of fully mechanized working face, which provides a test platform for intelligent control algorithms based on process rules. The off-line run mode of the combination of the mechanism model, behavior model and its control system of the fully mechanized mining equipment forms the calculation experimental system of the fully mechanized working face, which provides a test platform for the development of the real independent decision-making complex algorithm of the intelligent control system of the fully mechanized working face.
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【编者按】煤矿采掘装备智能化是实现煤炭安全高效开采的技术保障。国家发展改革委、国家能源局、应急管理部等八部委联合印发的《关于加快煤矿智能化发展的指导意见》指出，重点突破智能快速掘进、复杂条件智能综采等技术与装备，对于冲击地压、煤与瓦斯突出等灾害严重的矿井优先开展智能化采掘（剥）的机器人替代。近年来，我国煤矿智能采掘装备在定位导航、智能感知、智能采掘工作面示范等关键技术和工程应用方面取得了一批先进成果，为实现煤矿采掘工作面少人化与安全高效作业提供了支撑。为进一步交流共享科研成果，探讨智能采掘装备在数字孪生、智能运维、智能决策等技术发展方向和难题，加快推动煤矿采掘作业智能化发展，保障矿山安全高效生产，《工矿自动化》编辑部特邀中国工程院葛世荣院士担任客座主编，中国矿业大学王世博教授担任客座副主编，于2022年第7期组织出版“煤矿智能采掘装备技术与应用”专题。在专题刊出之际，衷心感谢各位专家学者的大力支持！
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图 7 综采工作面数字孪生系统架构
Figure 7. Digital twin system architecture of fully mechanized working face
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