Research on the dynamic law of automatic following of hydraulic support
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摘要: 目前针对综采工作面液压支架自动跟机问题的研究集中在基于外部环境变量来控制液压支架动作，在工作面长时间运行中无法保持很好的效果。考虑外部环境的变化最终会反映到液压系统中，提出以液压系统压力特性预测液压支架跟机动作时间。以陕煤集团神木柠条塔矿业有限公司S1204工作面为工程背景，采用AMESim软件建立了单架液压系统模型和工作面液压系统模型，通过仿真分析得到移架和推溜同时动作时推移液压缸压力、行程等参数的动态变化规律，发现工作面液压支架自动跟机过程中推移液压缸进液口压力与拉架时间呈线性关系，说明可通过进液压力预测跟机动作时间。研发了工作面液压数据采集系统并安装于试验工作面，实时获取液压支架工作过程中推移液压缸进液口压力，并计算出对应的移架时间，得出二者具有强线性相关性，与仿真结果一致。采用线性拟合方法得出进液压力与拉架时间的关系式，实现了基于液压系统进液压力预测拉架时间，提高了自动跟机的准确性，减少了人工调节率。Abstract: Currently, research on the automatic following of hydraulic support in fully mechanized working faces focuses on controlling the movement of hydraulic support based on external environmental variables. It cannot maintain good results during long-term operation of the working face. Considering that changes of the external environment will ultimately be reflected in the hydraulic system, it is proposed to predict the following action time of hydraulic supports based on the pressure features of hydraulic system. Taking S1204 working face of Shaanxi Coal Mining Group Shenmu Ningtiaota Mining Co., Ltd. as the engineering background, a hydraulic system model for single support and a hydraulic system model for working face are established using AMESim software. Through simulation analysis, the dynamic change laws of parameters such as pressure and stroke of the pushing hydraulic cylinder during the simultaneous movement of advancing and sliding are obtained. It is found that the inlet pressure of pushing hydraulic cylinder is linearly related to the pulling time during the automatic following process of hydraulic support . It explains that the following action time can be predicted through the inlet pressure. The hydraulic data acquisition system for the working face is developed and installed on the experimental working face. The real-time pressure at the inlet of the pushing hydraulic cylinder during the working process of hydraulic support is obtained. The corresponding advancing time is calculated. It is found that the two have a strong linear correlation, which is consistent with the simulation results. The linear fitting method is used to obtain the relationship between the inlet pressure and the pulling time, achieving the prediction of pulling time based on hydraulic system pressure. It improves the accuracy of automatic following and reduceg reduceg the manual adjustment rate.
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图 5 工作面液压系统仿真模型（局部）
1−乳化液泵站组；2−卸荷阀；3−节流阀；4−推移液压缸；5−负载。
Figure 5. Hydraulic system simulation model of working face(local)
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图 8 液压系统数据采集系统
a−拉绳式行程传感器；b,c,d−压力传感器；e−接线盒；f−数据采集仪；g−数据采集仪内部开发板；h−交换机；i−上位机；红线−电源线；蓝线−传感器信号线；黑线−接线盒与数据采集仪通信总线；黄线−数据采集仪与上位机通信线。
Figure 8. Data acquisition system of hydraulic system
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图 9 工作面69号液压支架某次移架动作期间的状态数据曲线
Figure 9. The state data curve of No.69 hydraulic support in working face during a certain movement
表 1 ZY12000/22/45D型液压支架各液压缸参数
Table 1 Parameters of ZY12000/22/45D hydraulic support cylinders
液压缸 缸径/mm 杆径/mm 缸数 动作行程/mm 立柱 400/300 380/260 2 − 推移液压缸 200 140 1 960 抬底液压缸 160 120 1 100 护帮液压缸 125 85 2 300 平衡液压缸 230 160 1 − 侧推液压缸 80 60 4 200 
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表 2 供液系统各管路参数
Table 2 Pipeline parameters of liquid supply system
管路 长度/m 管径/mm 进液管 回液管 进液管 回液管 主管路（接机头） 300 300 63 75 主管路（接机尾）运输巷段 300 300 63 75 主管路（接机尾）刮板输送机槽段 400 400 50 63 支架间管路 2.5 2.5 50 63
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表 3 各试验组推移液压缸无杆腔压力和拉架时间
Table 3 Rodless chamber pressure and pulling time of pushing cylinder in each test group
仿真试验组
（架号−有无推溜）无杆腔压力/MPa 拉架时间/s 69−无 11.33 7.42 69−有 11.21 7.64 69，72−无 11.32 7.42 69，72−有 10.95 7.95 69，71，73−无 11.17 7.68 69，71，73−有 10.75 8.81 69，70−无 11.33 7.43 69，70−有 11.01 7.95 69，70，71−无 10.79 8.46 69，70，71−有 10.19 10.47
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表 4 拉架过程中的进液压力和时间
Table 4 Inlet fluid pressure and time when pulling support
序号 压力/MPa 时间/s 序号 压力/MPa 时间/s 1 15.12 7.91 10 23.49 6.19 2 15.25 9.76 11 24.1 5.74 3 16.35 9.68 12 24.27 6.94 4 18.9 6.33 13 26.2 5.54 5 19.88 7.09 14 26.46 5.36 6 20.65 6.28 15 26.48 4.98 7 21.09 6.93 16 26.72 5.77 8 21.17 6.76 17 26.76 5.55 9 22.6 6.67 18 26.89 6.59
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