基于支架结构运动学的放煤机构精准控制研究

王祖洸; 王伸; 李东印; 李化敏; 王文; 岳帅帅; 李东辉

doi:10.13272/j.issn.1671-251x.18212

基于支架结构运动学的放煤机构精准控制研究

doi: 10.13272/j.issn.1671-251x.18212

王祖洸^{1, 2,},
王伸^{1, 3, 4, ,},
李东印^{1, 3},
李化敏¹,
王文¹,
岳帅帅¹,
李东辉⁵

1.
河南理工大学能源科学与工程学院，河南焦作　454000
2.
河南理工大学医学院，河南焦作　454000
3.
煤炭安全生产与清洁高效利用省部共建协同创新中心，河南焦作　454000
4.
河南理工大学地质资源与地质工程博士后流动站，河南焦作　454000
5.
东北大学深部金属矿山安全开采教育部重点实验室，辽宁沈阳　110819

基金项目: 河南理工大学安全学科“双一流”创建国家级重点项目培育资助项目（AQ20240306）；河南省科技攻关计划项目（242102320210）；河南省重点研发专项项目（241111320800）；河南理工大学博士基金资助项目（B2023-26）。

详细信息

作者简介:
王祖洸（1991—），男，河南焦作人，讲师，博士，研究方向为采矿理论和技术、智能开采等，E-mail：wangzg@hpu.edu.cn

通讯作者:
王伸（1991—），男，河南修武人，副教授，博士，研究方向为岩层控制技术、智能开采等，E-mail：wangshen@hpu.edu.cn。

中图分类号: TD823.49
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出版历程
- 收稿日期: 2024-07-31
- 修回日期: 2024-09-20
- 网络出版日期: 2024-10-17

Study on precise control of coal caving mechanisms based on the kinematics of support structures

WANG Zuguang^{1, 2
,},
WANG Shen^{1, 3, 4
, ,},
LI Dongyin^{1, 3},
LI Huamin¹,
WANG Wen¹,
YUE Shuaishuai¹,
LI Donghui⁵

1.
School of Energy Science and Engineering, Henan Polytechnic University, Jiaozuo 454000, China
2.
School of Medicine, Henan Polytechnic University, Jiaozuo 454000, China
3.
Collaborative Innovation Center for Safe Production and Clean and Efficient Utilization of Coal, Jiaozuo 454000, China
4.
Postdoctoral Station of Geological Resources and Geological Engineering, Henan Polytechnic University, Jiaozuo 454000, China
5.
Key Laboratory of Ministry of Education on Safe Mining of Deep Metal Mines, Northeastern University, Shenyang 110819, China

摘要

摘要: 放煤机构的精准控制是实现智能化、无人化放顶煤开采的重要基础，放煤机构与后部刮板输送机的空间关系及支架姿态对空间关系的影响规律是构建放顶煤支架控制模型的关键。以ZF17000/27.5/42D型低位放顶煤支架为研究对象，阐述了支架顶板和底板不同俯仰姿态下放煤机构与后部刮板输送机的空间关系；基于液压支架放煤机构开口度控制逻辑，搭建了支架姿态感知系统，提出了液压支架放煤机构末端运动学分析方法；建立了基于D−H矩阵的低位放顶煤液压支架放煤机构末端运动学模型，并据此构建了液压支架放煤机构开口度计算模型，平均计算误差仅为1.71%，满足现场应用精度要求；提出了基于姿态反馈的支架放煤机构闭环控制方法，并将基于放煤机构开口度计算模型开发的放煤决策模型应用于现场。应用效果表明：自动放煤时各支架平均放煤时间的均方差仅为0.13 min，较人工放煤方式整体放煤效率提高20%～43.9%；顶煤采出率达89%，后部刮板输送机负载更加均衡，过载率仅为0.73%。
- 综放开采智能化 /
- 放煤机构 /
- 运动学分析 /
- 放煤支架控制 /
- 支架姿态感知 /
- 开口度控制
Abstract: Precise control of the coal caving mechanism is a crucial foundation for realizing intelligent and unmanned top coal caving mining. The spatial relationship between the coal caving mechanism and the rear scraper conveyor, as well as the top coal influence of the hydraulic support's posture on this spatial relationship, is key to constructing a control model for the caving support. Using the ZF17000/27.5/42D low-position top coal caving support as the research object, this study explained the spatial relationship between the coal caving mechanism and the rear scraper conveyor under different pitch angles of the support's roof and base. Based on the control logic for the opening degree of the hydraulic support's coal caving mechanism, a support posture sensing system was established, and a method for kinematic analysis of the hydraulic support's coal caving mechanism was proposed. A kinematic model for the end of the low-position hydraulic support's coal caving mechanism based on the D-H matrix was developed, and a calculation model for the opening degree of the hydraulic support's coal caving mechanism was constructed. The average calculation error was only 1.71%, meeting the accuracy requirements for field applications. A closed-loop control method for the coal caving mechanism based on posture feedback was proposed, and the coal caving decision model developed from the opening degree calculation model was applied in the field. Application results showed that during automatic coal caving, the mean square deviation of the average caving time for each support was only 0.13 minutes, with an overall caving efficiency improvement of 20%-43.9% compared to manual caving. The top coal recovery rate reached 89%, and the load on the rear scraper conveyor was more balanced, with an overload rate of only 0.73%.
- intelligent coal caving /
- coal caving mechanism /
- kinematic analysis /
- coal discharge support control /
- support posture sensing /
- opening degree control

HTML全文

图 1 放顶煤支架关键构件

Figure 1. Key structural components of top coal caving support

下载: 全尺寸图片幻灯片

图 2 底座、顶梁不同状态时液压支架姿态特征

Figure 2. Posture characteristics of hydraulic support under different states of base and top beam

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图 3 体坐标系与世界坐标系的空间关系

Figure 3. Spatial relationship between body coordinate system and world coordinate system

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图 4 标准D−H坐标系及其变换参数

Figure 4. Standard D-H coordinate system and its transformation parameters

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图 5 放顶煤液压支架D−H坐标系模型

Figure 5. D-H coordinate system model of top coal caving hydraulic support

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图 6 支架姿态传感器安装位置

Figure 6. Installation position of support posture sensors

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图 7 D−H参数计算模型

Figure 7. Calculation model of D-H parameters

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图 8 不同姿态下支架放煤机构运动轨迹及开口度特征

Figure 8. Motion trajectory and opening degree characteristics of coal caving mechanism under different postures of support

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图 9 放顶煤液压支架数值仿真模型

Figure 9. Numerical simulation model of top coal caving hydraulic support

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图 10 基于放煤机构开口度控制的自动放煤流程

Figure 10. Automatic coal caving flow based on the coal caving mechanism's opening degree

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图 11 工作面各支架平均放煤时间

Figure 11. Average coal caving time of each support in working face

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图 12 顶煤放出量统计

Figure 12. Statistical diagram of top coal caving volume

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图 13 后部刮板输送机电动机电流曲线

Figure 13. Current curves of rear scraper conveyor motor

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表 1 放顶煤液压支架D−H坐标系变换参数

Table 1. Transformation parameters of D-H coordinate system for top coal caving hydraulic support

关节i	α_i	g_i	d_i	θ_i
1	0	0	0	θ₁
2	0	g₂	0	θ₂
3	0	g₃	0	θ₃
4	0	g₄	0	θ₄
5	0	g₅	0	θ₅
6	0	g₆	0	θ₆

下载: 导出CSV

表 2 液压支架D−H参数

Table 2. D-H parameters of hydraulic support

序号	D−H参数	结构参数	数值	含义
1	g₂	l_OB	1 712.5 mm	前连杆下铰接点B距固定坐标系原点O的距离
2	g₃	l_BD	1 884.7 mm	前连杆上下2个铰接点间的距离
3	g₄	l_DF	1 564.8 mm	前连杆上铰接点D与掩护梁上铰接点F的距离
4	g₅	l_FI	2 473.7 mm	掩护梁上下2个铰接点间的距离
5	g₆	l_IJ	1 707.0 mm	尾梁上铰接点到尾梁末端的距离
6	θ₁	β₁	实测数据	底座与水平面的夹角
7	θ₂	∠AOB	57°	OB线与底座的夹角，固定值
8	θ₃	180°−∠OBD	计算数据	OB线与前连杆夹角的补角
9	θ₄	180°−∠BDF	计算数据	DF线与前连杆夹角的补角
10	θ₅	180°−∠DFI	168°	DF线与掩护梁夹角的补角
11	θ₆	180°−∠HIJ	计算数据	掩护梁与尾梁之间的夹角

下载: 导出CSV

表 3 部分支架构件参数

Table 3. Parameters of some support structural components

序号	结构参数	数值	含义
1	β₂	实测数据	前连杆与水平面的夹角
2	∠DFI	12°	DF线与掩护梁的夹角
3	$ {l}_{{D}^{0}D} $	493.9 mm	前连杆上铰接点到HE线的距离
4	l_DE	500.1 mm	前后连杆上铰接点间的距离
5	l_BC	1 033.4 mm	前后连杆下铰接点间的距离
6	∠BCCʹ	25°	C点到AB的垂线与BC的夹角
7	l_CE	1 519.6 mm	后连杆上下铰接点间的距离
8	∠IʹIP	70°	尾梁行程传感器上安装杆至尾梁关节处形成的夹角
9	∠NIJʹ	13°	尾梁行程传感器下安装杆至尾梁关节处形成的夹角
10	l_PI	336.7 mm	尾梁行程传感器上铰接点至尾梁上铰接点的距离
11	l_IN	892.7 mm	尾梁行程传感器下铰接点至尾梁上铰接点的距离
12	l_PN	714 mm+ l_w	尾梁行程传感器2个铰接点间的距离（实测数据）

下载: 导出CSV

表 4 放煤机构开口度测试结果

Table 4. Test results of opening degree of coal caving mechanism

序号	底座倾角/（°）	前连杆倾角/（°）	尾梁行程/mm	计算值/ mm	测量值/ mm	差值/ mm	误差/ %
1	0	45	220	459.27	465.13	5.86	1.26
2	0	46	220	479.68	487.93	8.25	1.69
3	0	47	220	499.42	508.19	8.77	1.73
4	0	48	220	536.59	533.48	−3.11	−0.58
5	0	49	220	565.27	557.02	−8.25	−1.48
6	0	50	220	590.60	583.02	−7.58	−1.30
7	1	47	220	544.24	555.68	11.44	2.06
8	2	47	220	591.79	605.76	13.97	2.31
9	3	47	220	642.19	655.05	12.86	1.96
10	4	47	220	695.54	707.06	11.52	1.63
11	5	47	220	751.99	761.27	9.28	1.22
12	−1	47	220	457.26	465.27	8.01	1.72
13	−2	47	220	417.69	422.16	4.47	1.06
14	−3	47	220	380.65	380.80	0.15	0.04
15	−4	47	220	346.10	341.08	−5.02	−1.47
16	−5	47	220	314.01	303.01	−7.00	−2.31
17	0	47	350	58.11	61.80	3.69	5.97
18	0	47	280	282.41	289.30	6.89	2.38
19	0	47	230	488.30	494.47	6.17	1.25
20	0	47	170	726.81	732.40	5.59	0.76
21	0	47	110	990.70	995.86	5.16	0.52
22	0	47	50	1300.71	1307.65	6.94	0.53

下载: 导出CSV

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