Research status and development trend of hydraulic support precision pushing and fast follow-up technology
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摘要: 液压支架精准推移与快速跟机是实现工作面智能化开采的关键技术支撑。为实现智能化开采，将液压支架精准推移等效为煤矿环境下的阀控缸系统精准位置控制；快速跟机则需从跟机工艺、稳压供液、快速移架等方面实现。针对液压支架精准推移技术，指出可借鉴相关领域成熟的阀控缸精准位置控制技术，总结了电液比例阀、高速开关阀、电磁换向阀控缸位置控制技术的研究成果及借鉴到煤矿领域存在的问题，提出可通过研制适合井下环境的大流量高压水基电液比例阀、开发智能优化控制算法2种途径实现液压支架精准推移。针对液压支架快速跟机技术，指出目前液压支架自动跟机因跟机工艺不合理、供液系统不稳定、移架工序不合理等，导致跟机速度慢，且易出现推移不到位、丢架等情况，从优化跟机工艺、稳压供液、快速移架3个方面总结了提高跟机速度相关研究成果，指出：目前跟机工艺无法根据采煤机速度动态调整，基于设备感知的自动跟机尚处于理论阶段；优化供液系统结构和控制算法是目前实现工作面稳压供液的主要途径，但未能有效解决多支架协同动作时液压支架端压力、流量稳定问题；改进液压系统结构是实现快速移架的主流方式，但存在远距离输送高压油液时压降大和高压处爆管、增大管径导致管路布置困难等问题。针对上述问题，提出从工作面供液系统恒压控制、提高液压支架推移控制精度、保障液压支架自动跟机效果、提高工作面整体跟机速度4个层面实现液压支架精准推移与快速跟机。指出液压支架精准推移和快速跟机技术的发展趋势为集中−分布式敏捷高效供液、液压支架控制器边缘计算能力提高、跟机控制策略对采场环境适应性增强、采场−装备动态耦合与跟随控制。Abstract: The hydraulic support precise pushing and fast follow-up is the key technical support to realize intelligent mining of working face. In order to realize intelligent mining, the precise pushing of hydraulic support is equivalent to the precise position control of valve-controlled cylinder system in coal mine environment, and fast follow-up of hydraulic support need to be realized through follow-up process, liquid supply with stable pressure, fast support movement, etc. Aiming at the precise advancing technology of hydraulic support, it is pointed out that the mature precise position control technology of valve control in related fields can be used for reference. This paper summarizes the research achievements of the electro-hydraulic proportional valve, high-speed on-off valve and electromagnetic directional valve control cylinder position control technology. This paper also summarizes the problems existing in the application of above achievements in the field of coal mines. It is proposed that the precise pushing of hydraulic support can be realized by developing large-flow high-pressure water-based electro-hydraulic proportional valve suitable for the underground environment and developing the intelligent optimization control algorithm. Aiming at the fast follow-up technology of hydraulic support, it is pointed out that the current automatic follow-up of hydraulic support is slow due to unreasonable follow-up process, unstable liquid supply system, and unreasonable support moving process. It is easy to appear the situation of not moving in place and losing support. The related research achievements of improving the follow-up speed are summarized from three aspects: optimizing the follow-up process, supplying liquid with stable pressure, and fast pushing support. The following points are pointed out. At present, the follow-up process cannot be dynamically adjusted according to the speed of the shearer, and the automatic follow-up based on equipment perception is still at the theoretical stage. Optimizing the structure and control algorithm of the liquid supply system is the main way to realize the liquid supply with stable pressure in the working face. But it can not effectively solve the problem of pressure and flow stability at the end of the hydraulic support when the multi-support cooperates. Improving the structure of the hydraulic system is the main way to achieve fast support pushing. But there are some problems such as the large pressure drop when high-pressure oil is transmitted over a long distance, the pipe explosion at the high-pressure point, and the difficulty of pipeline layout caused by increasing the pipe diameter. In view of the above problems, it is proposed to realize the precise pushing and fast follow-up of hydraulic support from four aspects: the constant pressure control of the working face liquid supply system, the improvement of the control precision of hydraulic support pushing, the guarantee of the automatic follow-up effect of hydraulic support, and the improvement of the whole follow-up speed of the working face. It is pointed out that the development trends of precise pushing and fast follow-up technology of the hydraulic support are centralized-distributed agile and efficient liquid supply, improvement of the edge computing capacity of hydraulic support controller, enhancement of adaptability of follow-up control strategy to stope environment, dynamic coupling and follow-up control of stope and equipment.hancement of adaptability of follow-up control strategy to stope environment, dynamic coupling and follow-up control of stope and equipment.
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图 1 电液比例阀控缸位置控制系统仿真模型
Figure 1. Simulation model of hydraulic cylinder position control system based on proportional valve
图 7 柠条塔煤矿S1202工作面液压支架自动跟机工艺
Figure 7. Automatic follow-up process of hydraulic support in S1202 working face of Ningtiaota Coal Mine
图 8 柠条塔煤矿S1202工作面某日跟机自动化率
Figure 8. Automation rate of follow-up in S1202 working face of Ningtiaota Coal Mine on a certain day
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