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综采液压支架移架调控行为学习及智能决策方法

Intelligent decision-making and learning method for readjusting behavior of hydraulic supports advancing in longwall mining

  • 摘要: 综采工作面上百台液压支架移架排列是决定割煤循环是否能正常连续进行的关键因素。目前液压支架自动跟机移架控制技术大多以采煤工艺固化逻辑和数学推理决策模型为基础,无法自适应复杂、多变的工作面环境,导致其控制效果难以满足正常生产的液压支架集群排列要求,因此现场液压支架跟机大多仍采用首次移架自动控制+再次移架人工调控模式。鉴于此,针对再次移架调控决策问题,采用人工智能建模技术,利用现场数据学习人工操作经验,研究并提出综采液压支架移架调控行为学习及智能决策方法。首先,提出了基于行程数据的液压支架步距数学表征方法,并构建了液压支架移架步距矩阵及其数学方程组,实现了首次跟机与再次调控2种模式的行程数据到移架步距的数学转换,揭示了液压支架集群移架步距循环的特征分布与空间轨迹;随后,提出了液压支架移架调控行为学习建模方法,设计了CNN-(LSTM+Spatial_attention+Transformer)混合深度学习模型结构,并利用现场近10个月真实数据样本训练构建形成液压支架移架调控决策模型,其中针对液压支架移架是否再次调控分类任务训练CNN模型,测试集准确率为86.05%,针对液压支架移架再次调控步距值回归任务训练LSTM+Spatial_attention+Transformer模型,测试集平均绝对误差(Mean Absolute Error, MAE)为24.500 8 mm,50 mm准确率为85.55%;最后,开展了20次工艺循环的液压支架移架调控决策模型应用工业性试验。试验结果表明:实际与预测策略相同率达88.4%,且模型表现出较好的移架再次调控步距值的回归预测效果,证明该模型泛化能力基本达到工业现场应用的标准。决策模型与现有自动跟机控制系统协同运行,形成液压支架首次移架自动控制+再次移架自适应调控的新模式,为少人化智能综采数智赋能技术发展提供了切实可行的实践路径。

     

    Abstract: The normal and continuous operation of coal cutting cycles is determined by the advancing and alignment of hundreds of hydraulic supports on fully-mechanized coal mining faces, which serves as a critical factor. At present, most automatic follow-up advancing control technologies for hydraulic supports are based on the fixed logic of coal mining processes and mathematical reasoning decision-making models, cannot adapt to complex and variable working face environments, and thus their control performance fails to meet the alignment requirements of hydraulic support clusters for normal production. Consequently, a mode combining automatic control for initial advancing and manual adjustment for re-advancing is still mostly adopted for the on-site follow-up operation of hydraulic supports. In view of this, for the problem of re-advancing regulation and decision-making, artificial intelligence modeling technology is employed, on-site data is used to learn manual operation experience, and a method for learning advancing regulation behaviors and intelligent decision-making of fully-mechanized hydraulic supports is researched and proposed. Firstly, a mathematical characterization method for the advancing distance of hydraulic supports based on stroke data is proposed, a hydraulic support advancing distance matrix and its corresponding mathematical equations set are constructed. Mathematical conversion from stroke data to advancing distance under the two modes of initial follow-up advancing and re-regulation is realized, and the characteristic distribution and spatial trajectory of the advancing distance cycle of hydraulic support clusters are revealed. Subsequently, a modeling method for learning the advancing regulation behaviors of hydraulic supports is proposed, the structure of a hybrid deep learning model integrating CNN with LSTM, Spatial Attention and Transformer (CNN-(LSTM+Spatial Attention+Transformer)) is designed, and a decision-making model for hydraulic support advancing regulation is established through training on nearly ten months of real on-site data samples. For the classification task of determining whether re-advancing regulation is required for hydraulic supports, a CNN model is trained, with the accuracy on the test set reaching 86.05%. For the regression task of predicting re-advancing regulation distance values of hydraulic supports, a hybrid model integrating LSTM, Spatial_attention and Transformer is trained, with the mean absolute error (MAE) on the test set reaching 24.500 8 mm and the accuracy within 50 mm accounting for 85.55%. Finally, industrial application tests of the hydraulic support advancing regulation decision-making model are carried out for 20 process cycles. The test results indicate that the consistency rate between the actual and predicted strategies reaches 88.4%, and the model exhibits favorable regression prediction performance for the re-advancing regulation distance values of hydraulic supports, which proves that the generalization ability of the model basically meets the standards for industrial on-site application. The decision-making model is operated in coordination with existing automatic follow-up advancing control systems, and a new mode integrating initial automatic advancing control and adaptive re-advancing regulation of hydraulic supports is thus formed. In this way, a feasible practical path is provided for the technological development of digital empowerment for unmanned intelligent fully-mechanized coal mining.

     

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