Adaptive intelligent coupling control of hydraulic support and working face system for 6−10 m super high mining in thick coal seams
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摘要:
厚煤层储量及产量占我国原煤总储量及产量的一半，通过梳理厚煤层开采历史沿革，总结了我国厚煤层开采40年来的技术及装备研发实践，系统分析了以高端大采高液压支架及围岩智能耦合理论为代表的6～10 m大采高综采高效智能化综采技术及装备研究进展，提出了大采高支护理论及围岩智能耦合控制的突破是厚煤层一次开采高度突破的首要因素，完善的感知体系建立是液压支架自适应支护的前提，数字技术的应用为大采高工作面高效推进及装备智能协同控制提供了新的技术途径；阐明了大采高综放液压支架与围岩耦合关系，剖析了采高增加对硬煤层冒放性的有利影响，提出了基于煤矸识别、放煤机构控制的“纯煤段记忆放煤+煤岩分界模糊段人工反馈式干预放煤”的智能放煤控制策略；分析了大采高开采“采–运”协同智能耦合控制关键技术，构建了基于采煤机牵引速度与刮板输送机链速间联动调节的工作面装备间多机异构耦合自适应协同控制模型；研发了厚煤层开采中10 m超大采高液压支架，分析了厚煤层开采不断突破开采高度极限的新认识，从开采装备、控制系统等方面提出厚煤层一次开采高度的突破的研发方向。
Abstract:The reserves and production of thick coal seams account for half of the total reserves and production of raw coal in China. By combing the history of thick coal seam mining, we summarize the technology and equipment development practice of thick coal seam mining in China over the past 40 years, explained the development history from the introduction of large mining height technology and equipment to the successful development of the first domestic large mining height hydraulic support to the world’s first 8m-class large mining height comprehensive mining face production. Summarizing the research progress of high-efficiency and intelligent comprehensive mining technology and equipment for large mining height, represented by high-end large mining height hydraulic support and intelligent coupling theory of surrounding rock. Clarifying that the breakthrough of large mining height support theory and intelligent coupling control of the surrounding rock is the primary factor for the breakthrough of the primary mining height of thick coal seam. The establishment of a perfect perception system is a prerequisite for the adaptive support of the hydraulic support. The application of digital technology provides a new technical way for efficient advancement of large mining face and intelligent cooperative control of equipment. Clarified the coupling relationship between large mining height integrated release hydraulic support and surrounding rocks, illustrates the favorable influence of increasing mining height on hard coal seam venting, then an intelligent coal discharge control strategy based on coal gangue identification and coal discharge mechanism control, which includes “pure coal segment memory coal discharge + coal rock boundary fuzzy segment manual feedback intervention coal discharge” is proposed. The key technology of intelligent coupling control for large-scale mining and transportation cooperation is pointed out. It is pointed out that the multi machine heterogeneous coupling adaptive collaborative control between working face equipment is a key factor for the success of intelligent mining. The linkage adjustment between the traction speed of the shearer and the chain speed of the scraper conveyor is a necessary means to adapt to large-scale mining and transportation. Then research and development directions for breakthroughs in the height of primary mining of thick coal seams from the aspects of mining equipment, control systems are proposed.
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图 2 液压支架结构横向空间限制示意
Figure 2. Schematic of lateral space limitation for hydraulic support structure
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图 4 液压支架与围岩自适应控制逻辑
Figure 4. Adaptive control logic of hydraulic support and surrounding rock
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图 6 数字孪生模型与物理模型间的虚实映射
Figure 6. Virtual-real mapping between digital twin model and physical model
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图 7 基于深度视觉原理的液压支架姿态测量系统
Figure 7. Hydraulic support attitude measurement system based on depth vision principle
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图 9 支架–围岩结构耦合系统
Figure 9. Structural coupling system of hydraulic roof support and surrounding rock
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图 10 不同支架结构高度放煤口尺寸对比
Figure 10. Size comparison of coal drawing structure with different height of support structure
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图 11 记忆放煤与人工反馈式干预放煤
Figure 11. Memory coal drawing and manual feedback intervention coal drawing
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图 14 放煤效果综合评价方法
Figure 14. Real-time evaluation of manual feedback intervention caving
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图 19 10 m超大采高工作面相似模拟试验
Figure 19. Similarity simulation test of 10 m super high mining face
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图 20 ZY29000/45/100D超大采高液压支架
Figure 20. ZY29000/45/100D hydraulic support of ultra large mining height
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图 21 分驱多级协动护帮机构及其支护状态
Figure 21. Split drive multi-level cooperative protection mechanism and its support status
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图 22 超大采高液压支架耐久性能试验
Figure 22. Durability performance test of super large mining height hydraulic support
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图 23 10 m超大采高开采成套装备地面联合试运转
Figure 23. Ground joint trial operation of 10 m ultra large mining height mining complete equipment
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图 24 工作面智能化控制系统架构
Figure 24. Architecture of intelligent control system for working face
表 1 ZYA29000/45/100D液压支架临界稳定角
Table 1 Critical stable angle of ZYA29000/45/100D hydraulic support
支架状态 支架临界稳定角/（°） 最低高度4.5 m 最高高度10 m 前倾失稳 38.9 16.5 后倾失稳 40.5 25.8 横向失稳 23.6 11.8 
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