| Citation: |
ZONG Tingcheng，ZHANG Qiang，SHI Peitao，et al. Mechanism interference critical characterization and autonomous demodulation method of solid filling hydraulic support[J]. Coal Science and Technology，2023，51（8）：260−270. DOI: 10.13199/j.cnki.cst.2022-1062
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Whether the self-demodulation of mechanism interference can be realized in the self-driven execution process of filling operation is the basis for the solid filling hydraulic support to achieve intelligence. Using the theoretical analysis method, taking the ZC5 160/30/50 type solid filling hydraulic support as an example, starting from the geometric and motion constraint relationship of the filling support mechanism, the orthogonal pose control index is established: the horizontal distance and vertical distance of the tamping hinge point top beam, which realizes the pose characterization of the rear top beam of the support under any working condition; The motion characteristics of the bottom-discharge conveyor of the filling support under various working condition factors were analyzed, and the orthogonal pose control index was established: the vertical distance and horizontal distance of the top beam of the bottom-discharge conveyor, which realized the pose characterization of the bottom-discharge conveyor under any working condition; Based on the pose control index of the rear top beam and the bottom-discharge conveyor, the landing position characterization index of the filling material on the coal seam floor during the discharge process is further obtained: the discharge center distance, which realizes the landing position characterization of the filling material under any working condition; the connection relationship and easy interference position of the mechanism action and pose adjustment in each stage of the filling operation process are analyzed, based on the orthogonal pose control index, the interference critical control equation of the discharge and typical collision position under any working condition is established by using the projection method; taking the tamping mechanism rotation angle and tamping cylinder stroke as the characterization of the interference critical curve under typical working conditions, it is proposed to use the three-zone distribution characteristics of “interference zone, easy interference zone, and non-interference zone” to characterize the interference critical degree, and give the demodulation path of each interference state; based on the interference critical control equation, interference three-zone distribution characteristics and the connection relationship of mechanism action and pose adjustment in the filling operation process, an interference state autonomous identification method is proposed: using angle sensor and stroke sensor to obtain the real-time rotation angle and stroke of the tamping mechanism, substituting into the interference critical equation of each easy interference position to obtain the theoretical value and interference critical curve of the tamping mechanism rotation angle or stroke in that position, judging the position of the actual value on the interference critical curve three-zone distribution diagram can realize the autonomous discrimination of interference position and state, and autonomous demodulation can be realized according to the interference three-zone distribution curve diagram; based on the interference position and interference state autonomous identification method, the interference autonomous discrimination and demodulation algorithm is designed. The research results provide new reference indicators for the pose characterization of the filling hydraulic support mechanism, provide basic criteria for the intelligent obstacle avoidance and demodulation of mechanism interference, and provide algorithm basis for the self-driven execution of the filling operation of solid intelligent filling.
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