支架运行自适应智能供液理论与技术研究

发布时间：2018-05-09 12:02

本文选题：液压支架运行 + 液压支架供液模型　；参考：《太原理工大学》2017年博士论文

【摘要】：随着煤炭工业由数字矿山向智慧矿山转变,实现综采工作面智能化成为煤矿生产安全、高效的关键技术。为保证采煤机、液压支架(以下简称“支架”)和刮板输送机三机协同运行,支架供液系统起到了重要作用,其智能化程度也成为智能开采的核心技术之一。因此,有必要对供液系统智能控制技术进行研究,保障支架运行的跟机速度,稳定液压系统压力波动,为液压支架安全高效运行提供技术保障。论文以支架运行过程不同动作供液需求特征为研究起点,以支架运行自适应智能供液研究为目标,借鉴高等人工智能理论与技术成果,采用了现场供液压力信号实测与特征分析、支架供液地面试验系统构建、支架运行供液理论分析与建模仿真、供液系统智能控制模型框架设计、供液基础控制设计与实现、稳压供液人工神经网络预测、支架供液多目标规划设计与算法仿真、井下工业性试验一整套的技术路线与方法,展开支架运行自适应智能供液研究,研发了完整的智能供液系统并进行了井下工业性试验,试验结果证明了本论文研究成果的有效性,主要成果如下:(1)采集井下支架实际运行过程液压系统压力数据,分析其供液过程特征及其和支架动作之间的关系和特点,设计了支架供液试验系统,以此为基础建立了支架液压系统AMESim仿真模型。通过仿真模型同地面试验系统以及真实支架运行数据的对比,验证了仿真模型的正确性。在此基础上,基于仿真模型进行了支架具体动作过程和支架跟机运行过程的仿真模拟,提出了基于支架动作过程的稳压供液和适应支架运行过程的智能供液新思路。(2)探讨供液系统的功能需求与控制目标,提出以“安全可靠、有序协调、稳压提速、智能规划”为理念的逐级智能供液控制目标。在此基础上,依据高等人工智能理论,提出基于感知-动作的自动化技术、基于神经网络的供液智能化预测技术和基于多目标规划的智能供液技术的供液系统智能控制模型的总体框架。(3)针对论文提出智能供液总体框架,论文首先重点研究了供液系统控制层的关键技术:提出基于SPC的温度监控方法,实现乳化液泵温度保护控制,以保障乳化液泵等关键设备更好的服务于供液的智能控制;提出并设计了调节供液流量的控制层逻辑,实现自适应供液的基础控制技术,并进行了地面试验验证。上述研究内容为智能供液提供了控制层基础。(4)围绕支架具体动作过程的稳压供液理论,通过将神经网络嵌入智能控制模型,实现了基于支架动作过程的稳压供液预测。论文利用试验数据建立了稳压供液流量与支架动作类型、动作行程、动作数量和压力限制的神经网络回归模型,实现了稳压供液流量的预测输出。并进行了地面试验验证,同时根据稳压供液试验,确立了支架动作时间参数,该研究为智能供液控制提供了必要的初值条件。(5)研究了支架供液与支架跟机速度、支架动作时间、泵组动作时间之间的约束关系,建立了供液智能控制的多目标规划模型,为支架自动控制的时间设定提供了依据。围绕工作面支架自适应智能供液,论文提出了智能供液策略规划问题,建立了极速模式和优化模式的双层规划数学模型,仿真计算证明了供液策略规划效果。设计智能供液控制的物理符号系统,将其嵌入智能控制模型,实现支架运行自适应智能供液,地面试验验证了预期的控制效果。在对工作面支架供液系统智能控制技术研究的基础上,研发了工作面智能供液系统。该系统在潞安集团王庄矿8110综采工作面进行了工业性试验,试验结果表明:该系统基本实现了支架运行自适应智能供液控制,供液运行技术指标达到了预期要求。本论文研究成果对于提高供液系统智能化水平,对实现智能化开采具有重要意义。
[Abstract]:With the change of the coal industry from the digital mine to the intelligent mine, realizing the intelligentization of the fully mechanized mining face becomes the key technology of the coal mine production safety and high efficiency. In order to ensure the coal mining machine, the hydraulic support (hereinafter referred to as "the support") and the scraper conveyor three machines, the support fluid system has played an important role, and its intelligentized degree is also intelligent. Therefore, it is necessary to study the intelligent control technology of the liquid supply system, ensure the speed of the running of the support, stabilize the pressure fluctuation of the hydraulic system, and provide the technical guarantee for the safe and efficient operation of the hydraulic support. In order to adapt to the research of intelligent fluid supply, using the theory and technical achievements of higher artificial intelligence, the field supply fluid pressure signal measurement and characteristic analysis are adopted, the support fluid ground test system is constructed, the theoretical analysis and modeling simulation of the support fluid supply for the support are established, the intelligent control model frame of the liquid supply system is designed, the design and Realization of the fluid foundation control are made and the stability is stable. Artificial neural network prediction of pressure supply fluid, multi-objective programming design and algorithm simulation of support fluid, a complete set of technical route and method in downhole industrial test, research on self-adaptive intelligent fluid supply for support operation, developed a complete intelligent liquid supply system and carried out a downhole industrial test. The results of the experiment prove the results of this paper. The main results are as follows: (1) collect the pressure data of the hydraulic system in the actual running process of the downhole support, analyze the characteristics of the fluid supply process and the relationship between the support and the support action, and design the support fluid test system. On this basis, the AMESim simulation model of the support hydraulic system is established. The simulation model is the same as the ground test system. On the basis of the simulation model, the simulation model is simulated on the basis of the simulation model. Based on the simulation model, a new idea of intelligent fluid supply for the steady pressure supply and the running process of the support frame based on the support action process is proposed. (2) the discussion is made. The function demand and control target of the liquid system, and put forward the target of intelligent liquid supply control with the concept of "safe and reliable, orderly coordination, steady pressure and speed raising, intelligent planning". On this basis, based on the theory of higher artificial intelligence, this paper puts forward the automation technology based on perception action, based on neural network and based on the intelligent prediction technology of liquid supply and based on neural network. The overall framework of the intelligent control model of the liquid supply system for multi-objective programming. (3) aiming at the overall framework of intelligent liquid supply for the paper, the key technology of the control layer of the liquid supply system is studied in this paper. The temperature monitoring method based on SPC is put forward to realize the temperature protection control of the emulsion pump, so as to ensure the key of the emulsion pump. The equipment is better serving the intelligent control of the liquid supply, and the control layer logic regulating the flow flow is proposed and designed to realize the basic control technology of the adaptive fluid supply, and the ground test verification is carried out. The above research content provides the control layer for the intelligent fluid supply. (4) the theory of steady pressure feeding around the concrete action process of the support frame, through will The neural network is embedded with the intelligent control model to realize the steady pressure supply prediction based on the action process of the scaffold. The paper uses the experimental data to establish the neural network regression model of the pressure supply flow and the type of support action, the movement stroke, the number of action and the pressure limit, and realizes the prediction output of the steady pressure flow flow rate. At the same time, the time parameters of the support are established according to the test of steady pressure supply. The study provides the necessary initial value conditions for the intelligent fluid supply control. (5) the constraint relationship between the support fluid and the support speed of the support, the action time of the support and the action time of the pump group is studied, and the multi-objective programming model of the intelligent control of the fluid supply is established. The time setting of the frame automatic control provides the basis. Around the self-adaptive intelligent feeding of the working face support, the paper puts forward the problem of intelligent liquid supply strategy planning, establishes a double-layer programming mathematical model of the speed mode and the optimization model. The simulation calculation proves the effect of the planning of the liquid supply strategy. The intelligent control model is embedded to realize the self-adaptive intelligent feeding of the support, and the ground test verifies the expected control effect. On the basis of the research on the intelligent control technology of the working face support liquid supply system, the intelligent water supply system of the working face is developed. The system has carried out the industrial test in the Wang Zhuangkuang 8110 fully mechanized face of Lu'an Group, and the test is carried out. The results show that the system basically realizes the self-adaptive intelligent liquid supply control for the running of the support, and the technical indexes of the supply liquid have reached the expected requirements. The research results of this paper are of great significance for improving the intelligent level of the liquid supply system and realizing the intelligent mining.

【学位授予单位】：太原理工大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TD67;TD355.4

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