| With the transformation of the coal industry from the automated mine to the intelligent mine,the "intelligent" fully mechanized coal face becomes the key technology to the safe and efficient production of coal mine.In order to ensure the three equipments of the shearer,hydraulic support(hereinafter referred to as ―supports‖)and scraper conveyor cooperative driving,the hydraulic fluid supply system of support plays an important role,and its intelligent level has become one of the core technologies of intelligent mining.Therefore,it is necessary to study the intelligent control technology of the hydraulic fluid supply system,for the purpose of improving the operation speed of the support,and stable hydraulic system pressure fluctuation.It provided a technical support for the safe and efficient operation of the hydraulic support.In this paper,based on the different characteristics of the liquid supply in the supports operating process and learned from the advanced artificial intelligence theory and technology achievements,a set of technical route and method are used to study intelligent hydraulic fluid supply for adapting supports operation.These methods include the pressure measurement and characteristic analysis in the industrial site,the construction of the hydraulic fluid supply system for supports operation,the theoretical analysis and modeling simulation of the hydraulic fluid supply for supports operating,the design of intelligent control model for liquid supply system,the design and implementation of liquid supply base control,the artificial neural network predicting for the stabilized supply and the design and simulation of multi-objective programming for hydraulic fluid supply.A complete intelligent supply system was developed,and its industrial test was carried out.The experimental results show the effectiveness of the research results,so the main results of this paper are as follows:(1)The pressure data of hydraulic supports operating in the actual underground are collected,and the characteristics of the hydraulic fluid supply process are analyzed.On this basis,the experimental system is built on the ground,and the AMESim simulation model of the hydraulic system is built.The correctness of the simulation model is verified by comparing the simulation results with the ground test system and the real data.By simulating the process of the action and the operation process of the hydraulic supports,the idea of stabilized pressure supply in the supports action process and intelligent supply for adapting supports operation are proposed.(2)The functional requirements and control objectives of the supply system are discussed,and put forward the idea of "safe and controllable,order and coordination,stabilized pressure and acceleration,intelligent programming " as the guiding idea for the intelligent supply control.On this basis,according to advanced artificial intelligence theory,this paper proposes an intelligent control model of the hydraulic fluid supply system,covering the automatic control technology based on the perception-action,the stabilized pressure supply prediction technology based on neural network and the intelligent supply control technology based on the multi-objective programming.(3)In this paper,the key frame of the intelligent control system is put forward: the logic of the control layer for the quantitative control of supply flow is proposed and designed to insure the quantitative liquid supply,and its ground test is carried out;a temperature monitoring method based on SPC is proposed,the temperature control of emulsion pump is realized,to ensure the emulsion pump and other key equipment to better serve the intelligent supply control.The above research provides the basis for the intelligent supply control.(4)Based on the theory of stabilized pressure supply in the supports acting process,the neural network is embedded into the intelligent control model and the stabilized pressure supply prediction for supports action is achieved.Based on the experimental data,a neural network regression model is established to predict the supply flow of stabilized pressure,according to the type of action,the action distance,the number of actions and the pressure limit.A ground test is carried out and the action time parameters of support are obtained.This study provides the necessary initial conditions for intelligent supply control.(5)The constraint relationship between the hydraulic fluid supply of the support and the operating speed of supports,the action time of supports,the action time of pump group were studied.A multi-objective programming model for intelligent supply control is established,and it provides the basis for the time design of supports automatic control.Around the intelligent supply for adapting supports opretation,the paper proposes the programming problem of intelligent supply strategy and its Bilevel Programming mathematical model for speed mode and optimization model is established.The simulation results show the programming effectiveness.The physical symbol system of intelligent supply control is designed,which is embedded into the intelligent control model to realize the intelligent supply for adapting support operation.Based on the research for the intelligent control technology of hydraulic fluid supply system,the intelligent fluid supply system of working face is developmented.An industrial test was implemented in 8110 fully mechanized working face of Wang Zhuang coal mine of Lu’an Group in December 2016.The results show that: this system basically realizes the intelligent supply control for adapting supports,and its technical indicators have reached the expected requirements.The research results of this paper are of great significance to improve the intelligent level of the hydraulic fluid supply system and to realize the intelligent mining. |
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