Research On Key Technologies Of Cooperative Virtual Simulation For Hydraulic Support Groups And Coal Seam

With the concept of "Industry 4.0" and "Made in China 2025" proposed and further promoted,coal mining also began to develop towards the direction of intelligent and unmanned.As one of the core equipment in coal mining,the rationality of the support attitude of the working face coal seam,the accuracy of the moving of the scraper conveyor and the coordination of the comprehensive control directly determine the intelligent level of coal mining.With the continuous deepening of coal mining,the comprehensive mining face is also facing more and more complex working environment.If the hydraulic support cannot support the changing coal seam face in time and effectively,it will cause serious consequences to the coal mine safety production and underground workers.The current research on the motion simulation of hydraulic support is focused on a single hydraulic support.In the simulation process,the working environment of the hydraulic support is separated,and the influence of the coal seam environment on the movement of the hydraulic support is not considered;The research focus of the cooperative operation of the hydraulic support group is mostly on the action control of the hydraulic support group,few people study the support characteristics of the hydraulic support groups.In this paper,the key technology of collaborative virtual simulation of hydraulic support group and coal seam is studied,and the virtual reality software unity 3D is used to realize the movement simulation of hydraulic support group based on coal seam.Firstly,this paper studies the key technologies of the coupling operation of hydraulic support and coal seam,including the application of virtual physical engine,the introduction of hydraulic support model and the generation of coal seam environment surface;Based on this,this paper studies the adaptive adjustment method of support attitude of single hydraulic support for coal seam environment;Then,the cooperative control method of hydraulic support group based on coal seam environment is studied.Finally,the experimental platform of cooperative operation attitude monitoring between hydraulic support and coal seam is built and verified.The main research contents and results of this paper are as follows:(1)A coupling operation method of hydraulic support model and coal seam environment model in virtual environment is proposed.This method uses the properties of virtual physical engine to generate coal seam surface model directly based on the information of coal seam environment in virtual environment.Then,by adding the corresponding physical components to the hydraulic support model and the coal seam surface model to make them have the same physical characteristics as in the real production process,the dynamic simulation of the hydraulic support based on the coal seam environment is realized.(2)The D-H coordinate system of the hydraulic support model is established.Through the analysis of the inverse kinematics of the hydraulic support model based on the top beam information,the solution of the rotation angle and the column elongation of each linkage mechanism is realized,which provides the kinematics analysis for the realization of the active support of the hydraulic support.(3)The adaptive adjustment method of support attitude of hydraulic support based on coal seam environment is studied.This method constructs a virtual roof beam model.Through the transfer of the attitude information between the virtual roof beam and the coal seam roof curved surface support,the corresponding attitude adjustment of the hydraulic support model in the virtual space can be carried out to realize the main dynamic support for different coal seam environments.In this paper,the experiment of adjusting the support posture of hydraulic support is designed to verify the reliability of the support posture of hydraulic support in virtual environment.This method provides a new research idea for the timely and effective support of underground hydraulic support to coal seam environment.(4)The principle of cooperative control of hydraulic support group is studied.In the virtual space,the straightness control of each hydraulic support group is realized by controlling the displacement of each hydraulic support.By analyzing the abnormal posture of the hydraulic support groups,the real-time collision monitoring is carried out between the groups.Based on this method,the hydraulic support with abnormal posture can be found in time,which ensures the normal operation of the hydraulic support groups.