| Intelligent mining is the only way to realize safe,high effective and green production in coal mines.Coal seam geological conditions are complex and changeable,and how to improve the adaptability of intelligent mining equipment to different working conditions is one of the core problems to be solved urgently in intelligent mining.As the key electromechanical equipment of the fully mechanized coal mining working face,the intelligent level of hydraulic support directly affects the safe mining capacity and efficiency of the entire fully mechanized coal mining working face,and the autonomous control for its supporting pose is a necessary condition to realize the intelligentization of hydraulic support.At present,the supporting pose of hydraulic support cannot be adjusted autonomously according to the changes of coal seam geological conditions and roof properties,and its control process requires frequent manual intervention,which cannot meet the actual demand for intelligent support of hydraulic support in intelligent mining.Hence,it is necessary to research key technology of autonomous control for supporting pose of hydraulic support to improve the intelligent level of the hydraulic support,which provide more efficient and reliable support guarantee for the fully mechanized coal mining working face.In this paper,the autonomous control for supporting pose of hydraulic support is treated as the research goal,analyzing the coupling relationship between hydraulic support and surrounding rock,making clear the change characteristics of supporting pose and researching the key technologies of accurate sensing and autonomous decision-making control for supporting pose.The main research work in this paper can be summarized as follow:(1)On the basis of the analysis on the basic structure of the hydraulic support,the structure of the electro-hydraulic control system and the supporting work process,the intelligent control model for supporting pose of hydraulic support is established by combining the functional requirements of autonomous control system for supporting pose of hydraulic support.Meanwhile,the overall framework of the autonomous control system is contructed,the control system is designed,and the main components and control flow of the autonomous control system for supporting pose are analyzed.(2)The coupling relationship between supporting pose and coal seam roof under different support states of hydraulic support is studied,the stiffness coupling model between supporting pose and coal seam roof and the kinematics model of supporting pose based on plane parallel mechanism are established.And the instability conditions of hydraulic support under different support states are determined by analyzing the adaptability of supporting pose,and the evaluation method of supporting pose adaptability is put forward,which provides theoretical reference and decision-making basis for realizing the accurate sensing and autonomous decision-making control for supporting pose of hydraulic support.(3)The noise types of supporting pose sensing signals in the dynamic and static process of hydraulic support are analyzed,the supporting pose solution models are established,and the discrete nonlinear and linear dynamic filtering systems under strong background noise are designed.By studying the dynamic and static characteristics of the inertial measurement unit,a position and attitude estimation algorithm based on quaternion and improved gradient descent tuning Kalman filtering noise covariance is proposed to realize the accurate estimation of supporting pose.(4)An autonomous decision-making and control algorithm of the supporting pose based on deep reinforcement learning through the construction of the supporting pose control model for hydraulic support based on Markov decision process is proposed,and the proximal policy optimization is used to solve the optimal control policy of supporting pose.Then,the transfer method of supporting pose control policy from simulation to reality under the condition of small sample data is proposed to realize the autonomous control for supporting pose of hydraulic support.In this paper,the key technologies of autonomous control for supporting pose of hydraulic support is researched,and the autonomous control system for supporting pose of hydraulic support is developed.Then ground and underground experiments on the accurate sensing and autonomous decision-making control of supporting pose are carried out and the results indicate that: the system can accurately estimate and automatically make decision and control the supporting pose under different working states of hydraulic support to adapt to the changes of coal seam roof properties,which provides technical support for the safe and efficient production of intelligent fully mechanized coal mining working face.In this dissertation,there are 71 figures,15 tables and 130 references. |
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