Research On Asynchronous Collaboration Control Strategy Of Circle Turning For Deep Coal Fluidized Mining Equipment

As the shallow resources of the earth are gradually exhausted,increasing the mining depth of coal resources has become an important means to obtain resources.Faced with the problem that the limit depth of traditional mining methods is limited,the team of Academician Xie Heping has creatively proposed the theory and scientific and technological concept of in-situ fluidized mining of deep earth resources since 2016.In situ,deep coal is converted into gaseous,liquid or gas-solid liquid mixed substances,and unmanned intelligent fluidization transformation is realized underground.Deep coal fluidization mining technology adopts reverse mining route.It is very important for deep coal fluidization mining to realize turning in equipment reverse mining route under deep high surrounding rock pressure and complex geological environment.Aiming at the problem of coordinated control of turning in the circuitous mining route of fluidized mining equipment for deep coal resources applied to a depth of more than 2000 m in this paper,the asynchronous collaborative control strategy of the propulsion system is studied.Firstly,the basic parameters of the propulsion system are calculated,a closed-loop automatic control hydraulic propulsion system is designed,the common collaborative control methods are compared and analyzed,and the improved mean coupling control is selected as the turning collaborative control method in this paper,and the turning scheme is designed on this basis.Secondly,drawing on the traditional shield machine drive technology,the hydraulic propulsion system is controlled by partition,the equivalent parallel mechanism model of the propulsion system is established,the dynamic and static coordinate systems are established in the model,and the ZYZ Euler angle is introduced to describe the position attitude of the equivalent mechanism,and the position positive solution and position reverse solution of the equivalent mechanism are analyzed respectively,which provides a theoretical basis for the position and attitude control of the equivalent mechanism.Then,the key hydraulic components and loads in the hydraulic system are modeled,and the improved mean coupling collaborative control method is combined with the traditional PID control,and the simulation models of the four-hydraulic cylinder propulsion system of the mining cabin four-cylinder and the push-pull combination hydraulic system of the intermediate cabin are established,and the simulation tests of the mining cabin and the intermediate cabin are proposed under three load conditions: uniform,sudden change and time variation,and the results show that the traditional PID control response speed is slow,the overshoot is large,and the anti-interference ability is not strong,resulting in the unsatisfactory effect of the turning collaborative control.Then,according to the simulation analysis results,fuzzy PID control is selected to optimize the control strategy,and the co-simulation model is established to co-simulate under three working conditions,and the results show that fuzzy PID control has better response characteristics and anti-interference ability than traditional PID control,and the improved mean coupling asynchronous collaborative control strategy based on fuzzy PID control has a good turning collaborative control effect.Finally,the designed control strategy is applied to the propulsion system of autonomous walking mechanism at the laboratory scale,and the small-angle turning test is completed,and the test results are consistent with the simulation results,which mutually verifies the feasibility of the control strategy designed in this paper.The research results can provide a theoretical basis for position control and attitude adjustment of propulsion system of deep coal fluidization mining equipment,and have theoretical significance and reference value for realizing the turning and marching problem in in-situ fluidized mining of deep coal resources and the asynchronous collaborative control of multiple hydraulic cylinders in other engineering fields.There are 99 figures,4 tables and 116 references in this thesis.