CN103527235A - Group self-organization cooperative control method of underground mining hydraulic support system - Google Patents
Group self-organization cooperative control method of underground mining hydraulic support system Download PDFInfo
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Abstract
The invention discloses a group self-organization cooperative control method of an underground mining hydraulic support system. According to the characteristic of multiple constraints and a cooperative support effect, performed on surrounding rocks, of underground mining support devices, influences, on sedimentation and collapsing of the surrounding rocks, of organization, group stability and group propulsion cooperativity of the support system are considered, local information interaction between support individuals as well as between supports and the surrounding rocks and an independent decision-making distributed control strategy are adopted for eliminating a main control mechanism of an existing support group, and a cooperative operation system of independent control and distributed decision making performed on the individuals in the group is established; a mixed control method of social potential fields and behaviors is adopted for establishing a control function, and self-adapting supporting of the surrounding rocks and self-organization queuing and cooperative propulsion of the large-scale support group are achieved. The problems that due to a centralized control method, the information interaction between the individuals is lack, the multi-dimensional dispersed group behaviors can not be converged into an overall object are solved, and the method is adapted to underground mining conditions and an underground mining technology more flexibly, and effectively meets automatic and unmanned mining requirements.
Description
Technical field
The present invention relates to the control method of a kind of coal face hydraulic support group, is exactly by between hydraulic support individuality, between hydraulic support and coal-face country rock, Local Interaction produces a kind of distributed control strategy of expecting the supporting behavior of support group specifically.
Background technology
Before setting forth technical background, first the implication of three vocabulary is below described:
Hydraulic support: coal-face support apparatus, is used for supporting and controlroof isolation goaf; Support the use with coal-winning machine, realize coal mining comprehensive mechanization.
Work plane country rock: coal-face is excavated the rock stratum in influence basin, is divided into top board, coal seam and base plate three parts.
Support system: the equipment group being formed by a plurality of hydraulic supports of difference in functionality.Generally comprise intermediate support and (be responsible for the supporting of work plane mid portion, different according to face length, quantity is not from tens to more than 100 etc.), transition bracket (is responsible for work plane to the supporting of tunnel transition portion, as the case may be, quantity is not from 2 to 4 etc.) and face end support (be responsible for the supporting in the tunnel adjacent with work plane, each, general work face two ends, totally 2).
At present, what working surface hydraulic support support system all adopted is centralized control, places central control station in tunnel, by its connecting downhole server, forms main control mechanism, grasps the information of the work plane overall situation and all hydraulic support individuality; On each hydraulic support individuality in support system, install the sensor of perception Change in surrounding rocks and the controller of control support individual behavior, these controllers are connected to main control mechanism by bus patterns such as PROFIBUS, CANBUS, thereby upload perception information and download act of execution instruction.Centralized control is worked in coordination with the behavior between individuality by global communication, and whole system generally only exists communicating by letter between main control mechanism and individuality, and between individuality, does not have or only transmit information seldom; The decision making functions such as all information processings, calculating, control, communication complete by main control mechanism, and control relation is only present between main control mechanism and individuality, and two individualities are not controlled relation mutually.Centralized advantage is that control structure is directly perceived, does not generally have locally optimal solution; Shortcoming is patience and bad adaptability, to main control mechanism require highly, be not suitable for dynamic, open, sweeping system.
In recent years, increasing along with coal underground mining scale, intensity and the degree of depth, geological conditions becomes increasingly complex, country rock across falling, the dynamic characteristic such as fracture, impact is all the more obvious, the uncertainty of country rock activity is had higher requirement to the compliance of support system, flexibility.Current, adopt hydraulic support surrounding rock coupling three-dimensional dynamic design method (ZL201010231729.1) to improve the compliance of support individuality to country rock dynamic change, but its behavior is the independent response to Change in surrounding rocks under master control system is controlled, between individuality, there is not mutual control, thereby as a support system, group's behavior that it shows is multidimensional, disperses, and cannot converge on the overall goals of support system.In actual production process, for controlling group's behavior of support system, reach re-set target, improve whole compliance, adopt manual intervention mode more, the individuality combination that support is individual or adjacent is controlled separately, and this mode needs people to enter into work plane or tunnel operation.
Yet, in view of underground work environment is severe, safety is difficult to guarantee, require automation, unmanned technology and the equipments of adopting more, avoid as far as possible artificial underground work; In addition, along with the even exploitation of ultra-thin coal seam of girdle, limited space, workman also almost has no idea to enter work plane and carries out coal mining activity.Therefore, centralized support system control mode cannot meet the further demand of coal underground mining, and the distributed control mode of making decisions on one's own based on local message does not have main control mechanism, equal between individuality, there is not master slave relation, supporting group can produce group's behavior expection, congruence by self-organizing work compound, country rock and progress of coal mining are had to stronger flexibility and compliance, can effectively strengthen supporting effect, adapt to automation and unmanned mining requirement.
Summary of the invention
The present invention announces a kind of group's self-organizing cooperative control method of coal mine underground exploitation hydraulic prop system, for underground mining support apparatus to the multiple constraint characteristic of country rock and collaborative supporting effect, consider the support system sense of organization, group's stability, advance concertedness on country rock sedimentation and the impact of collapsing, between hydraulic support individuality, local message between hydraulic support and coal-face country rock is set up a kind of distributed control strategy alternately, thereby produce the working surface hydraulic support group supporting behavior of expection, realizing the controlled sedimentation self adaptation supporting of gradient rigidity country rock controls, and the self-organizing of support apparatus group advances and the collaborative control of queuing up on a large scale.
The inventive method adopts following technical scheme: the distributed control strategy that adopts hydraulic support local message to make decisions on one's own, cancel the main control mechanism of hydraulic support stand group, set up group between individuality the self-organizing work compound of information transmission, control and decision-making machine-processed; Group's self-organizing cooperative control system keeps advancing control two parts to form by country rock Self Adaptive Control and queue.
(1) country rock Self Adaptive Control.
1. the multiple targets behavior of country rock Self Adaptive Control: under the space that support apparatus group forms, contracting amount is minimum, and does not have other materials (spoil, wall caving coarse coal etc.) to enter into this space.
2. between the individual Jian, of hydraulic support colony and and country rock between the virtual active force that produces to take the size of three-dimensional space that support can provide be parameter, the trend changing with individual rack space (even the fictitious force that space dwindles and make the fictitious force acting in conjunction that space amplifies and virtual the making a concerted effort producing) defines its social status.
3. adopt the self-organizing mixing control strategy based on social potential field and behavior to set up control function, control strategy is: between support individuality, its space size is always tending towards mean space size individual in group, and the space of certain support individuality is not less than the mean space size of its adjacent two stands in front and back.
4. set the basic act of group's Self Adaptive Control: evade obstacle, space coupling, keeps attitude, opposing disturbance.
5. set up adaptive controller and realize the coordination reasoning of basic act, call and combine, complete the response to outside environmental change.
6. behavior response adaptive controller being generated is mapped as the executable command code of the individual executing agency of support, realizes the self adaptation group control to work plane country rock.
(2) queue keeps advancing control.
1. queue keeps advancing the multiple targets behavior of controlling: in support apparatus group progradation, keep straight line and direction vertical with work plane all the time.
2. between the individual Jian, of hydraulic support colony and and environment between the virtual active force that produces to take the geometric position of support be parameter, the trend changing with individual backing positions (even support near the fictitious force of target location and make the fictitious force acting in conjunction of its wide position and virtual making a concerted effort of producing) defines its social status.
3. adopt the self-organizing mixing control strategy based on social potential field and behavior to set up control function, control strategy is: the position of support individuality is always tending towards group's reference position, and it departs from the average departure value that tram is not less than its adjacent two stands in front and back.
4. set the basic act of group's Self Adaptive Control: avoid collision, speeds match, assemble at center, trend target.
5. set up behavior telegon and realize the coordination reasoning of basic act, call and combine, complete the response to outside environmental change.
6. behavior response behavior telegon being generated is mapped as the executable command code of the individual executing agency of support, and the queue that realizes support group keeps advancing to be controlled.
Hydraulic prop system need realize country rock Self Adaptive Control and queue simultaneously and keep advancing and control, could be correctly and effectively complete supporting task.Both are unified in hydraulic prop system group self-organizing cooperative control system, extract work plane country rock and support status information from same perception information storehouse, send control signal respectively for different group control targets to same support executing agency; Here, the priority of country rock auto-adaptive controling signal keeps boost control signal higher than queue; When there are two kinds of signals to send Shi， support executing agency simultaneously, preferentially carry out country rock auto-adaptive controling signal.
Advantage of the present invention and benefit: (1) is upgraded to the hydraulic support stand group of work plane the distributed control (a plurality of people do respectively something mutual transmission of information) of making decisions on one's own based on local message by centralized Control (be similar to a people and do many things) simultaneously, effectively promote specific aim and the validity controlled, greatly strengthened compliance, the flexibility of support system.(2) adopt the self-organizing mixing control strategy based on social potential field and behavior, in conjunction with overall knowledge and local behavior, control, hydraulic prop system group self-organizing Collaborative Control is decomposed into country rock Self Adaptive Control and two incoherent control threads of linearity of queue maintenance propelling control; Synchronously realizing population system coordinates to control; Formed and controlled clearly path, effectively strengthened the accuracy controlled and comprehensive.(3) rack body can complete local independent control, without workman, enters work plane or tunnel operates separately support individuality, when strengthening system control ability, has guaranteed production safety.
The control of two column protected type hydraulic support stand group of take is below described further method set forth in the present invention and technology as example, so that the public has more detailed and sufficient understanding to summary of the invention, and limiting the scope of the present invention not.Aforementioned part is according to fully disclosing the protection domain that the present invention can implement.Therefore, all carry out according to the disclosure of invention any well known in the art are equal to replacement, all belong to infringement of the present invention.
Accompanying drawing explanation
Fig. 1 is the control method logic illustration that the inventive method is set forth.
The support space diagram forming when the hydraulic support that Fig. 2 is the control of employing the inventive method and shoulder bed effects.
Fig. 3 is for adopting large mining height hydraulic support supporting group's queue maintenance of the inventive method control and advancing diagram.
In figure: 1-rib; 2-coal-winning machine; 3-drag conveyor; 4-base plate; 5-is caving top board; The large mining height hydraulic support supporting of 6-group.
The specific embodiment
(1) according to the group's self-organizing cooperative control system shown in Fig. 1, the support space forming when controlling and safeguarding the hydraulic support shown in Fig. 2 and shoulder bed effects; For country rock Self Adaptive Control, its multiple targets behavior is: under the space that mining height hydraulic support supporting group 6 forms greatly, contracting amount is minimum, and does not have other materials (spoil, wall caving coarse coal etc.) to enter into this support space.Country rock (by rib 1, base plate 4 and be caving top board 5 form) forms enclosure space under hydraulic support stand effect, thereby make coal-winning machine 2 and drag conveyor 3 can have space to complete, mines and the operation of fortune coal.The act as external action of country rock to large mining height hydraulic support individuality, provides the trend active force that its support space is dwindled; Between large mining height hydraulic support individuality, keep minimum clearance, thereby attract each other the trend active force that rack space is amplified is provided.
The self-organizing mixing control strategy of employing based on social potential field and behavior set up the individual potential function (control function) of support with great mining height:
Wherein,
represent the
igroup's ground bit vector of individual support;
k(x i )represent
ithe individual potential function of individual support,
k ij represent social potential function, describe the interaction between individuality;
k em represent environment potential function, represent the impact of external environment condition;
nfor force piece number.
The ADAPTIVE CONTROL of hydraulic support group 6 is: between support individuality, its space size is always tending towards mean space size individual in group, and the space of certain support individuality is not less than the mean space size of its adjacent two stands in front and back.The ADAPTIVE CONTROL that realizes hydraulic support group 6 adopts the control method based on behavior, sets up basic act as follows: 1. evade obstacle: evade the obstruction in ranges of sensors; 2. mate in space: should match with contiguous individual space, be not less than the mean space size of its adjacent two stands in front and back; 3. keep attitude: expansion space be take activities as main, the larger change that do not have of the individual attitude of support; 4. resist disturbance: when bump or coal wall caving occur, support group space dwindles suddenly; Group control is the original supporting state of quick-recovery and Space Scale soon.
When hydraulic support stand group 6 is when stablizing supporting state, country rock and support system are reached of short duration balance, and now whole group system is in perfect condition, potential energy minimum.When the virtual effect being subject to when certain support individuality makes a concerted effort to be not equal to zero, its individual potential function shows as plus or minus, and social status also changes thereupon; The equilibrium state of whole group is broken.The Individual Adaptive controller meeting foundation occurrence of individual potential function in cluster control system and the outside of sensor senses and social status are called or several in control law; And calling rule continuation deciphering, be translated as the executable command code of the individual executing agency of support, thereby control support, complete corresponding spatial movement, realize the self adaptation group control to work plane country rock.
(2), according to the group's self-organizing cooperative control system shown in Fig. 1, control and safeguard the rectilinear alignments of the hydraulic support stand group shown in Fig. 3 and make smooth advances; For queue, keep advancing and control, its multiple targets behavior is: in mining height hydraulic support supporting group 6 progradations, in rib 1 direction, keep straight line greatly, and direction of propulsion is vertical with rib 1 all the time.The act as external action of country rock to large mining height hydraulic support individuality, provides the trend active force that makes support wide position; Between support individuality, keep minimum clearance, thereby attract each other the trend active force that makes support approach target location is provided.
The self-organizing mixing control strategy of employing based on social potential field and behavior set up the individual distributed navigation function (control function) of support with great mining height:
Wherein,
the
ithe position vector of individual support,
d(y i )represent
ithe individuality navigation function of individual support,
d re represent reference direction,
d ij represent social directivity function, describe the interaction between individuality;
d em represent environment directivity function, represent the impact of external environment condition on direction vector;
nfor force piece number.Navigation function has global convergence characteristic, at impact point place, has unique extreme value.
The ADAPTIVE CONTROL of mining height hydraulic support supporting group 6 is greatly: the position of support individuality is always tending towards group's reference position, and it departs from the average departure value that tram is not less than its adjacent two stands in front and back.The queue that realizes support group keeps advancing control strategy to adopt the control method based on behavior, defines its basic act as follows: 1. avoid collision: avoid bumping with contiguous individuality; 2. speeds match: as far as possible match with contiguous individual speed; 3. assemble at center: near individuality, draw close as far as possible; 4. tend to target: to the target location calculating according to basis of reference, move as far as possible.
When the navigation function of certain support individuality is not equal to zero, illustrate that it has departed from ideal position.The position vector that behavior telegon in cluster control system can draw according to navigation function and outside and the social status of sensor senses are called or several in control law; And the rule of calling is continued to understand, be translated as the executable command code of the individual executing agency of support, thereby control support, to target location, to move, the queue that completes support group keeps advancing to be controlled.
In group's self adaptation of large mining height hydraulic support support system is coordinated to control, when the support space of hydraulic support individuality or the variation of position occurrence tendency and exceed the value of criterion default, whole control system is excited; First the support individuality of initiate controlling moves, and the individuality in other groups externally ceaselessly switches under the effect of status information and control information between each sub-behavior subsequently, thereby forms group's behavior of congruence.
Underground mining hydraulic support is a huge supporting group, the present invention can make supporting control system possess automation such as the cooperation between convenient, flexible operation, numerous support and relevant action, support control operation, safety guarantee etc. reliably, fundamentally improves accuracy, compliance and extensibility that hydraulic support stand system is controlled.
Claims (5)
1. group's self-organizing cooperative control method of underground mining hydraulic prop system, it is characterized in that: the distributed control strategy that adopts hydraulic support local message to make decisions on one's own, cancel the main control mechanism of hydraulic support stand group, set up the self-organizing coordinated operation system of individual independent control, distribution decision-making in group; Group's self-organizing coordinated operation system keeps advancing control two parts to form by country rock Self Adaptive Control and queue, adopt the self-organizing mixing control method of social potential field and behavior to set up control function, basic act type is proposed, by adaptive controller and behavior telegon, realize the status of support individuality in group and control with concrete behavior and control, and then form and realize specifically group behavior.
2. group's self-organizing cooperative control method of underground mining hydraulic prop system according to claim 1, is characterized in that: there is no main control mechanism, on each hydraulic support, distributed control means is installed, and equal between individuality, there is not master slave relation; Supporting group produces group's behavior expection, congruence by individual self-organizing coordinated operation system.
3. group's self-organizing cooperative control method of underground mining hydraulic prop system according to claim 1, it is characterized in that: it is minimum and do not have other materials (spoil, wall caving coarse coal etc.) to enter into this space for control target that size of three-dimensional space contracting amount under the space that parameter ，Yi support apparatus group forms that support can provide is take in country rock Self Adaptive Control; The trend changing by support individual space is set up control function; Provide to keep the basic act that attitude, opposing random perturbation are feature.
4. group's self-organizing cooperative control method of underground mining hydraulic prop system according to claim 1, it is characterized in that: queue keep to advance is controlled and be take the geometric position of support individuality in parameter ，Yi support apparatus group progradation, to keep straight line and direction vertical with rib be all the time control target; Trend by the individual change in location of support is set up control function; Provide and take the basic act that assemble at center, trend target is feature.
5. group's self-organizing cooperative control method of underground mining hydraulic prop system according to claim 1, it is characterized in that: the external status based on control function and sensor senses is set up adaptive controller and behavior telegon, by them, send the executable command code of the individual executing agency of support, control support and complete corresponding spatial movement.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106527134A (en) * | 2016-11-23 | 2017-03-22 | 北京交通大学 | Distributed cooperative control method of large-scale hydraulic system |
| CN108252733A (en) * | 2018-01-23 | 2018-07-06 | 天地科技股份有限公司 | A kind of hydraulic support intelligent control method for the adaptive supporting of fully-mechanized mining working country rock |
| CN108415278A (en) * | 2018-03-05 | 2018-08-17 | 天地科技股份有限公司 | Down-hole combined mining working distributed decision making control system and its framework |
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| CN108415278A (en) * | 2018-03-05 | 2018-08-17 | 天地科技股份有限公司 | Down-hole combined mining working distributed decision making control system and its framework |
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