CN103527235B - Group's self-organizing cooperative control method of underground mining hydraulic prop system - Google Patents
Group's self-organizing cooperative control method of underground mining hydraulic prop system Download PDFInfo
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Abstract
The present invention discloses a kind of group's self-organizing cooperative control method of underground mining 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 and advance concertedness on country rock sedimentation and the impact of collapsing, adopt the distributed AC servo system strategy that local message between support individuality, between support and country rock is mutual and make decisions on one's own, cancel the main control mechanism of existing supporting group, set up the coordinated operation system of individual independent control, distributed determination in group; Adopt the mixing control method of social potential field and behavior to set up control function, realize self-organizing queuing and the Coordinate development of the supporting of country rock self adaptation and extensive supporting group.The invention solves to lack information interaction between centralized control individuality, problem that group's behavior that multidimensional cannot be made to disperse converges on overall goals, to underground mining conditions and technique, there is stronger flexibility and compliance, effectively adapt to automation and unmanned mining requirement.
Description
Technical field
The present invention relates to a kind of control method of coal face hydraulic support group, is exactly produced by Local Interaction between hydraulic support individuality, between hydraulic support and coal-face country rock to expect a kind of distributed AC servo system strategy of support group supporting behavior specifically.
Background technology
Before elaboration 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, by the rock stratum in excavation influence basin, is divided into top board, coal seam and base plate three part.
Support system: the equipment group be made up of multiple 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 framves to 100 multi rack etc.), transition bracket (is responsible for the supporting of work plane to tunnel transition portion, as the case may be, quantity is not from 2 framves to 4 framves etc.) and face end support (be responsible for the supporting in the tunnel adjacent with work plane, the each frame in two ends, general work face, totally 2 framves).
At present, what working surface hydraulic support support system all adopted is centerized fusion, in tunnel, place central control station, forms main control mechanism by its connecting downhole server, grasps the information of the work plane overall situation and all hydraulic support individuality; Each hydraulic support individuality in support system installed the sensor of perception Change in surrounding rocks and control the controller of support individual behavior, these controllers are connected to main control mechanism by bus patterns such as PROFIBUS, CANBUS, thus upload perception information and download act of execution instruction.Centerized fusion carrys out the behavior between collaborative individuality by global communication, and whole system generally only exists communicating between main control mechanism with individuality, and does not have between individuality or only transmit little information; The decision making functions such as all information processings, calculating, control, communication complete by main control mechanism, and control planning is only present between main control mechanism and individuality, and two individualities do not have control planning mutually.Centralized advantage is that control structure is directly perceived, generally there is not locally optimal solution; Shortcoming is patience and bad adaptability, high to the requirement of main control mechanism, is not suitable for dynamic, open, sweeping system.
In recent years, along with the increasing of coal underground mining scale, intensity and the degree of depth, geological conditions becomes increasingly complex, country rock across falling, rupture, the dynamic characteristic such as impact is all the more obvious, the uncertainty of country rock activity is had higher requirement to the compliance of support system, flexibility.Current, hydraulic support surrounding rock coupling three-dimensional dynamic design method (ZL201010231729.1) is adopted to improve the individual compliance to country rock dynamic change of support, but its behavior is the independent response to Change in surrounding rocks under master control system controls, mutual control is there is not between individuality, thus as a support system, group's behavior that it shows is multidimensional, dispersion, cannot converge on the overall goals of support system.In actual production process, for the group's behavior controlling support system reaches re-set target, improve overall compliance, many employing manual intervention modes, the individuality combination individual or adjacent to support controls separately, and this mode needs people to enter into work plane or tunnel operation.
But, in view of underground work bad environments, safety are difficult to ensure, require to adopt automation, unmanned Technology and equipment more, avoid artificial underground work as far as possible; In addition, along with the girdle even exploitation of ultra-thin coal seam, 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 there is no main control mechanism based on the distributed control mode that local message is made decisions on one's own, equal between individuality, there is not master slave relation, supporting group can produce group's behavior that expect, congruence by self-organizing work compound, to country rock and progress of coal mining, there is stronger flexibility and compliance, effectively can strengthen supporting effect, adapt to automation and unmanned mining requirement.
Summary of the invention
The present invention announces group's self-organizing cooperative control method of a kind 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 sets up a kind of distributed AC servo system strategy alternately, thus produce the working surface hydraulic support group supporting behavior of expection, the controlled sedimentation self adaptation supporting realizing gradient rigidity country rock controls, and the self-organizing of extensive support apparatus group advances and collaborative queuing controls.
The inventive method adopts following technical scheme: adopt the distributed AC servo system strategy that hydraulic support local message is made decisions on one's own, cancel the main control mechanism of hydraulic support stand group, set up the self-organizing work compound mechanism of information transmission between individuality in group, control and decision-making; Group's self-organizing cooperative control system keeps Solid rocket engine 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 is formed, contracting amount is minimum, and does not have other materials (spoil, wall caving coarse coal etc.) to enter into this space.
Between hydraulic support individuality 2., between colony and and country rock between the virtual active force that the produces size of three-dimensional space that can provide with support for parameter, the trend that changes with individual rack space (even if the fictitious force of reduced space and fictitious force acting in conjunction that space is amplified and produce virtual with joint efforts) define its social status.
3. the self-organizing hybrid control strategy based on social potential field and behavior is adopted 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 adjacent two stands before and after it.
4. set the basic act of group's Self Adaptive Control: obstacle avoidance, spatial match, keep attitude, opposing disturbance.
5. set up adaptive controller to realize the coordination reasoning of basic act, call and combine, complete the response to outside environmental change.
6. the behavior response that adaptive controller generates 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 Solid rocket engine.
1. queue keeps the multiple targets behavior of Solid rocket engine: keep straight line in support apparatus group progradation and direction is vertical with work plane all the time.
Between hydraulic support individuality 2., between colony and and environment between the virtual active force that produces with the geometric position of support for parameter, the trend that changes with individual backing positions (even if the fictitious force of support near target location and virtually making a concerted effort of making the fictitious force acting in conjunction of its wide position and produce) defines its social status.
3. adopt the self-organizing hybrid 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 the reference position of group, and it departs from the average departure value that tram is not less than adjacent two stands before and after it.
4. set the basic act of group's Self Adaptive Control: collision free, speeds match, center is assembled, trend target.
5. set up behavior coordination device to realize the coordination reasoning of basic act, call and combine, complete the response to outside environmental change.
6. the behavior response that behavior coordination device generates is mapped as the executable command code of the individual executing agency of support, the queue realizing support group keeps Solid rocket engine.
Hydraulic prop system need realize country rock Self Adaptive Control simultaneously and queue keeps Solid rocket engine, correctly and effectively could 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, send control signal respectively for different group control targets to same support executing agency from same perception information storehouse; Here, the priority of country rock auto-adaptive controling signal keeps boost control signal higher than queue; When there being two kinds of signals to send simultaneously, support executing agency preferentially performs country rock auto-adaptive controling signal.
Advantage of the present invention and benefit: the hydraulic support stand group of work plane is upgraded to the distributed AC servo system (multiple people does something and mutual transmission of information respectively) of making decisions on one's own based on local message by (1) by centralized Control (be similar to a people and do more than one piece thing) simultaneously, effectively improve specific aim and the validity of control, greatly strengthen the compliance of support system, flexibility.(2) the self-organizing hybrid control strategy based on social potential field and behavior is adopted, in conjunction with knowledge and the local Behavior-Based control of the overall situation, hydraulic prop system group self-organizing Collaborative Control is decomposed into country rock Self Adaptive Control and the linear incoherent control thread of queue maintenance Solid rocket engine two; Synchronously realize population system cooperation control; Define controllability path clearly, effectively enhance the accuracy of control and comprehensive.(3) independence that rack body can complete local controls, and enters work plane or tunnel operates separately support individuality, while enhancing Systematical control ability, ensure that production safety without the need to workman.
For the control of two column protected type hydraulic support stand group, Method and Technology set forth in the present invention is described further below, to make the public have specifically and understanding fully summary of the invention, and is not limiting the scope of the present invention.Preceding sections foundation fully discloses the protection domain that the present invention can implement.Therefore, all equivalent replacements any well known in the art carried out according to the disclosure of invention, all belong to infringement of the present invention.
Accompanying drawing explanation
The control method logic illustration that Fig. 1 sets forth for the inventive method.
The support space that Fig. 2 is formed when being the hydraulic support and shoulder bed effects that adopt the inventive method to control illustrates.
Fig. 3 is that the high working face hydraulic support stand group queue adopting the inventive method to control keeps illustrating with propelling.
In figure: 1-rib; 2-coal-winning machine; 3-drag conveyor; 4-base plate; 5-is caving top board; 6-high working face hydraulic support stand group.
Detailed description of the invention
(1) according to the group's self-organizing cooperative control system shown in Fig. 1, the support space formed when controlling and safeguard 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 high working face hydraulic support stand group 6 is formed, 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 and form) forms enclosure space under hydraulic support stand effect, thus makes coal-winning machine 2 and drag conveyor 3 that space can be had to complete to mine and the operation of fortune coal.Country rock act as external action to high working face hydraulic support individuality, provides the trend active force that its support space is reduced; Minimally gap between high working face hydraulic support individuality, thus attracts each other and provides the trend that rack space is amplified active force.
The self-organizing hybrid control strategy based on social potential field and behavior is adopted to 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, and 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 adjacent two stands before and after it.The ADAPTIVE CONTROL realizing hydraulic support group 6 adopts behaviorbased control method, sets up basic act as follows: 1. obstacle avoidance: evade the obstruction in ranges of sensors; 2. spatial match: should match with contiguous individual space, be not less than the mean space size of adjacent two stands before and after it; 3. attitude is kept: expansion space is based on activities, and the individual attitude of support does not have larger variation; 4. disturbance is resisted: when bump or coal wall caving occur, support group space reduces suddenly; Group control should be able to the original supporting state of quick-recovery and Space Scale soon.
When hydraulic support stand group 6 is in stable supporting state, country rock and support system reach of short duration balance, and now whole group system is in perfect condition, potential energy minimum.When the virtual effect that certain support individuality is subject to 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.Individual Adaptive controller in cluster control system can call one or several in control law according to the outside of the occurrence of individual potential function and sensor senses and social state; And calling rule continues to understand, be translated as the executable command code of the individual executing agency of support, thus control support completes corresponding spatial movement, realizes 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; Keep Solid rocket engine for queue, its multiple targets behavior is: keep straight line in rib 1 direction in high working face hydraulic support stand group 6 progradation, and direction of propulsion is vertical with rib 1 all the time.Country rock act as external action to high working face hydraulic support individuality, provides the trend active force making support wide position; Minimally gap between support individuality, thus attract each other the trend active force providing and make support close to target location.
The self-organizing hybrid control strategy based on social potential field and behavior is adopted to set up 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 individual 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 that external environment condition is on the impact of direction vector;
nfor force piece number.Navigation function has global convergence characteristic, in impact point place existence anduniquess extreme value.
The ADAPTIVE CONTROL of high working face hydraulic support stand group 6 is: the position of support individuality is always tending towards the reference position of group, and it departs from the average departure value that tram is not less than adjacent two stands before and after it.The queue realizing support group keeps Solid rocket engine strategy to adopt behaviorbased control method, defines its basic act as follows: 1. collision free: avoid colliding with contiguous individuality; 2. speeds match: as far as possible match with contiguous individual speed; 3. center is assembled: draw close to neighbouring individuality as far as possible; 4. tend to target: move to the target location calculated according to basis of reference as far as possible.
When the navigation function of certain support individuality is not equal to zero, illustrate that it deviate from ideal position.The outside of the position vector that the behavior coordination device in cluster control system can draw according to navigation function and sensor senses and social state call one or several in control law; And the rule called is continued to understand, be translated as the executable command code of the individual executing agency of support, thus control support moves to target location, the queue completing support group keeps Solid rocket engine.
In group's self-adaptive wavelet base of high working face hydraulic support stand system, exceed the value of criterion system setting when the support space of hydraulic support individuality or the change of position occurrence tendency, whole control system is excited; Initiate the support individuality first action controlled, the individuality subsequently in other groups ceaselessly switches under the effect of outside status information and control information between each sub-line is, thus forms group's behavior of congruence.
Underground mining hydraulic support is a huge supporting group, the present invention can make supporting control system possess cooperation between such as convenient, flexible operation, numerous support and relevant action, the automation of support control operation, reliably safety guarantee etc., fundamentally improves the accuracy of hydraulic support stand Systematical control, compliance and extensibility.
Claims (5)
1. group's self-organizing cooperative control method of underground mining hydraulic prop system, it is characterized in that: adopt the distributed AC servo system strategy that hydraulic support local message is made 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, distributed determination in group; Group's self-organizing coordinated operation system keeps Solid rocket engine two parts to form by country rock Self Adaptive Control and queue, the self-organizing mixing control method of social potential field and behavior is adopted to set up control function, basic act type is proposed, realize the individual status in group of support by adaptive controller and behavior coordination device to control to control with concrete behavior, and then form and realize specific group's behavior.
2. group's self-organizing cooperative control method of underground mining hydraulic prop system according to claim 1, is characterized in that: do not have main control mechanism, each hydraulic support installs distributed control means, equal between individuality, there is not master slave relation; Supporting group produces group's behavior that expect, 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: the size of three-dimensional space that country rock Self Adaptive Control can provide with support is for parameter, and under the space formed with support apparatus group, contracting amount is minimum and do not have other materials to enter into this space for control objectives; The trend changed by support individual space sets up control function; Provide the basic act keeping attitude, opposing random perturbation is 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 keeps Solid rocket engine with the geometric position of support individuality for parameter, to keep straight line in support apparatus group progradation and direction is vertical with rib for control objectives all the time; Control function is set up by the trend of the individual change in location of support; Provide with center gathering, tend to the basic act that 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 sets up adaptive controller and behavior coordination device, send the executable command code of the individual executing agency of support by them, control support and complete corresponding spatial movement.
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| CN106527134B (en) * | 2016-11-23 | 2019-07-12 | 北京交通大学 | The distributed collaboration control method of extensive hydraulic system |
| CN108252733B (en) * | 2018-01-23 | 2019-08-13 | 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 |
| CN108415278B (en) * | 2018-03-05 | 2020-10-16 | 天地科技股份有限公司 | Distributed decision control system for underground fully mechanized coal mining face and framework thereof |
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| US4048803A (en) * | 1973-12-07 | 1977-09-20 | Banyaszati Kutato Intezet | Mining shield support apparatus |
| RU2135775C1 (en) * | 1996-08-15 | 1999-08-27 | АООТ "Подмосковный научно-исследовательский и проектно-конструкторский угольный институт" (АООТ "ПНИУИ") | Dual-flow hydraulic drive system in self-propelled powered support |
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