School of Energy Science and Engineering, Henan Polytechnic University
Collaborative Innovation Center for Safe Production and Clean and Efficient Utilization of Coal Jiaozuo
Mining Design Division, Tiandi Technology Co., Ltd.
Beijing Tiandi-Marco Electro-Hydraulic Control System Co., Ltd.
Guhanshan mine of Henan Coking Coal Energy Co., Ltd.
Zhengzhou Coal Mining Machinery Group Co., Ltd.
Jinneng Holding Coal Industry Group Tongxin Coal Mine Shanxi Co., Ltd.

综采放顶煤技术已成为我国特厚煤层高产高效开采的主流方式，放煤机构的精准控制是实现放顶煤开采自动化与智能化的重要基础，掌握放煤机构的空间运动规律是实现对其精准控制的前提。液压支架放煤机构的即时形态受支架支撑高度、支架姿态、插板伸出长度、后部刮板机相对位置共同控制，对放煤机构安全过煤高度和放煤口开口度有重要影响。以ZF15000/27.5/42型支架为研究对象，采用有限元分析软件ABAQUS建立了三维四柱式放顶煤液压支架多体动力学仿真模型，分别采用Hinge,Translator连接器模拟支架各铰接点的旋转行为及支架立柱、插板的伸缩行为。以支架支撑高度H、尾梁摆动角度α、插板伸出长度l为控制变量，开展了三因素多状态数值模拟试验，研究了掩护梁–尾梁铰接点、插板末端的空间运动规律，运用Levenberg-Marquardt拟合迭代法得出了放煤机构安全过煤临界准则，建立了插板末端坐标、放煤口开口度与H、α、l的标定关系数据库。推荐了用于感知与控制放煤机构姿态的传感器类型及安装位置，推导了基于行程传感器的尾梁角度计算方法，提出了放煤口开口度精准控制方法。通过现场验证对比放煤机构开口度计算值与现场放煤口实测值，得出两者相对误差符合现场精度要求。该控制方法为智能决策与控制系统(软件)研发提供了理论支持，在现场得到成功应用。

Fully mechanized top coal caving technology has become the mainstream way of high yield and high efficiency mining in extra thick coal seams in China. The accurate control of the top-coal drawing mechanical parts is of significance to realize the automation and intellectualization of top-coal caving mining. Mastering the spatial motion law of the coal caving mechanism is the premise of accurate control. The immediate shape of the hydraulic support coal caving mechanism is jointly controlled by the support height, support attitude, extension length of the plug plate, and the relative position of the rear scraper, which has an important impact on the coal caving opening and the coal-passing height of the support. This study establishes a 3–D numerical model of four- legs top-coal caving hydraulic support (No. ZF15000/27.5/42) by using the finite element software ABAQUS. Hinge and translator connectors are used to simulate the rotation behavior and expansion-contraction behavior for hinge point and plug plate, respectively. Taking the support height (H), tail beam swing angle (α), and the plug plate extension length (l) as control variables, the spatial motion law of the hinge point between shield beam and tail beam and the end of the plug plate are modeled. The critical security equation for evaluating collision between top-coal drawing mechanical parts and rear scraper is obtained by using Levenberg-Marquardt fitting iteration method. A database for describe the calibration relationship, which contains the end coordination of plug plate, the dimension of the top-coal drawing opening, and H, α, and l, is established. The sensor type and installation position for sensing and controlling the attitude of the top-coal drawing mechanism are recommended, the approach for calculating the tail beam angle based on travel sensor is derived. Through field verification of top-coal drawing opening width, it is concluded that the relative error between measured value and calculated value meets the requirements for accurate control of top-coal drawing mechanism. The approach for controlling the top-coal drawing opening dimension is proposed, which has been successfully applied in the field.

国家自然科学基金青年资助项目(52204090)；河南省重点研发与推广专项(科技攻关)资助项目(212102210230)；国家能源集团重点项目“5G+工业互联网”无人化矿井关键技术研发与工程示范资助项目(GJNY-21-25)

李东辉，李东印，王　伸，等. 液压支架放煤机构安全过煤临界准则及放煤口精准控制方法研究[J]. 煤炭科学技术，2023，51（9）：251−260

LI Donghui，LI Dongyin，WANG Shen，et al. Safe passing critical criterion for drawn top-coal on rear conveyor and accurate control approach for drawing opening dimension[J]. Coal Science and Technology，2023，51（9）：251−260