液压支架合理初撑力及其智能调控原理研究.pdf

硕士学位论文 液压支架合理初撑力及其智能调控原理 研究 Research on Intelligent Controlling Principle and Reasonable Setting Loads of the Hydraulic Support 作 者刘 博 导 师万志军 教授 中国矿业大学 二〇一七年五月 国家“973 计划”项目（2014CB046300）资助 国家自然科学基金项目51604267，51674242资助 江苏省高校优势学科建设工程项目（PAPD）资助 万方数据 中图分类号 TD355 学校代码 10290 UDC 622 密 级 公开 中国矿业大学 硕士学位论文 液压支架合理初撑力及其智能调控原理研究 Research on Intelligent Controlling Principle and Reasonable Setting Loads of the Hydraulic Support 作 者 刘 博 导 师 万志军 申请学位 工学硕士学位 培养单位 矿业工程学院 学科专业 采矿工程 研究方向 智能开采 答辩委员会主席 冯光明 评 阅 人 瞿群迪、李剑锋 二〇一七年五月 万方数据 学位论文使用授权声明学位论文使用授权声明 本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所撰 写的学位论文的使用授权按照学校的管理规定处理 作为申请学位的条件之一， 学位论文著作权拥有者须授权所在学校拥有学位 论文的部分使用权，即①学校档案馆和图书馆有权保留学位论文的纸质版和电 子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为教学和 科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书 馆等场所或在校园网上供校内师生阅读、浏览。另外，根据有关法规，同意中国 国家图书馆保存研究生学位论文。 （保密的学位论文在解密后适用本授权书） 。 作者签名 导师签名 年 月 日 年 月 日 万方数据 致谢致谢 时光荏苒，岁月如梭，不知不觉中三年的硕士研究生生活已经接近尾声。回 首这三年的时光，发现自己有过付出、得到了成长和收获，与三年前的自己相比 得到了不少进步和提高。 本论文是在导师万志军教授的精心指导下完成的。从论文的选题、实验的进 程到论文最后的完成过程中，都有着老师对我的指导和帮助，感谢老师细心的指 导与教诲。 万志军老师渊博的学识、严谨的治学态度以及平易近人的生活作风等 都给我留下了深刻的印象，是我终生学习的榜样。三年的研究生学习生活中，无 论在学习上还是生活中都得到了老师无微不至的关怀和支持。在此，向万老师表 示衷心的感谢和崇高的敬意 在论文的撰写过程中，程敬义老师对我论文的选题、整体思路的梳理形成以 及实验中遇到问题的解决等都给予了很大的帮助，作者深表诚挚的感谢。 在本论文的写作过程中，参阅了大量的论文和著作，受到了很多的启发和帮 助，感谢所有的文献作者 同时，还要感谢张源老师、顾斌博士、刘泗斐博士、王志民硕士、时洪浩硕 士的热心帮助与指导，为本论文的完成提供了很大的支持，在此深表感谢 感谢在我攻读硕士的三年中国家 “973 计划” 项目 （2014CB046300） 的资助、 国家自然科学基金项目51604267， 51674242的资助和江苏省高校优势学科建设 工程项目（PAPD）的资助。 感谢父母的养育之恩，在我遇到瓶颈时，总能给予我温暖和关心，你们无私 的付出无以为报，祝你们健康快乐。 最后感谢各位专家、教授在百忙之中评审本论文，希望得到你们的指导和帮 助。 刘博 二〇一七年五月 万方数据 I 摘摘 要要 煤矿井下工作条件恶劣，安全隐患和危害职业健康的因素多，加强煤矿智能 化开采装备技术的研究和应用，淘汰落后的开采方法和装备，引导煤矿向安全高 效绿色开采方向发展，提升装备的自动化和智能化水平，逐步实现少人化、无人 化开采是煤炭综采技术发展趋势和矿井现代化生产的必然要求。 本文以煤矿开采的智能化、无人化为大背景，以支架合理初撑力的控制为切 入点，通过理论分析、数值模拟、现场实测等方法进行研究，提出了支架合理初 撑力的控制方式，并得出了以下主要结论 1）支架与围岩之间的受力关系将在支架的整个工作循环过程中处于一种动 态平衡的状态。随着工作面的推进和顶板的运移，支架将持续受到顶板逐层传递 的静载荷和阶段性的受到顶板断块运动而带来的动载荷的影响。 2）支架的升柱初撑阶段为支架循环工作中唯一的主动控顶过程，合理大小 的初撑力将对直接顶的离层及工作面“支架围岩” 系统整体刚度有较好的控制 作用。 3）通过数值计算，分析了不同工作阶段支架的刚度特性及控顶效果，得出 当支架主要处于增阻阶段时，控顶效果最好；处于恒阻阶段时，支架整体刚度下 降，控顶效果明显下降。 4）通过数值模拟的对比计算得出 （1）支架初撑支护强度 PS受到直接顶与 煤层釆高比值 N 的影响。在工作面非来压期间，PS随着 N 的增大线性减小；在 工作面来压期间， PS随着N的增大呈现出先减小再增加近似于抛物线的关系。（2） 在工作面非来压期间，支架合理初撑支护强度随直接顶强度增大而应适度增加； 在工作面来压期间，支架合理初撑支护强度随直接顶强度增大而应适度减小。 5）通过数值计算分析及现场实测验证，得到了支架合理初撑力与其影响因 素的关系，在对原有自动化控制系统进行分析的基础上，设计了支架合理初撑力 参数判断和设置的流程。 该论文有图 59 幅，表 8 个，参考文献 79 篇。 关键关键词词智能开采；合理初撑力；控顶效果；活柱下缩量；自动化控制 万方数据 II Abstract With the bad working conditions under the mine, there are a lot of potential safely hazards and health hazards. Strengthen the research and apply of the mine intelligent production equipment technology, weeds out the backward production s and equipment, leads the mining to the safety and high efficient, gradually achieves intelligent and unmanned mining is the inexorable trend of the mining technology. This paper is under the background of intelligent and unmanned mining, takes the reasonable setting loads of the support controlling as the starting point. By comprehensive using of theoretical analysis, numerical simulation and field measurement, put forward the control of reasonable setting loads of the support and makes the following conclusions 1）The relationship between the supports and surrounding rock is keeping in a state of dynamic balance under every working circulation. Along with the advance of the working face and movement of the roof, the supports will influenced by the continuing static loads which delivered from the overlying rock and the intermittent dynamic loads which caused by the unstable movement of the main roof. 2）The early raising leg stage of the support is the only active roof control process in the working cycle process of the support. The reasonable setting loads shows the better controlling effect on the separation of the immediate roof and the stiffness of the “support and surrounding rock” system. 3）The stiffness characteristics and roof controlling effect of the support with different working stage is analyzed by numerical calculation. When the support is mainly working in the increased resistance could make the best roof control result. But when the support is mainly working in the constant resistance, the support stiffness would decrease. At the same time, the roof control result will be significantly worse. 4 Through the comparisons of numerical simulation calculations, there are some conclusions 1 The thickness ratio between immediate roof and mining height have an impact on the reasonable setting supporting intensity of the support. During the support working under static loads, the setting supporting intensity Ps should be in a straight line relationship with the increase of the thickness ratio N, but the slope of the line was negative. During the roof weighting, the Ps and N will made an approximate 万方数据 III parabola relationship. 2 During the support working under static loads, the setting supporting intensity Ps should be modest increasing with the strength of the immediate roof increased. During the roof weighting, the setting supporting intensity Ps should be modest decreasing with the strength of the immediate roof increased. 5 By numerical analysis and field measurement, we get the relationship between the reasonable setting loads of the support and its influence factors. Then based on the analysis and understanding of the existing automatic control system, designed the flow chart to decide and set the parameter of the reasonable setting loads. There are 59 figures, 8 tables and 79 references. Keywords intelligent mining; reasonable setting loads; roof controlling effect; the displacement of the hydraulic support rams; automation control 万方数据 IV 目目 录录 摘要摘要 ............................................................................................................................... I 目录目录 ............................................................................................................................ IV 图清单图清单 ..................................................................................................................... VIII 表清单表清单 ........................................................................................................................ XI 变量注释表变量注释表 ............................................................................................................... XII 1 绪论绪论 ........................................................................................................................... 1 1.1 研究背景及意义..................................................................................................... 1 1.2 国内外研究现状..................................................................................................... 2 1.3 主要研究内容......................................................................................................... 6 1.4 研究方法与技术路线............................................................................................. 6 2 综采工作面液压支架初撑控顶机理分析综采工作面液压支架初撑控顶机理分析 ............................................................... 8 2.1 工作面顶板运动规律............................................................................................. 8 2.2 液压支架载荷分析............................................................................................... 11 2.3 液压支架的工作过程........................................................................................... 13 2.4 液压支架初撑力控顶机理................................................................................... 15 2.5 本章小结............................................................................................................... 19 3 3 液压支架初撑控顶效果影响因素研究液压支架初撑控顶效果影响因素研究 ................................................................. 21 3.1 数值模型的建立................................................................................................... 21 3.2 支架刚度对支架初撑控顶效果的影响............................................................... 23 3.3 直接顶厚度对支架初撑控顶效果的影响........................................................... 29 3.4 直接顶强度对支架初撑控顶效果的影响........................................................... 39 3.5 本章小结............................................................................................................... 44 4 综采工作面支架承载与活柱下缩量实测分综采工作面支架承载与活柱下缩量实测分析析 ..................................................... 46 4.1 工作面概况........................................................................................................... 46 4.2 设备简介及观测方案说明................................................................................... 47 4.3 观测数据分析....................................................................................................... 49 4.4 本章小结............................................................................................................... 56 5 支架初撑力控制方案设计支架初撑力控制方案设计 ..................................................................................... 57 5.1 液压支架电液控制系统主要组成及功能........................................................... 57 万方数据 V 5.2 支架初撑力的控制原理及方式........................................................................... 59 5.3 支架初撑智能调控系统的设计........................................................................... 60 5.4 液压支架初撑力智能控制算法设计................................................................... 61 5.5 本章小节............................................................................................................... 65 6 主要结论主要结论 ................................................................................................................. 66 参考文献参考文献 ..................................................................................................................... 68 作者简历作者简历 ..................................................................................................................... 73 学位论文原创性声明学位论文原创性声明 ................................................................................................. 73 学位论文数据学位论文数据集集 ......................................................................................................... 75 万方数据 VI Contents Abstract ...................................................................................................................... II Contents ..................................................................................................................... VI List of Figures ......................................................................................................... VIII List of Tables ............................................................................................................. XI List of Variables ....................................................................................................... XII 1 Introduction ............................................................................................................... 1 1.1 Research Background and Signification .................................................................. 1 1.2 Research Status at Home and Abroad ...................................................................... 2 1.3 Major Studies ........................................................................................................... 6 1.4 Research and Technology Route ................................................................ 6 2 Analysis in Setting Loads Control Mechanism of Fully Mechanized Working Face................................................................................................................................ 8 2.1 Movement Law of the Roof ..................................................................................... 8 2.2 Analysis of Loads on Hydraulic Support ............................................................... 11 2.3 Working Process of the Hydraulic Support ............................................................ 13 2.4 Setting Support Control Mechanism of Hydraulic Support ................................... 15 2.5 Brief Summary ....................................................................................................... 19 3 Research on Influence Factor of the Roof Controlling Effect under the Setting Loads ........................................................................................................................... 21 3.1 Model Foundation of Numerical Simulation ........................................................ 21 3.2 The Control Effect of Setting Loads under Different Support Stiffness ................ 23 3.3 The Control Effect of Setting Loads under Different Thickness of Immediate Roof ...................................................................................................................................... 29 3.4 The Control Effect of Setting Loads under Different Strength of Immediate Roof ...................................................................................................................................... 39 3.5 Brief Summary ....................................................................................................... 44 4 Field Measurement for Displacement of the Hydraulic Rams and Loads of Hydraulic Support on Fully Mechanized Working Face ....................................... 46 4.1 Working Face Characteristics ................................................................................ 46 4.2 Introduction of the Observation Equipment and Observation Scheme ............... 47 4.3 Analysis of the Data .............................................................................................. 49 4.4 Brief Summary ....................................................................................................... 56 5 The Control Scheme for Setting Pressure of Hydraulic Support ....................... 57 万方数据 VII 5.1 Main Elements and Function of the Electro-hydraulic Shields ............................. 57 5.2 The Control Principle and of Setting Loads ............................................. 59 5.3 Design of the Intelligent Controlling System of the Setting Loads ....................... 60 5.4 Design of the Intelligent Controlling Arithmetic of the Setting Loads .................. 61 5.5 Brief Summary ....................................................................................................... 65 6 Main Conclusions .................................................................................................... 66 References ................................................................................................................... 68 Author’s Resume ........................................................................................................ 73 Declaration of Thesis Originality ...............................................................