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分类号分类号 TD421 密密 级级 公公 开开 U C D 621 单位代码单位代码 10424 工 程 硕 士 学 位 论 文 工 程 硕 士 学 位 论 文 液压支架自动化跟机系统研究液压支架自动化跟机系统研究 王统诚 王统诚 申请学位级别工程硕士申请学位级别工程硕士 领域名称领域名称 机械工程机械工程 指导教师姓名王指导教师姓名王 成成 龙龙 职职 称称 副副 教教 授授 副指导教师姓名副指导教师姓名 王王 伟 伟 职职 称称 副研究员副研究员 山 东 科 技 大 学 山 东 科 技 大 学 二〇一八年六月二〇一八年六月 万方数据 论文题目论文题目 液压支架自动化跟机系统研究液压支架自动化跟机系统研究 作者姓名作者姓名 王王 统统 诚诚 入学时间入学时间 2015 年年 9 月月 专业名称专业名称 机械工程机械工程 研究方向研究方向 机电液一体化机电液一体化 指导教师指导教师 王王 成成 龙龙 职职 称称 副副 教教 授授 王王 伟伟 副研究员副研究员 论文提交日期论文提交日期 2018 年年 5 月月 论文答辩日期论文答辩日期 2018 年年 6 月月 授予学位日期授予学位日期 2018 年年 6 月月 万方数据 RESEARCH ON HUDRAULIC SUPPORT AUTOMATIIC SYSTEM A Dissertation ted in fulfillment of the requirements of the degree of MASTER OF ENGINEERING from Shandong University of Science and Technology by Wang Tongcheng Supervisor Associate Professor Wang Chenglong College of Mechanical and Electronic Engineering May 2018 万方数据 万方数据 万方数据 万方数据 山东科技大学工程硕士学位论文 摘要 I 摘 要 摘 要 综采工作面自动化及无人化对实现煤矿的安全、高效生产具有重要意义。电 液控液压支架作为综采工作面关键推移和支护装备， 其跟机自动化技术是实现综 采工作面自动化的关键。大采高工作面开采高度和架型庞大，现有液压支架跟机 工艺无法完全适用于大采高工作面， 论文以黄陵二矿 416 大采高自动化工作面为 背景， 对大采高工作面支架跟机自动化关键技术展开研究，从支架动作控制角度 提升大采高工作面支架跟机自动化水平， 进而实现大采高液压支架的安全高效自 动跟机。 论文基于大采高综采自动化工作面状况， 研究了工作面自动化系统和液压支 架自动化跟机策略。针对工程实践中支架自动跟机所出现的速度过低、片帮和抬 底不足等问题，提出了 “整体稳压，局部细化”的支架跟机解决方案。 论文运用 AMESim 流体仿真软件进行了液压支架电液控系统仿真。基于动 作逻辑控制构建了降移升顺序动作、推溜动作、伸收护帮动作模型，仿真分析得 到不同动作模式下液压支架的行程、流量和压力特性。在此基础上，通过对比成 组动作控制方法，研究了液压支架主要动作的跟机逻辑控制方案。 基于液压支架跟机动作特性和供液系统液压特性的研究，提出了“特性互补 动作有机组合”的液压支架架群自动跟机工艺，建立了工作面液压支架架群 AMESim 仿真模型，仿真后得到稳定优化的系统压力曲线。 论文提出了大采高液压支架跟机自动化的优化方案， 并在黄陵二矿 416 工作 面进行了井下测试，测试结果表明液压支架在该方案下动作流畅，且片帮和抬底 问题明显改善，系统压力相对稳定，提高了液压支架整体自动跟机水平。 关键词关键词综采自动化；液压支架；跟机自动化；大采高工作面；稳压供液 万方数据 山东科技大学工程硕士学位论文 摘要 II Abstract The automation and unmanned operation of the fully mechanized mining face is of great significance for the safe and efficient production of coal mines. Electro-hydraulic controlled hydraulic support by is the key transition and supporting equipment for the fully mechanized coal mining face, whose automatic operation technology is the key to the automation of the fully mechanized mining face. Due to the height and the large size of the hydraulic support in the mining face with large cutting height, the existing hydraulic support automatic action process cannot be fully applied to the mining face with large cutting height. Based on the background of the 416 automation mining face with large cutting height of Huangling No. 2 Mine, the key technologies of the automatic operation of the hydraulic support of the mining face with large cutting height were studied. From the point of view of action control, the automatic operation level of the hydraulic support of the mining face with large mining height is improved, and then the safe and efficient automatic support of the hydraulic support is realized. Based on the status of the mining face with large cutting height, the automation system and the automatic operation strategy of hydraulic support were studied. Aiming at the problems such as the slow movement speed, the collapse of the coal wall and the insufficient elevation of the basement during the automatic operation of the hydraulic support in engineering practice, the hydraulic support automatic action plan of “maintaining the stability of the supply pressure and guaranteeing sufficient action flow rate” was proposed. AMESim fluid simulation software was used to simulate the hydraulic support electro-hydraulic control system. Based on action logic control, a variety of action models are given. The displacement, flow and pressure characteristics of the hydraulic support under different action models are shown. On this basis, the logic control scheme of automatic operation of hydraulic support was studied compared with different motion control s. In the paper AMESim software is used to analyze the effect of flow, pressure and back pressure of the liquid supply system on the movement of the hydraulic support. Subsequently, according to modeling and simulation of the emulsion 万方数据 山东科技大学工程硕士学位论文 摘要 III pumping station system and the liquid supply pipeline, the load pressure characteristic curve of the pumping station and the flow resistance curve of the annular liquid supply piping are analyzed. These studies provide arguments that how the fluid supply system stabilizes the pressure supply. Based on the study of the automatic action characteristics of the hydraulic support and the hydraulic characteristics of the liquid supply system, an automatic action process of the hydraulic support group with the “hydraulic support action organic combination” was proposed. The AMESim simulation model for the hydraulic support group was established, and a stable and optimized system pressure curve was obtained after the simulation. The optimization plan for automatic operation of hydraulic supports in the mining face with large cutting height was proposed and tested at 416 mining face of Huangling No. 2 Mine. The test results show that the hydraulic support moves smoothly under this program, and the problem of coal wall collapsing and under-lifting of the base is obviously improved. The pressure of the liquid supply system during the test was relatively stable, which increased the overall automatic follower level of the hydraulic support in the mining face with large cutting height. Keywords Automatic coal mining; Hydraulic support; Intelligent operation; Mining face with large cutting height; Stabilized pressure hydraulic fluid supply 万方数据 山东科技大学工程硕士学位论文 目录 IV 目 录目 录 1 绪论绪论 ..................................................................................................... 1 1.1 研究背景与意义 ................................................................................................ 1 1.2 研究现状及发展趋势 ........................................................................................ 3 1.3 研究内容 ............................................................................................................ 7 1.4 研究方法及技术路线 ........................................................................................ 8 2 大采高综采工作面自动化系统研究大采高综采工作面自动化系统研究 ................................................ 9 2.1 工作面基本概况 ................................................................................................ 9 2.2 综采三机配套与自动化分析 .......................................................................... 10 2.3 综采工作面自动化控制系统构成 .................................................................. 14 2.4 综采工艺与电液控制系统动作分析 .............................................................. 19 2.5 工作面支架自动跟机技术 .............................................................................. 23 2.6 本章小结 .......................................................................................................... 25 3 液压支架电液控制系统仿真液压支架电液控制系统仿真 .......................................................... 26 3.1 电液控制系统建模 .......................................................................................... 26 3.2 降移升组合动作仿真 ...................................................................................... 29 3.3 推溜动作仿真 .................................................................................................. 35 3.4 伸收护帮动作仿真 .......................................................................................... 37 3.5 本章小结 .......................................................................................................... 43 4 工作面供液系统的仿真与验证工作面供液系统的仿真与验证 ...................................................... 44 4.1 供液系统对单架动作的影响 .......................................................................... 44 4.2 泵站系统建模与压力检测 .............................................................................. 46 4.3 供液管路仿真与流阻分析 .............................................................................. 48 4.4 本章小结 .......................................................................................................... 57 万方数据 山东科技大学工程硕士学位论文 目录 V 5 工作面架群自动化跟机系统仿真与应用工作面架群自动化跟机系统仿真与应用 ...................................... 58 5.1 支架跟机自动化系统优化方案 ...................................................................... 58 5.2 支架架群 AMESim 建模 ................................................................................ 62 5.3 支架架群仿真与分析 ...................................................................................... 65 5.4 现场应用 .......................................................................................................... 68 5.5 本章小结 .......................................................................................................... 70 6 总结与展望总结与展望 ....................................................................................... 71 6.1 总结 .................................................................................................................. 71 6.2 展望 .................................................................................................................. 72 参考文献参考文献 ................................................................................................. 73 致 谢致 谢 ..................................................................................................... 77 从事科学研究和学习经历简介从事科学研究和学习经历简介 ............................................................. 78 攻读硕士学位期间学术成果和获奖情况攻读硕士学位期间学术成果和获奖情况 ............................................ 79 万方数据 山东科技大学工程硕士学位论文 目录 V Contents 1 Introdution .......................................................................................................... 1 1.1 Research Background and Significance .............................................................................. 1 1.2 State of Art .......................................................................................................................... 3 1.3 Main Research Contents ...................................................................................................... 7 1.4 Research s and Technical Routes ............................................................................ 8 2 Simulation of Electro-hydraulic System for Hydraulic Support ................... 9 2.1 Basic Overview of Working Face........................................................................................ 9 2.2 Equipment Support and Automation Analysis .................................................................. 10 2.3 Composition of Automatic Control System for Fully Mechanized Faces ......................... 14 2.4 Coal Mining Process and Electro-hydraulic Control System Actions Analysis ................ 19 2.5 Hydraulic Support Automation Technology...................................................................... 23 2.6 Chapter Summary .............................................................................................................. 25 3 Hydraulic Support Electro-hydraulic System Simulation ............................ 26 3.1 Electrohydraulic Control System Modeling Parameters ................................................... 26 3.2 Automatic Movement Simulation...................................................................................... 29 3.3 Push Scraper Conveyor Movement Simulation ................................................................. 35 3.4 Moveout/Moveback Guard Movement Simulation ........................................................... 37 3.5 Chapter Summary .............................................................................................................. 43 4 Simulation and Verification of Liquid Supply System ................................. 44 4.1 Effect of liquid supply system on single frame operation ................................................. 44 4.2 Pump Station Modeling and Pressure Testing ................................................................... 46 4.3 Fluid Supply Circuit Simulation and Flow Resistance Analysis ....................................... 48 4.4 Chapter Summary .............................................................................................................. 56 万方数据 山东科技大学工程硕士学位论文 目录 VI 5 Simulation and Application of Hydraulic Support Group Automation System ....................................................................................................................... 57 5.1 Support Automation System Optimization ........................................................................ 57 5.2 Hydraulic Support Group AMESim Modeling .................................................................. 61 5.3 Hydraulic Support Group Simulation and Analysis .......................................................... 64 5.4 Field Applications ............................................................................................................. 67 5.5 Chapter Summary .............................................................................................................. 69 6 Conclusion and Prospect .................................................................................. 70 6.1 Conclusion ......................................................................................................................... 70 6.2 Prospect ............................................................................................................................. 71 References ................................................................................................................. 72 Acknowledgements .................................................................................................. 76 Scientific research and learning experience .......................................................... 77 Academic Achievements and Awards .................................................................... 78 万方数据 山东科技大学工程硕士学位论文 绪论 1 1 绪论绪论 1.1 研究背景与意义研究背景与意义 1.1.1 研究背景研究背景 煤炭是我国主体能源，安全智能、绿色高效矿井是我国煤矿发展的主要方 向，应用智能化技术和装备建设智能煤矿是实现我国煤矿由劳动密集型向两化 融合人才技术密集型转变，以及促进煤炭行业由数量、速度型向质量、效益型 转变，提高煤矿安全生产保障程度和煤炭企业管理水平的重要手段，也是提升 煤炭工业发展科学化水平的必然要求 [1][2]。 随着国家层面针对煤炭行业产能过剩 的宏观调控全面实施，煤炭形势企稳回升，我国于 2016 年提出的“用 3 至 5 年的时间， 再退出产能 5 亿吨左右、 减量重组 5 亿吨左右”的任务， 有望在 2018 年基本完成 [3]。经历政策调整，煤炭行业集中度显著提高，大型机械化、自动 化矿井得到了政策性支持，可以预见，煤矿将逐渐由劳动密集型向着技术密集 型转变，未来应用智能化技术和装备建设的智能煤矿是煤矿行业发展的主流。 煤机行业作为煤炭上游产业，同样经历了严峻的经济形势，同时还承担着煤矿 设备升级的重任。为满足高效安全的开采要求，降低综采工作面劳动强度，提 高工作人员安全系数和采煤效率，实现井下采煤的无人化已成为国内外采煤行 业的重要研究方向 [4]。国家“十三五”规划纲要第三十章“建设现代能源体系” 中将“加快推进煤炭无人开采技术研发和应用”列入能源发展重大工程，因此 煤矿机械的智能化研究符合发展趋势，也具备政策和经济上的支持 [5]。 国家“十五” 、 “十一五”期间以来，我国煤炭开采技术及装备取得重大进 步，推动了煤矿安全高效绿色开采技术的发展，建成了一大批机械化和自动化 程度高的现代化矿井，生产效率、安全指标和煤炭产量大幅度
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