智采工作面三机数字孪生驱动控制架构  

Digital twin-driven control construction for three machines of smart coal mining face

作　　者：尤秀松 葛世荣 郭一楠 苗丙 YOU Xiusong;GE Shirong;GUO Yinan;MIAO Bing(School of Mechanical and Electrical Engineering,China University of Mining and Technology-Beijing,Beijing 100083,China;Key Laboratory of Intelligent Mining Robotics,Ministry of Emergency Management,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机械与电气工程学院,北京100083 [2]煤矿智能化与机器人创新应用应急管理部重点实验室,北京100083

出　　处：《煤炭学报》2024年第7期3265-3275,共11页Journal of China Coal Society

基　　金：国家重点研发计划资助项目(2022YFB4703701);国家自然科学基金资助项目(61973305);高等学校学科创新引智计划资助项目(B21014)。

摘　　要：为了进一步提高煤矿综采设备智能控制水平,实现智采工作面常态化运行,提出基于数字孪生智采工作面驱动控制的相关概念和系统架构。智采工作面数字孪生系统由物理设备、虚拟孪生体、虚实交互模型组成,通过数字化方法建立与实体设备相映射的虚拟模型,来达到综采设备在作业过程中虚实交互、智能决策、精准控制和动态演化的目的。阐述智采工作面常态化运行要求和采煤机、液压支架和刮板输送机的相关控制难点。提出了智采工作面单机数字孪生驱动控制架构,包括机理模型、控制模型、孪生数据模型和数字孪生模型同步与演化等要素;研究数字孪生虚实交互方法,利用信息物理系统来保障信息交互能力,采用知识模型来解决数据拥堵问题,为智采工作面数字孪生控制系统的虚实交互提供实时性。提出智采工作面数字孪生驱动的三机协同控制方法,包括三机关联关系、智能采煤控制、智能支护控制与智能运输控制。最后以矿山数字孪生实际应用为例,通过建立相关模型和设计相关实验方案,对数字孪生智能控制进行验证。通过展开数字孪生智能控制架构、模式等理论研究,旨在解决目前综采工作面存在的环境感知程度低、设备预测精度差和人工干预强度大等问题,实现在复杂环境条件下设备的自适应控制与人机交互,为煤矿智能化建设提供借鉴意义。In order to further improve the intelligent control level of fully mechanized mining equipment in coal mines and achieve the normalized operation of intelligent mining face,this paper proposes the related concepts and system architecture of intelligent mining face driving control based on digital twin.The digital twin system of intelligent mining face is composed of physical equipment,virtual twin and virtual and real interaction model.The virtual model mapped with physical equipment is established by digital method to achieve the purpose of virtual and real interaction,intelligent decision,accurate control and dynamic evolution in fully mechanized mining equipment during operation.The paper expounds the normal operation requirements of intelligent mining face and related control difficulties of shearer,hydraulic support and scraper conveyor,and proposes the single-machine digital twin driving control architecture of smart mining face,including mechanism model,control model,twin data model and digital twin model synchronization and evolution.The method of digital twin virtual-real interaction is described,the Cyber-Physical System is used to guarantee the information interac-tion ability,and the knowledge model is used to solve the data congestion problem,which provides a real-time virtual-real interaction for the digital twin control system of intelligent mining face.A three-machine cooperative control method driv-en by the digital twin of intelligent mining face is proposed,including three-machine correlation,intelligent coal mining control,intelligent support control and intelligent transportation control.Finally,taking the practical application of digital twin in mines as an example,the intelligent control of digital twin is verified by establishing the relevant model and designing the relevant experiment scheme.By carrying out theoretical research on digital twin intelligent control architec-ture and mode,the paper aims to solve the current problems of low environmental perception,poor equipment prediction a

关 键 词：数字孪生 智采工作面 三机协同控制 信息交互 常态化运行 

分 类 号：TD67[矿业工程—矿山机电]