基于运动姿态感知的综放支架主动控顶空间研究  

Research on active roof control space of fully mechanized caving support based on motion posture perception

作　　者：曾庆良[1] 雷小万 孟昭胜[2,3] 万丽荣[1] 班新亮 胡雨龙 ZENG Qingliang;LEI Xiaowan;MENG Zhaosheng;WAN Lirong;BAN Xinliang;HU Yulong(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China;College of Energy and Mining Engineering,Shandong University of Science and Technology,Qingdao 266590,China;State Key Laboratory of Mining Disaster Prevention and Control Cofounded by Shandong Province and the Ministry of Science and Technology,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590 [2]山东科技大学能源与矿业工程学院,山东青岛266590 [3]山东科技大学矿山灾害预防控制省部共建国家重点实验室培育基地,山东青岛266590

出　　处：《煤炭学报》2025年第1期645-660,共16页Journal of China Coal Society

基　　金：国家自然科学基金资助项目(U23A20599,52104164,52274132)。

摘　　要：综放支架是综放采场关键支护与主动放煤装置,其主动触支顶煤行为可有效引导顶煤智能有序破碎。为开展支架主动扰控顶煤理论及相关研究,明确综放支架对顶煤的主动触支工作空间,提出一种综放支架各部件相对空间姿态及绝对空间位姿动态感知方法,以期提升综放支架对顶煤碎放过程可控性。首先,借助Denavit-Hartenberg(D-H)方法建立了综放支架空间姿态数学模型,分析得到支架顶梁和放煤机构在各关节节点坐标系与本体坐标系下坐标,明确了综放支架各关键部件之间的相对姿态及运动耦合关系;在此基础上建立了综放工作面全局感知模型并求解得到了支架的绝对空间位姿数据,获得了工作面顶板、底板倾角对综放支架空间支护姿态影响。其次,提出并计算了综放支架顶梁触支空间和放煤机构支护空间分布模型,获得了综放支架对顶煤的主动调控范围,同时使用初值优选的Levenberg-Marquardt(L-M)优化算法探究支架主动触顶姿态的调控方法与立柱的有效驱动行程。最后,搭建了支架姿态数据采集系统,依托山东省菏泽市赵楼煤矿7303综放工作面获取了支架运动过程中真实空间姿态参数数据,对比理论解算数据与传感器实测数据,验证了该空间位姿测量方法的可行性与准确性。结果表明,使用该方法解算的顶梁姿态与传感器测量结果重合率达98.26%,为进一步提高支架的空间位姿感知技术提供了研究思路。The fully mechanized top-coal caving support is a critical device that serves both as a support mechanism and an active means for top-coal caving in fully mechanized top-coal caving mining operations.Proactive engagement and reinforcement of the top-coal can effectively guide its intelligent and orderly fragmentation.To investigate the theory of active perturbation and control of the top-coal by the support system,as well as to clarify the dynamic interaction and sup port space between the fully mechanized top-coal caving support and the top-coal,a dynamic perception method has been proposed.This method aims to enhance the controllability of the top-coal fragmentation and caving process by accurately perceiving the relative spatial postures of various components and the absolute spatial position and orientation of the fully mechanized top-coal caving support.Firstly,utilizing the Denavit-Hartenberg(D-H)method,a mathematical model of the spatial posture of the fully mechanized top-coal caving support is established.Through this analysis,the coordinates of the support's canopy beam and top-coal caving mechanism in both the coordinate systems of each joint node and the body coordinate system are determined,thereby elucidating the relative postures and motion coupling relationships among the key components of the fully mechanized top-coal caving support.Building on this foundation,a global perception model for the fully mechanized top-coal caving working face is constructed,allowing for the derivation of absolute spatial position and orientation data of the support.Additionally,the influence of the dip angles of the working face roof and floor on the spatial support posture of the fully mechanized top-coal caving support is analyzed.Secondly,distribution models for the contact support space of the top beam and the support space of the coal caving mechanism in fully mechanized top-coal caving supports were developed and calculated.This process yielded the active regulation range of the fully mechanized top-coal caving

关 键 词：智能综放开采 综放支架 触支空间 顶煤调控 触顶姿态 

分 类 号：TD67[矿业工程—矿山机电]