Group self-organization cooperative control method of underground mining hydraulic support system

Abstract

The invention discloses a group self-organization cooperative control method of an underground mining hydraulic support system. According to the characteristic of multiple constraints and a cooperative support effect, performed on surrounding rocks, of underground mining support devices, influences, on sedimentation and collapsing of the surrounding rocks, of organization, group stability and group propulsion cooperativity of the support system are considered, local information interaction between support individuals as well as between supports and the surrounding rocks and an independent decision-making distributed control strategy are adopted for eliminating a main control mechanism of an existing support group, and a cooperative operation system of independent control and distributed decision making performed on the individuals in the group is established; a mixed control method of social potential fields and behaviors is adopted for establishing a control function, and self-adapting supporting of the surrounding rocks and self-organization queuing and cooperative propulsion of the large-scale support group are achieved. The problems that due to a centralized control method, the information interaction between the individuals is lack, the multi-dimensional dispersed group behaviors can not be converged into an overall object are solved, and the method is adapted to underground mining conditions and an underground mining technology more flexibly, and effectively meets automatic and unmanned mining requirements.

Description

Technical field [0001] The invention relates to a method for controlling a group of hydraulic supports in a coal mining face, in particular to generate an expected support group support behavior through local interaction between individual hydraulic supports and between the hydraulic supports and the surrounding rock of the mining face A kind of distributed control strategy. Background technique [0002] Before explaining the technical background, first explain the meaning of the following three words: [0003] Hydraulic support: coal mining face support equipment, used to support and control the roof, isolate the goaf; used in conjunction with the coal mining machine to achieve comprehensive mechanization of coal mining. [0004] Surrounding rock of working face: the rock strata within the range of the mining face affected by excavation, divided into three parts: roof, coal seam and floor. [0005] Supporting system: an equipment group composed of multiple hydraulic supports with di...

AI Technical Summary

Problems solved by technology

[0008] However, in view of the harsh working environment underground and the difficulty in ensuring safety, it is required to adopt more automated and unmanned technologies and equipment to avoid manual underground operations as much as possible; in addition, with the mining of thin or even extremely thin coal seams, space is limited, and workers are almost No way to access the face for coal mining operations

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