Roadway surrounding rock deformation simulation system and method based on electro-hydraulic hybrid drive

Abstract

The invention provides a roadway surrounding rock deformation simulation system and method based on electro-hydraulic hybrid driving. The system comprises a simulation roadway frame, a simulation roadway wall plate, an electric driving device, a hydraulic driving device and a software control module. Wherein the simulation roadway frame supports a movable simulation roadway wall plate, and the simulation roadway wall plate is made of a high-elasticity flexible material with a shape memory characteristic; the electric driving device is used for simulating deformation conditions of the roadway top plate and the roadway side wall; the hydraulic driving device is used for simulating the deformation condition of the roadway floor heave; and the software control module is used for issuing a control instruction, collecting real-time data and carrying out closed-loop feedback control of roadway surrounding rock deformation simulation. According to the system, roadway surrounding rock deformation simulation under various conditions is achieved based on an electro-hydraulic mixed driving mode, the accuracy and stability of roadway deformation simulation are improved, maintenance is easy, and the simulation cost is reduced.

Description

Technical Field

[0001] This application relates to the technical field of coal mine roadway deformation simulation, and particularly to a roadway surrounding rock deformation simulation system and method based on electro-hydraulic hybrid drive. Background Art

[0002] During the coal mining process, the stability of underground roadways is crucial for safe production. Due to the influence of various factors such as mining activities, changes in in-situ stress, and rock properties, roadways often undergo deformations of different degrees and types, such as roof subsidence, rib convergence, and floor heave. If these deformation conditions cannot be accurately predicted and effectively controlled, it may lead to safety accidents such as roadway collapse and equipment damage, thereby affecting the normal production of coal mines. The simulation of roadway deformation is the basis for subsequent research on surrounding rock deformation perception, deformation measurement, and deformation control. Therefore, roadway deformation simulation is an important link in the process of coal mine safety production.

[0003] In related technologies, the research on coal mine underground roadway deformation mainly includes three methods: field observation, numerical simulation, and device simulation. However, in actual applications, the above three roadway deformation simulation methods have problems such as large deviations in simulation results and difficulty in comprehensively conducting simulation analysis, resulting in the accuracy of simulation results not meeting actual requirements, and the simulation cost is relatively high.

[0004] Therefore, how to simulate the deformation of coal mine underground roadways with higher accuracy and more convenient way in the laboratory environment has become an urgent problem to be solved. Summary of the Invention

[0005] This application aims to solve at least one of the technical problems in the related technologies to some extent.

[0006] To this end, the first object of this application is to propose a roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive. This system realizes the simulation of roadway surrounding rock deformation in various conditions based on the electro-hydraulic hybrid drive mode, improves the accuracy and stability of roadway deformation simulation, is easy to maintain, and reduces the simulation cost. It can conveniently install the simulation device and perform automatic control of the device under complex roadway working conditions, and improve the accuracy of deformation simulation.

[0007] The second object of this application is to propose a roadway surrounding rock deformation simulation method based on electro-hydraulic hybrid drive.

[0008] The third object of this application is to propose a non-transitory computer-readable storage medium.

[0009] To achieve the above object, the first aspect of the present application is to propose a roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive. The system includes: a simulated roadway frame, simulated roadway wall panels, an electric drive device, a hydraulic drive device, and a software control module; wherein,

[0010] The simulated roadway frame is used to support the movable simulated roadway wall panels to simulate a roadway space. The simulated roadway wall panels are made of a highly elastic flexible material with shape memory characteristics;

[0011] The electric drive device includes a plurality of electric push rods. The plurality of electric push rods are arranged at different positions of the simulated roadway frame. The electric drive device is used to push the simulated roadway wall panels to deform through the telescopic movement of the electric push rods, so as to simulate the deformation conditions of the roadway roof and the roadway side walls;

[0012] The hydraulic drive device includes a plurality of hydraulic cylinders. The plurality of hydraulic cylinders are arranged at the bottom of the simulated roadway frame. The hydraulic drive device is used to push the simulated roadway wall panels to deform through the telescopic movement of the hydraulic cylinders, so as to simulate the deformation condition of the roadway floor heave;

[0013] The software control module is used to control the movement processes of the electric drive device and the hydraulic drive device, and collect the real-time movement data of the electric drive device and the hydraulic drive device during the simulation process, so as to perform closed-loop feedback control of the roadway surrounding rock deformation simulation.

[0014] Optionally, in an embodiment of the present application, the electric drive device further includes: a servo motor; wherein, one end of the electric push rod is fixedly arranged on the simulated roadway frame, and the other end of the electric push rod is connected to the simulated roadway wall panel; the servo motor is used to drive the corresponding electric push rod to perform telescopic movement.

[0015] Optionally, in an embodiment of the present application, the hydraulic drive device further includes: a servo valve and a hydraulic motor; wherein, one end of the hydraulic cylinder is fixedly arranged on the simulated roadway frame, and the other end of the hydraulic cylinder is connected to the simulated roadway wall panel; the hydraulic motor is used to drive the corresponding hydraulic cylinder to perform telescopic movement under the auxiliary action of the servo valve.

[0016] Optionally, in an embodiment of the present application, the software control module includes: a plurality of data collectors, each data collector is configured to collect displacement information and pressure data of the corresponding electric push rod and the hydraulic cylinder; a host computer system, the host computer system is configured to send control commands to the electric drive device and the hydraulic drive device, the control commands are used to control the displacement distance of the corresponding drive device, and analyze and process the data collected by the plurality of data collectors to adjust the telescopic amount of the electric push rod and the hydraulic cylinder in real time.

[0017] Optionally, in an embodiment of the present application, the surface of the simulated roadway wallboard is roughened accordingly based on the surface state of the actual roadway wall.

[0018] To achieve the above object, a second aspect of the present application is to propose a method for simulating the deformation of roadway surrounding rock based on electro-hydraulic hybrid drive. This method is applied to the system for simulating the deformation of roadway surrounding rock based on electro-hydraulic hybrid drive described in the first aspect of the present application. The method includes the following steps:

[0019] Install the system for simulating the deformation of roadway surrounding rock based on electro-hydraulic hybrid drive, and calculate the displacement distance of each electric push rod or each hydraulic cylinder according to the actual deformation simulation requirements of the underground roadway.

[0020] Control each electric push rod or each hydraulic cylinder to move according to the corresponding displacement distance to push the simulated roadway wallboard to undergo corresponding displacement, and collect the real-time telescopic amount of each electric push rod or each hydraulic cylinder through a displacement sensor during the movement.

[0021] Adjust the propulsion degree of each electric push rod or each hydraulic cylinder by analyzing the real-time telescopic amount and the corresponding displacement distance until each electric push rod or each hydraulic cylinder completes the corresponding displacement distance.

[0022] Optionally, in an embodiment of the present application, the installation of the system for simulating the deformation of roadway surrounding rock based on electro-hydraulic hybrid drive includes: assembling a fixed simulated roadway frame according to the specification parameters of the actual roadway heading face; determining the installation positions of each electric push rod and each hydraulic cylinder according to the layout plan of the simulated roadway wallboard, and fixing one end of each electric push rod and each hydraulic cylinder on the simulated roadway frame according to the corresponding installation positions, connecting the other end of each electric push rod and each hydraulic cylinder to the simulated roadway wallboard; installing displacement sensors for measuring the telescopic amount on each electric push rod and each hydraulic cylinder respectively; connecting each data collector to the corresponding displacement sensor respectively, and connecting each data collector to the host computer system.

[0023] Optionally, in an embodiment of the present application, calculating the displacement distance of each electric push rod or each hydraulic cylinder according to the actual deformation simulation requirements of the underground roadway includes: designing a three-dimensional deformation surface model according to the actual deformation simulation requirements of the underground roadway; discretely sampling the three-dimensional deformation surface model by an equidistant sampling method; and determining the displacement distance of the electric push rod or the hydraulic cylinder at each coordinate corresponding to the three-dimensional deformation surface model according to the discrete sampling result.

[0024] Optionally, in an embodiment of the present application, after each of the electric push rods or each of the hydraulic cylinders completes the corresponding displacement distance, it includes: resetting each of the electric push rods or each of the hydraulic cylinders that has undergone displacement, updating the deformation simulation requirements of the underground roadway, and repeating the deformation simulation of the roadway surrounding rock according to the updated deformation simulation requirements of the underground roadway.

[0025] To achieve the above object, a third aspect of the present invention proposes a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the method for simulating the deformation of the roadway surrounding rock based on electro-hydraulic hybrid drive as described in any one of the second aspects of the present application.

[0026] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects: The present application constructs a simulation system for the deformation of the roadway surrounding rock based on an electro-hydraulic hybrid drive method. An electric push rod assembly is used to push the roof and sidewalls of the simulated roadway to displace, so as to simulate the deformation of the roadway wall, and a hydraulic cylinder is used to push the floor of the simulated roadway to displace, so as to simulate the floor heave deformation of the roadway floor. A displacement sensor is also equipped to monitor the telescopic amount of the displacement device. Therefore, the present application realizes millimeter-level roadway deformation simulation based on an electro-hydraulic hybrid drive method, and realizes the simulation of different deformation types of the simulated roadway through various display forms, and can more accurately and conveniently simulate the deformation of the roadway surrounding rock in a laboratory environment. The present application improves the control accuracy and stability of the simulation process, the simulation system is easy to maintain, the cost of the simulation process is low, it is easy to implement, the accuracy of the obtained deformation simulation results is high, provides accurate experimental data support for subsequent roadway deformation research, and is beneficial to ensuring the safety and stability of underground roadways.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0028] The above and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0029] Figure 1 This is a schematic structural diagram of a roadway surrounding rock deformation simulation system based on electro - hydraulic hybrid drive proposed in an embodiment of the present application;

[0030] Figure 2 This is a schematic structural diagram of a specific roadway surrounding rock deformation simulation system based on electro - hydraulic hybrid drive proposed in an embodiment of the present application;

[0031] Figure 3 This is a flowchart of a roadway surrounding rock deformation simulation method based on electro - hydraulic hybrid drive proposed in an embodiment of the present application;

[0032] Figure 4 This is a schematic diagram of a three - dimensional deformation surface proposed in an embodiment of the present application;

[0033] Figure 5 This is a schematic diagram of the discrete quantization result of a three - dimensional deformation surface proposed in an embodiment of the present application. Detailed implementation manners

[0034] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0035] It should be noted that when simulating the deformation of the roadway surrounding rock in related embodiments, three methods are usually adopted: on - site observation, numerical simulation, and device simulation. However, although on - site observation can directly obtain the actual deformation data of the roadway, due to limitations such as the complex underground environment, it is difficult to comprehensively and systematically study the influence of different factors on the roadway deformation. Although numerical simulation can simulate the roadway deformation under different working conditions to a certain extent, because its model is established based on many assumptions, there is a certain deviation from the actual roadway situation, and the accuracy of the simulation results needs to be improved. In terms of device simulation, there is a pneumatic - controlled deformation scheme, but the pneumatic - controlled deformation scheme has problems such as low accuracy and weak maintainability. And for the deformation driven by hydraulic pressure, there are problems such as leakage, temperature sensitivity, high maintenance requirements, and high costs.

[0036] Therefore, the present application proposes a roadway surrounding rock deformation simulation system and method based on electro - hydraulic hybrid drive, which can simulate the deformation of the underground coal mine roadway with higher accuracy, stability, and simpler operation mode in the laboratory environment, so as to carry out further research work such as surrounding rock deformation perception and deformation calculation.

[0037] The following describes in detail an electro-hydraulic hybrid driven roadway surrounding rock deformation simulation system and method proposed in the embodiments of the present invention with reference to the accompanying drawings.

[0038] Figure 1 As shown in the structural schematic diagram of an electro-hydraulic hybrid driven roadway surrounding rock deformation simulation system proposed in the embodiments of the present application, Figure 1 the roadway surrounding rock deformation simulation system includes: a simulated roadway frame 10, simulated roadway wall panels 20, an electric drive device 30, a hydraulic drive device 40, and a software control module 50.

[0039] It should be noted that Figure 1 it is only used to reflect the connection relationship between the various devices in the deformation simulation system, and does not limit the specific layout method of each device.

[0040] Among them, the simulated roadway frame 10 is used to support the movable simulated roadway wall panels 20 to simulate the roadway space, and the simulated roadway wall panels 20 are made of high-elastic flexible materials with shape memory characteristics.

[0041] As a possible implementation, the simulated roadway frame 10 is made of high-strength metal materials, and its shape and size are designed according to the specifications of the actual roadway face to be simulated, forming a closed roadway-like space for supporting the simulated roadway wall panels 20.

[0042] The simulated roadway wall panels 20 are made of high-elastic flexible materials with shape memory effects, such as latex materials, etc. The simulated roadway wall panels 20 are connected to the displacement components in the drive device, such as electric push rods or hydraulic cylinders, and displace under the push of the electric push rods or hydraulic cylinders, thereby realizing the simulation of the deformation of the roadway surrounding rock.

[0043] In an embodiment of the present application, the surface of the simulated roadway wall panels is roughened accordingly based on the surface state of the actual roadway wall. Specifically, the surface of the simulated roadway wall panels 20 is roughened as needed, for example, by adding black continuous vein fused sedimentary rock textures through roughening treatment to make it closer to the surface state of the actual roadway wall, so as to improve the authenticity of the surrounding rock deformation research.

[0044] The electric drive device 30 includes a plurality of electric push rods 31, and the plurality of electric push rods are arranged at different positions of the simulated roadway frame 10. The electric drive device 30 is used to push the simulated roadway wall panels 20 to deform through the telescopic movement of each electric push rod 31 to simulate the deformation of the roadway roof and the roadway side walls.

[0045] Specifically, the electric drive device 30 of the present application is used to drive the deformation conditions of the roadway roof and the roadway sidewalls. By controlling the telescopic movement of the electric push rod 31 therein, the corresponding part of the simulated roadway wall panel 20 connected thereto can be pushed to displace, thereby simulating the deformation of the roadway.

[0046] In an embodiment of the present application, the electric drive device further includes: a servo motor; wherein, one end of each electric push rod 31 is fixedly arranged on the simulated roadway frame 10, and the other end of the electric push rod 31 is connected to the simulated roadway wall panel 20; the servo motor is used to drive the corresponding electric push rod to telescopically move.

[0047] Specifically, as Figure 2 shown, in this embodiment, multiple electric push rods with servo motor power devices are arranged at different positions on the left and right sides and the top of the simulated roadway frame 10. One end of each electric push rod 31 is fixed on the simulated roadway frame 10, and the other end is connected to the movable simulated roadway wall panel 20. The servo motor can correspond to the electric push rod 31 one by one, or one servo motor can also drive multiple electric push rods 31, which is specifically determined according to the actual experimental environment and simulation requirements.

[0048] The hydraulic drive device 40 includes multiple hydraulic cylinders 41. The multiple hydraulic cylinders 41 are arranged at the bottom of the simulated roadway frame 10. The hydraulic drive device 40 is used to push the simulated roadway wall panel 20 to deform through the telescopic movement of the hydraulic cylinders 41, so as to simulate the deformation condition of the roadway floor heave.

[0049] Specifically, the hydraulic drive device 40 is used to simulate the deformation condition of the roadway floor heave. Considering the load-bearing characteristics of the floor, the present application adopts a hydraulic drive mode. By controlling the telescopic movement of the hydraulic cylinders 41 in the hydraulic drive device 40, the corresponding part (i.e., the bottom area of the simulated roadway wall panel 20) of the simulated roadway wall panel 20 connected thereto can be pushed to displace, thereby simulating the deformation of the roadway.

[0050] In an embodiment of the present application, the hydraulic drive device further includes: a servo valve and a hydraulic motor; wherein, one end of the hydraulic cylinder 41 is fixedly arranged on the simulated roadway frame 10, and the other end of the hydraulic cylinder 41 is connected to the simulated roadway wall panel 20. The hydraulic motor is used to drive the corresponding hydraulic cylinder 41 to telescopically move under the auxiliary action of the servo valve.

[0051] Specifically, continuing to refer to Figure 2 the example shown, one end of each hydraulic cylinder 41 is fixed on the bottom frame of the simulated roadway frame 10, and the other end is connected to the movable simulated roadway wall panel 20. By controlling the telescopic movement of the hydraulic cylinder 41 through the auxiliary servo valve of the hydraulic motor, the simulated roadway wall panel can be pushed to displace. The hydraulic motor can correspond to the hydraulic cylinder 41 one by one, or one hydraulic motor can also drive multiple hydraulic cylinders 41.

[0052] The software control module 50 is used to control the movement processes of the electric drive device 30 and the hydraulic drive device 40, and collect the real-time movement data of the electric drive device 30 and the hydraulic drive device 40 during the simulation process, so as to perform closed-loop feedback control on the deformation simulation of the roadway surrounding rock.

[0053] Among them, controlling the movement processes of the electric drive device 30 and the hydraulic drive device 40 includes setting the total displacement distance of each drive device and adjusting the real-time movement distance of the drive device. The real-time movement data includes movement parameters such as the displacement information of the electric push rod 31 and the hydraulic cylinder 41, and the device control data for realizing the displacement movement. For example, the pressure data required for the electric push rod 31 and the hydraulic cylinder 41 to expand and contract, etc.

[0054] It should be noted that in this application, the displacement data of the electric push rod 31 and the hydraulic cylinder 41 is equivalent to the expansion and contraction amount of the electric push rod 31 and the hydraulic cylinder 41, and the displacement distance of the electric push rod 31 and the hydraulic cylinder 41 represents the movement distance of the component.

[0055] In an embodiment of this application, the software control module 50 includes: a plurality of data collectors 51, and each data collector 51 is used to collect the displacement information and pressure data of the corresponding electric push rod 31 and hydraulic cylinder 41. The host computer system 52 is used to send control instructions to the electric drive device 30 and the hydraulic drive device 40. The control instructions are used to control the displacement distance of the corresponding drive device, and analyze and process the data collected by the plurality of data collectors, so as to adjust the expansion and contraction amount of the electric push rod 31 and the hydraulic cylinder 41 in real time.

[0056] Specifically, in this embodiment, the software control system 50 is composed of a plurality of data collectors 51 and the host computer system 52. Figure 2 Exemplarily, only one data collector is shown, and the host computer system is represented by the software control system. The data collector collects the displacement information and pressure data of the electric push rod 31 and the hydraulic cylinder 41. The host computer system 52 provides a man-machine interaction interface, can send control instructions to control the movement distance of the electric drive device 30 and the hydraulic drive device 40, and receive the sensing data collected by the data collector 51, and realize the analysis, processing and storage of the data, so as to study and analyze the simulation results subsequently. The host computer system 52 can control the movement process of the drive device according to the collected real-time movement data. For example, adjust the deformation propulsion degree of the electric push rod 31 and the hydraulic cylinder 41, that is, adjust the proportion of the current displacement amount of the electric push rod 31 and the hydraulic cylinder 41 in the total displacement distance, etc.

[0057] In summary, the roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive in the embodiments of the present application is constructed based on the electro-hydraulic hybrid drive method. An electric push rod assembly is used to push the roof and sidewalls of the simulated roadway to displace, so as to simulate the deformation of the roadway wall, and a hydraulic cylinder is used to push the floor of the simulated roadway to displace, so as to simulate the floor heave deformation of the roadway floor. In addition, displacement sensors are equipped to monitor the telescopic amount of the displacement device. Therefore, the system realizes millimeter-level roadway deformation simulation based on the electro-hydraulic hybrid drive method, and realizes the simulation of different deformation types of the simulated roadway through various display forms, and can more accurately and conveniently simulate the deformation of the surrounding rock of the coal mine roadway under the laboratory environment. The system improves the control accuracy and stability of the simulation process, the simulation system is easy to maintain, the cost of the simulation process is low, it is easy to implement, the accuracy of the obtained deformation simulation results is high, provides accurate experimental data support for subsequent roadway deformation research, and is beneficial to ensuring the safety and stability of the underground roadway.

[0058] Based on the above embodiments, in order to more clearly illustrate the specific implementation process of the roadway deformation simulation by the roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive, a roadway surrounding rock deformation simulation method proposed in the embodiments of the present application will be described in detail below. This method is applied to the roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive in the above embodiments, that is, to control the relevant equipment in the simulation system of the above embodiments to implement the simulation method of this embodiment. The execution subject of the detection method in this embodiment may include the software control module in the above simulation system.

[0059] Figure 3 The flowchart of a roadway surrounding rock deformation simulation method based on electro-hydraulic hybrid drive proposed in the embodiments of the present application. As Figure 3 shown, the method includes the following steps:

[0060] Step S101, install the roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive, and calculate the displacement distance of each electric push rod or each hydraulic cylinder according to the actual underground roadway deformation simulation requirements.

[0061] Specifically, the present application first completes the composition of the roadway surrounding rock deformation simulation system in the above embodiments so as to use the system to complete the simulation. Then, according to the requirements, determine the current underground coal mine roadway deformation conditions to be simulated, including: roadway roof deformation, roadway sidewall deformation, roadway floor heave, etc. According to the current underground roadway deformation simulation requirements, calculate the displacement distance of each electric push rod or each hydraulic cylinder in the simulation system, where the displacement distance represents the total displacement distance of a certain component in this simulation process.

[0062] In an embodiment of the present application, installing a roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive includes the following steps: First, assemble a fixed simulated roadway frame according to the specification parameters of the actual roadway at the driving face; then determine the installation positions of each electric push rod and each hydraulic cylinder according to the layout plan of the simulated roadway wall panels, and fix one end of each electric push rod and each hydraulic cylinder on the simulated roadway frame according to the corresponding installation positions, and connect the other end of each electric push rod and each hydraulic cylinder to the simulated roadway wall panels. Then, install displacement sensors for measuring the telescopic amount on each electric push rod and each hydraulic cylinder respectively; finally, connect each data collector to the corresponding displacement sensor respectively, and connect each data collector to the upper computer system.

[0063] Specifically, first, assemble the simulated roadway frame by welding or other means according to the design requirements to ensure its firm structure and accurate dimensions. Then, install the electric push rod and hydraulic cylinder assembly on the simulated roadway frame. According to the layout plan of the simulated roadway wall panels, determine the installation positions of each electric push rod and hydraulic cylinder, and firmly fix one end of the electric push rod and hydraulic cylinder on the simulated roadway frame, and connect the other end to the simulated roadway wall panels through special connectors. At the same time, install the displacement sensors on each electric push rod and hydraulic cylinder so that they can accurately monitor the telescopic amount of the electric push rod or hydraulic cylinder where they are located. Finally, connect each data collector of the data acquisition and processing system to the displacement sensors in each electric push rod and hydraulic cylinder assembly respectively, and then connect each data collector to the upper computer, thus completing the assembly of the device.

[0064] Further, when performing a simulation experiment, first start the assembled simulation system, and then determine the simulated shape of the current roadway wall deformation according to the requirements, and calculate the telescopic distance of each electric push rod or hydraulic cylinder.

[0065] In an embodiment of the present application, calculating the displacement distance of each electric push rod or each hydraulic cylinder according to the actual underground roadway deformation simulation requirements includes: First, design a three-dimensional deformation surface model according to the actual underground roadway deformation simulation requirements; then discretely sample the three-dimensional deformation surface model by an equidistant sampling method; finally, determine the displacement distance of the electric push rod or hydraulic cylinder at each coordinate corresponding to the three-dimensional deformation surface model according to the discrete sampling results.

[0066] Specifically, in this embodiment, first design a corresponding three-dimensional deformation surface model according to the current roadway deformation condition to be simulated. For example, Figure 4As shown, the three-dimensional deformation surface model reflects the deformation sizes at various positions of the simulated roadway wall panels in the three-dimensional coordinate system. Then, an equidistant sampling method is used to discretely sample the surface model, thereby realizing the distance quantization of the movement of each electric push rod or hydraulic cylinder. For example, the discrete quantization result of the three-dimensional deformation surface model is as Figure 5 shown, and from Figure 5 it is possible to determine the displacement distance of the electric push rod or hydraulic cylinder at each coordinate in the three-dimensional coordinate system. By comparing Figure 4 and Figure 5 , the corresponding relationship between the displacement amount that the electric push rod or hydraulic cylinder at a specific coordinate in the three-dimensional coordinate system is intended to drive and the original three-dimensional deformation surface can be reflected.

[0067] It should be noted that Figure 4 and Figure 5 adopt different colors to facilitate the distinction of the deformation amounts at different positions. The electric push rods or hydraulic cylinders that need to be displaced during the current simulation process are determined according to the current simulation working conditions. According to the quantified deformation sizes, the corresponding displacement distances of the electric push rods or hydraulic cylinders can be determined through the mapping relationship.

[0068] Step S102: Control each electric push rod or each hydraulic cylinder to move according to the corresponding displacement distance amount, so as to push the simulated roadway wall panel to undergo corresponding displacement, and during the movement, collect the real-time telescopic amount of each electric push rod or each hydraulic cylinder through a displacement sensor.

[0069] Specifically, first convert the distance quantization into a control signal for the driver, that is, convert the displacement distance amount obtained in the previous step into the control parameters of the driver corresponding to the electric push rod or hydraulic cylinder (for example, the servo motor of the above-mentioned electric push rod, and the servo valve and hydraulic motor of the hydraulic cylinder). Then, the software control module issues control instructions to the electric drive device or hydraulic drive device, and each drive device drives the electric push rod or hydraulic cylinder to perform telescopic displacement according to the control parameters in the received instructions, so that the electric push rod or hydraulic cylinder moves synchronously to the specified position. Furthermore, push the simulated roadway wall panel to undergo displacement to simulate the deformation degree of the corresponding size of the roadway wall panel.

[0070] Furthermore, during the deformation simulation process, that is, during the process of the electric push rod or hydraulic cylinder telescoping to the displacement distance amount, continuously detect the actual movement distance of the drive device through a displacement sensor, and perform conversion processing and storage on the displacement data collected at different time points, so as to facilitate subsequent analysis.

[0071] Step S103: Adjust the propulsion degree of each electric push rod or each hydraulic cylinder by analyzing the real-time telescopic amount and the corresponding displacement distance amount until each electric push rod or each hydraulic cylinder completes the corresponding displacement distance amount.

[0072] Specifically, compare the real-time telescopic amount of each electric push rod or hydraulic cylinder with the corresponding displacement distance amount. According to the comparison and analysis results, the telescopic amount of the electric push rod or hydraulic cylinder can be adjusted in a timely manner to achieve the purpose of more accurately simulating the roadway deformation under different working conditions.

[0073] For example, compare the real-time telescopic amount at the current time point with the corresponding displacement distance amount to determine whether the electric push rod or hydraulic cylinder can extend or retract to the corresponding displacement distance amount after the simulation ends. Another example is to analyze whether the real-time telescopic amount is consistent with the expected telescopic amount at the current moment, and detect whether there are deviations in the displacement direction and magnitude of the electric push rod or hydraulic cylinder due to other unexpected factors. If it is determined through various analyses and comparisons that there is a deviation between the real-time telescopic amount of the electric push rod or hydraulic cylinder and the expected telescopic amount, then adjust the real-time telescopic amount of the electric push rod or hydraulic cylinder to meet the current required deformation propulsion degree.

[0074] Thus, through the control method of real-time collecting displacement data for closed-loop feedback, the present application realizes the precise simulation and deformation control of roadway deformation.

[0075] Furthermore, after each electric push rod or each hydraulic cylinder completes the corresponding displacement distance amount, it further includes: resetting each electric push rod or each hydraulic cylinder that has undergone displacement, and updating the simulation requirements for underground roadway deformation, and repeating the simulation of roadway surrounding rock deformation according to the updated simulation requirements for underground roadway deformation.

[0076] Specifically, after completing a simulation experiment, according to research needs, the deformation working condition to be simulated currently can be changed, and the above steps S101 to S103 can be repeated to conduct the next simulation experiment. Thus, by using the roadway surrounding rock deformation simulation system of the present application, multiple deformation simulation experiments can be repeatedly executed, improving the utilization rate of the simulation system.

[0077] In summary, the method for simulating roadway surrounding rock deformation based on electro-hydraulic hybrid drive in the embodiments of the present application realizes millimeter-level roadway deformation simulation based on the electro-hydraulic hybrid drive mode, and realizes the simulation of different deformation types of the simulated roadway through various display forms, and can more accurately and conveniently simulate the deformation of roadway surrounding rock in a coal mine underground in a laboratory environment. This method improves the control accuracy and stability of the simulation process, and the accuracy of the obtained deformation simulation results is relatively high.

[0078] To implement the above embodiments, the present invention also proposes a non-temporary computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the method for simulating roadway surrounding rock deformation based on electro-hydraulic hybrid drive described in the second aspect embodiments of the present application.

[0079] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, if the schematic expressions of the above terms are adopted in multiple embodiments or examples, it does not mean that these embodiments or examples are the same. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0080] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0081] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application belong.

[0082] The logic and / or steps represented in the flowchart or otherwise described herein can, for example, be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection parts with one or more wirings (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber devices, and portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0083] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or combinations thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0084] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0085] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0086] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive, characterized in that Including: A simulated roadway frame, simulated roadway wall panels, an electric drive device, a hydraulic drive device, and a software control module; wherein, The simulated roadway frame is used to support the movable simulated roadway wall panels to simulate a roadway space, and the simulated roadway wall panels are made of a highly elastic flexible material with shape memory characteristics; The electric drive device includes a plurality of electric push rods, and the plurality of electric push rods are arranged at different positions of the simulated roadway frame. The electric drive device is used to push the simulated roadway wall panels to deform through the telescopic movement of the electric push rods, so as to simulate the deformation conditions of the roadway roof and the roadway side walls; The hydraulic drive device includes a plurality of hydraulic cylinders, and the plurality of hydraulic cylinders are arranged at the bottom of the simulated roadway frame. The hydraulic drive device is used to push the simulated roadway wall panels to deform through the telescopic movement of the hydraulic cylinders, so as to simulate the deformation condition of the roadway floor heave; The software control module is used to control the movement processes of the electric drive device and the hydraulic drive device, and collect the real-time movement data of the electric drive device and the hydraulic drive device during the simulation process, so as to perform closed-loop feedback control for the simulation of the deformation of the surrounding rock of the roadway.

2. The system according to claim 1, wherein The electric drive device further includes: a servo motor; wherein, One end of the electric push rod is fixedly arranged on the simulated roadway frame, and the other end of the electric push rod is connected to the simulated roadway wall panel; The servo motor is used to drive the corresponding electric push rod to expand and contract.

3. The system according to claim 1, wherein The hydraulic drive device further includes: a servo valve and a hydraulic motor; wherein, One end of the hydraulic cylinder is fixedly arranged on the simulated roadway frame, and the other end of the hydraulic cylinder is connected to the simulated roadway wall panel; The hydraulic motor is used to drive the corresponding hydraulic cylinder to expand and contract under the auxiliary action of the servo valve.

4. The system according to claim 1, wherein The software control module includes: A plurality of data collectors, and each data collector is used to collect the displacement information and pressure data of the corresponding electric push rod and hydraulic cylinder; An upper computer system, and the upper computer system is used to issue control instructions to the electric drive device and the hydraulic drive device. The control instructions are used to control the displacement distance of the corresponding drive device, and analyze and process the data collected by the plurality of data collectors, so as to adjust the telescopic amount of the electric push rod and the hydraulic cylinder in real time.

5. The system according to claim 1, characterized in that The surface of the simulated roadway wall panel is subjected to corresponding roughening treatment based on the surface state of the actual roadway wall.

6. A method for simulating the deformation of roadway surrounding rock based on electro-hydraulic hybrid drive, characterized in that, Applied to the roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive as described in any one of claims 1-5, the simulation method includes the following steps: Install the roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive, and calculate the displacement distance of each electric push rod or each hydraulic cylinder according to the actual deformation simulation requirements of the underground roadway; Control each electric push rod or each hydraulic cylinder to move according to the corresponding displacement distance to push the simulated roadway wall panel to undergo corresponding displacement, and collect the real-time telescopic amount of each electric push rod or each hydraulic cylinder through a displacement sensor during the movement process; By analyzing the real-time telescopic amount and the corresponding displacement distance amount, the propulsion degree of each electric push rod or each hydraulic cylinder is adjusted until each electric push rod or each hydraulic cylinder completes the corresponding displacement distance amount.

7. The method according to claim 6, wherein The installed roadway surrounding rock deformation simulation system based on electro-hydraulic hybrid drive includes: According to the specification parameters of the actual roadway of the driving face, assemble a fixed simulated roadway framework; Determine the installation positions of each electric push rod and each hydraulic cylinder according to the layout plan of the simulated roadway wall panels, and fix one end of each electric push rod and each hydraulic cylinder on the simulated roadway framework according to the corresponding installation positions, and connect the other end of each electric push rod and each hydraulic cylinder to the simulated roadway wall panel; Install displacement sensors for measuring the telescopic amount on each electric push rod and each hydraulic cylinder respectively; Connect each data collector to the corresponding displacement sensor respectively, and connect each data collector to the upper computer system.

8. The method according to claim 6, characterized in that, The calculating the displacement distance amount of each electric push rod or each hydraulic cylinder according to the actual underground roadway deformation simulation requirement includes: Design a three-dimensional deformation surface model according to the actual underground roadway deformation simulation requirement; Discretely sample the three-dimensional deformation surface model by an equidistant sampling method; According to the discrete sampling results, determine the displacement distance amount of the electric push rod or the hydraulic cylinder at each coordinate corresponding to the three-dimensional deformation surface model.

9. The method according to claim 6, wherein After each electric push rod or each hydraulic cylinder completes the corresponding displacement distance amount, it further includes: Reset each electric push rod or each hydraulic cylinder that has undergone displacement, update the underground roadway deformation simulation requirement, and repeat the roadway surrounding rock deformation simulation according to the updated underground roadway deformation simulation requirement.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the electro-hydraulic hybrid drive-based roadway surrounding rock deformation simulation method according to any one of claims 6-9.

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