液压支架群组跟机推进行为的智能决策模型

Intelligent decision-making model on the of hydraulic supports group advancing behavior to follow shearer

智能决策模型支持的液压支架自组织协同控制是智能开采的关键技术之一,支架群组跟机行为的全局最优规划是智能决策模型的核心原理。提出了液压支架跟机行为的动作类型排序和动作速度调控的双层规划原理,以支架适应采煤机速度、液压系统压力稳定为多目标导控,设计了支架群组跟机推进行为智能决策模型,实现供液动力与支架动作协同全局最优控制序的动态决策。基于液压支架多类型单自由度的运动空间特性,根据时间世界模型的时间元关系约束定理,提出了液压支架群组跟机动作时序规划方法,设计了满足跟机工艺和空间约束的支架动作动态排序模型,以改进支架不同类型动作发生顺序和相互之间的时间逻辑。基于支架动作的稳压供液原理,构建了供液流量与支架组合动作执行时间的数学映射模型,构建了支架动作时压力状态模糊辨识模型,实现支架组合动作速度和压力稳定性的预测评价。通过示例的仿真和试验验证了决策模型的正确性和可行性,并得出结论,智能决策模型可根据采煤机速度自动生成支架与供液协同控制策略,提高了支架群组跟机适应能力,并一定程度地稳定了液压系统压力过程状态。研究形成的自适应采煤机速度支架群组跟机推进行为智能决策机制与框架,为实现支架自组织协同控制技术提供关键的决策支持。

The self-organizing cooperative control of hydraulic support supported by intelligent decision model is one of the key technologies of intelligent mining,and the global optimal planning of supports group advancing behavior is the core principle of intelligent decision model.The principle of Bilevel Programming is put forward for the sequence of action types and the regulation of action speed of the hydraulic supports advancing.The intelligent decision-making model on the support group advancing behavior to follow shearer is designed to realize the dynamic decision-making of the global optimal control sequence of the cooperation between the fluid feeding and the supports acting.Based on the spatial characteristics of the multi types and single degree of freedom of the hydraulic support and according to the time element relation constraint theorem of the Temporal World Model,a sequential planning method for the following action of hydraulic support group is proposed and a dynamic se-quence model for the following action to meet the following process and space constraints is designed to improve the sequence of different types of the support actions and the time logic between them.Based on the principle of fluid feeding with steady pressure when support acting,the mathematical mapping model of fluid feeding flow and execution time of supports combined action is constructed and the fuzzy identification model of pressure state is constructed,which realize the prediction of support combined action speed and the evaluation of pressure stability.The correctness and feasibility of the decision-making model are verified by the simulation and experiment.The conclusion is that the decision-making model can automatically generate the appropriate supports following and fluid feeding collaborative control strategy according to the speed of shearer,which improves the support group adaptive following ability and stabilizes the pressure process state of hydraulic system to a certain extent.This research has established the intelligent decision-making mechanism and framework of support group behavior for adaptive mining conditions,which provides the key decision support for the hydraulic supports self-organizing collaborative control technology.