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推移偏差补偿下的煤层倾斜综采面液压支架控制方法设计
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作者 王宝录 《液压气动与密封》 2024年第6期85-90,共6页
倾斜综采面液压支架控制参数由二自由度的液压支架运动学模型求解得到,容易受到液压支架支护效率和摩擦系数、掩护梁外载荷、作用位置、立柱千斤顶倾角、水平千斤顶倾角等因素影响,同时,不可直接测量的内部状态变量影响力扩大,产生推移... 倾斜综采面液压支架控制参数由二自由度的液压支架运动学模型求解得到,容易受到液压支架支护效率和摩擦系数、掩护梁外载荷、作用位置、立柱千斤顶倾角、水平千斤顶倾角等因素影响,同时,不可直接测量的内部状态变量影响力扩大,产生推移偏差,控制效果和效率不佳。提出推移偏差补偿下的煤层倾斜综采面液压支架控制方法。通过建立液压支架底座笛卡尔坐标系并分析液压支架的初始状态变量和位姿偏移情况,可以确定控制参考线的位置。通过状态方程和观测方程来描述液压支架在控制参考线上的位姿状态,分析液压支架的最优推移距离,计算轨迹预测的推移距离补偿量。利用最大熵卡尔曼滤波方法,根据增益矩阵和推移距离误差协方差矩阵,通过推移距离补偿量补偿控制误差,从而实现高精度控制。实验结果表明,支架位姿控制信号与实际位姿控制信号的波动程度相似度较高,稳定性较好,液压支架控制时间在89.5~95.1 ms之间,保证经过补偿后的液压支架控制精度更高,控制响应快,效率高,适合于实际应用。 展开更多
关键词 煤层倾斜综采面 液压支架控制 最大熵卡尔曼滤波 控制参考线
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Feasibility analysis of gob-side entry retaining on a working face in a steep coal seam 被引量:10
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作者 Deng Yuehua Wang Shouquan 《International Journal of Mining Science and Technology》 SCIE EI 2014年第4期499-503,共5页
Based on the decline in exploitation of coal resources, steep coal seam mining and mining face tensions continue to explore the feasibility analysis of steeply inclined faces in the gob. One of the key factors in util... Based on the decline in exploitation of coal resources, steep coal seam mining and mining face tensions continue to explore the feasibility analysis of steeply inclined faces in the gob. One of the key factors in utilizing the technology of gob-side entry retaining in steep coal seams is to safely and effectively prevent caving rock blocks from rushing into the gob-side entry by sliding downwards along levels. Using theoretical analysis and field methods, we numerically simulated the mining process on a fully-mechanized face in a steep coal seam. The stress and deformation process of roof strata has been analyzed, and the difficulty of utilizing the technology is considered and combined with practice in a steep working face in Lvshuidong mine. The feasibility of utilizing the technology of gob-side entry retaining in a steep coal seam has been recognised. We propose that roadways along the left lane offshoot body use a speciallymade reinforced steel dense net to build a dense rock face at the lower head. The results show that the lane offshoot branch creates effective roof control, safe conditions for roadway construction workers, and practical application of steeply inclined gob. 展开更多
关键词 Gob-side entry retaining Steep coal seam Fully-mechanized mining Feasibility analysis Numerical simulation
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