自主夯实过程机构干涉自我调控是固体充填智能化的前提条件。基于机构干涉的基本概念，分析了地质条件、架型结构、充填系统布置与工艺参数和其他因素对机构干涉的影响。通过Pro/E 5.0软件构建了固体充填液压支架三维模型，采用运动仿真确定了机构干涉的典型位态，通过二维骨架模型建立了不同工况下夯实机构运动的轨迹方程，提出采用干涉临界范围、干涉几率等指标量化分析煤层厚度、倾角等不同因素对干涉状态的影响规律，结果显示：对于同一种架型，煤层倾角越小干涉临界范围越大，干涉几率越小；在相同的工况条件下，不同架型干涉临界范围及干涉几率差异明显，也即煤层倾角和架型结构的改变将大幅影响机构干涉的几率，是机构干涉的主要影响因素；充填系统布置及工艺参数等因素对机构干涉的影响相对较小。基于上述规律从工序执行前的适应地质条件变化、优化关键充填装备设计、合理选择充填系统布置方式及工艺参数和工序执行中装备智能感知干涉位态、智能调控决策方案、智能控制油缸动作6个方面提出了机构干涉调控方法，建立了机构干涉调控机制。智能充填工作面工程实践表明：未实施干涉调控前，固体智能充填液压支架在执行采充平行作业及自主夯实过程中频频发生卡顿，自动化开机率仅30%左右；采用干涉调控方法后开机率增长到72%，自主夯实过程卡顿明显减低，促进了固体智能充填技术的完善。

Self-regulation of mechanism interference in autonomous compaction process is the prerequisite of intelligent solid backfilling technology.Based on the basic concept of mechanism interference, the influence of geological conditions, frame structure, backfilling system layout and process parameters and other factors on mechanism interference was analyzed.The three-dimensional model of the solid backfilling hydraulic support was established by Pro/E 5.0, and the typical position of the mechanism interference was determined by the motion simulation.Through the two-dimensional skeleton model, the trajectory equation of the movement of the compaction mechanism under different working conditions was established.The critical range and the probability of interference were used to quantify the influence of different factors such as the thickness and dip angle of coal seam in the interference state.The results show that for the same frametype of solid backfilling hydraulic support, the smaller the dip angle of the coal seam, the larger the critical range of interference and the smaller the probability of interference.Under the same working conditions, the critical range and the probability of interference of different frame types are significantly different, which means the change of the inclination angle of the coal seam and the frame type will greatly affect the probability of the mechanism interference, and they are the main influencing factors of the mechanism interference.Factors such as backfilling system layout and process parameters have relatively little influence on mechanism interference.Based on the above rules, a mechanism intervention control method was proposed from six aspects: adapting to changes in geological conditions, optimizing the design of key filling equipment, rationally selecting the layout of the filling system and process parameters before the process and the equipment intelligently perception  of interference position, intelligent control decision-making scheme, and intelligently controls the cylinder action during the process execution.A mechanism intervention control mechanism is established.The engineering practice of intelligent backfilling working face shows that before self-regulation, the intelligent solid backfilling hydraulic support frequently gets stuck during the parallel operation of backfilling mining and the process of independent compaction, and the automatic start-up rate is only about 30%.After adopting the method proposed, it increases to 72%, which is a significant reduction of lag during the independent compaction process and promotes the improvement of the intelligent solid backfilling technology.

1 机构干涉影响智能化进程分析

   1.1 装备工作状态的影响

   1.2 自动充填工艺执行的影响

   1.3 充填效率的影响

2 机构干涉影响因素及仿真模拟方案

   2.1 机构干涉影响因素

   2.2 机构干涉影响的研究思路

   2.3 机构干涉判别准则及调控路径求解方法

   2.4 机构干涉影响因素分析方案

3 机构干涉影响因素量化分析

   3.1 地质条件

   3.2 架型结构

   3.3 充填系统布置及工艺参数

   3.4 其他因素

4 机构干涉调控方法与机制

   4.1 基于地质条件的调控

   4.2 基于充填装备的调控

   4.3 基于充填系统布置及工艺参数调控

   4.4 机构干涉调控机制

5 机构干涉调控工程实践

6 结论