School of Energy Science and Engineering, Henan Polytechnic University
School of Medicine, Henan Polytechnic University
Collaborative Innovation Center for Safe Production and Clean and Efficient Utilization of Coal
Postdoctoral Station of Geological Resources and Geological Engineering, Henan Polytechnic University
Key Laboratory of Ministry of Education on Safe Mining of Deep Metal Mines, Northeastern University

放煤机构的精准控制是实现智能化、无人化放顶煤开采的重要基础，放煤机构与后部刮板输送机的空间关系及支架姿态对空间关系的影响规律是构建放顶煤支架控制模型的关键。以ZF17000/27.5/42D型低位放顶煤支架为研究对象，阐述了支架顶板和底板不同俯仰姿态下放煤机构与后部刮板输送机的空间关系；基于液压支架放煤机构开口度控制逻辑，搭建了支架姿态感知系统，提出了液压支架放煤机构末端运动学分析方法；建立了基于D−H矩阵的低位放顶煤液压支架放煤机构末端运动学模型，并据此构建了液压支架放煤机构开口度计算模型，平均计算误差仅为1.71%，满足现场应用精度要求；提出了基于姿态反馈的支架放煤机构闭环控制方法，并将基于放煤机构开口度计算模型开发的放煤决策模型应用于现场。应用效果表明：自动放煤时各支架平均放煤时间的均方差仅为0.13 min，较人工放煤方式整体放煤效率提高20%～43.9%；顶煤采出率达89%，后部刮板输送机负载更加均衡，过载率仅为0.73%。

Precise control of the coal caving mechanism is a crucial foundation for realizing intelligent and unmanned top coal caving mining. The spatial relationship between the coal caving mechanism and the rear scraper conveyor, as well as the top coal influence of the hydraulic support's posture on this spatial relationship, is key to constructing a control model for the caving support. Using the ZF17000/27.5/42D low-position top coal caving support as the research object, this study explained the spatial relationship between the coal caving mechanism and the rear scraper conveyor under different pitch angles of the support's roof and base. Based on the control logic for the opening degree of the hydraulic support's coal caving mechanism, a support posture sensing system was established, and a method for kinematic analysis of the hydraulic support's coal caving mechanism was proposed. A kinematic model for the end of the low-position hydraulic support's coal caving mechanism based on the D-H matrix was developed, and a calculation model for the opening degree of the hydraulic support's coal caving mechanism was constructed. The average calculation error was only 1.71%, meeting the accuracy requirements for field applications. A closed-loop control method for the coal caving mechanism based on posture feedback was proposed, and the coal caving decision model developed from the opening degree calculation model was applied in the field. Application results showed that during automatic coal caving, the mean square deviation of the average caving time for each support was only 0.13 minutes, with an overall caving efficiency improvement of 20%-43.9% compared to manual caving. The top coal recovery rate reached 89%, and the load on the rear scraper conveyor was more balanced, with an overload rate of only 0.73%.

河南理工大学安全学科“双一流”创建国家级重点项目培育资助项目（AQ20240306）；河南省科技攻关计划项目（242102320210）；河南省重点研发专项项目（241111320800）；河南理工大学博士基金资助项目（B2023-26）。

王祖洸，王伸，李东印，等. 基于支架结构运动学的放煤机构精准控制研究[J]. 工矿自动化，2024，50（9）：28-40.

WANG Zuguang, WANG Shen, LI Dongyin, et al. Study on precise control of coal caving mechanisms based on the kinematics of support structures[J]. Journal of Mine Automation，2024，50（9）：28-40.