多因素耦合作用下部分断面掘进机截割巷道表面形貌特征重构与预测研究

Research on reconstruction and prediction of surface topography characteristics of roadway cut by roadheader under multi-factor coupling is the key link to realize accurate forming control of roadway. By using differential geometry theory, the kinematics model of roadheader in roadway space is established, and the trajectory of each pick and its maximum envelope and three-dimensional surface are obtained. The coupling model between the pick and rock mass is established considering the change of the space position and mechanical properties of the pick. The interaction between the change of the action position and load of the pick and the process of coal and rock fragmentation under multi-scale angle is studied. A multi-body rigid-flexible coupling dynamic model of tunneling machine and surrounding rock system with variable constraints is established by Newton-Euler method. The vibration characteristics of each pick and its influence on the three-dimensional surface characteristics of the motion trajectory space of the pick are studied. An integrated simulation and experiment system for measuring and evaluating the surface topography characteristics of roadways is established. The reconstruction and prediction model of multi-scale topography characteristics of roadways under the influence of multiple factors is constructed by using the methods of surface spectrum analysis, wavelet analysis and fuzzy neural network. The description parameters of the surface topography characteristics of roadways and the structural parameters, operation parameters of the cutting section of roadways are revealed. The mapping relationship between parameters such as working conditions. It provides a basis for the optimization of cutting parameters and the research of high precision forming control method of roadheader.

开展多因素耦合作用下掘进机截割巷道表面形貌特征重构与预测的研究是实现巷道精确成形控制的关键环节。项目运用微分几何理论，建立掘进机在巷道空间的运动学模型，得到各截齿运动轨迹及其最大外包络和空间三维曲面。建立考虑各截齿空间位置和力学特性发生变化时的截齿与岩体耦合作用模型，研究多尺度角度下截齿作用位置和载荷的变化与煤岩破碎过程相互影响规律。采用牛顿-欧拉方法建立变约束情况下的掘进机与围岩系统的多体刚柔耦合动力学模型。研究各个截齿的振动特征及其对截齿运动轨迹空间三维曲面特征的影响规律。建立巷道表面形貌特征测量与评价集成仿真与实验系统，采用表面谱分析、小波分析以及模糊神经网络等方法，构建多因素影响下掘进机掘进巷道表面多尺度形貌特征的重构与预测模型，揭示掘进巷道表面形貌特征描述参数与掘进机截割部结构参数、运行参数以及工况条件等参数之间的映射关系。为掘进机截割参数优化与高精度成形控制方法的研究提供依据。

煤矿井下巷道精确成形截割控制是煤矿掘进领域面临的共性问题，通过发展能够自主掘进作业的掘进装备，实现自主高效高精度巷道断面成形控制是必由之路，开展多因素影响下部分断面掘进机掘进巷道表面形貌特征重构与预测及相关问题的研究则是打通巷道精确成形控制与掘进装备自主定形定向掘进作业的关键环节，也是构成煤矿采掘装备相关基础理论及应用的重要研究内容。本项目以降低巷道轮廓的粗糙度、提高巷道轮廓质量为目标，基于机器人运动学方法，研究截割头运动轨迹建模方法、截割头截割巷道外轮廓的数学模型以及巷道外轮廓仿真方法。重点研究截割头截割巷道得到的巷道外轮廓的创成机理；然后从几何运动的角度分析各因素对巷道形貌特征的影响规律。建立考虑油缸位移传感器误差的截割头在巷道断面坐标系中的运动学方程，然后利用蒙特卡洛模拟方法研究不同油缸位移传感器误差等级对掘进机截割成形精度影响规律。建立悬臂式掘进机截割过程的动力学模型，分析了截割载荷和振动特性，重点研究考虑了截割头振动影响下的巷道成形外轮廓特征。分别分析了不同截割升降角度与不同截割进给量、不同截割升降截割角度与不同截割头球冠半径、不同截割升降角度与不同截割头圆锥角、不同截割进给量与不同截割头球冠半径、不同截割头进给量与不同截割头圆锥角、不同截割头球冠半径与不同截割头圆锥角6组在两个不同因素共同作用下的巷道表面形貌特征评价指标。分别分析了6组不同因素共同作用下的巷道表面形貌特征评价指标，构建了掘进机截割形貌特征的回归方法和预测模型，探索了截割头尺寸与巷道外轮廓间的线性映射关系，并对巷道轮廓成型进行了重构与预测。取得相关成果有：发表论文10篇，其中SCI/EI检索论文6篇。申请发明专利6项，其中授权发明专利4项。获得省部级一等奖、二等奖各一项。培养博士研究生1名，硕士研究生4名。本项目的研究为掘进机自动截割成形控制以及超前支架支撑力学特性和自适应支护控制的研究提供了理论基础。