尤秀松,葛世荣,郭一楠,等. 智采工作面三机数字孪生驱动控制架构[J]. 煤炭学报,2024,49(7):1−12. doi: 10.13225/j.cnki.jccs.2023.0684
引用本文: 尤秀松,葛世荣,郭一楠,等. 智采工作面三机数字孪生驱动控制架构[J]. 煤炭学报,2024,49(7):1−12. doi: 10.13225/j.cnki.jccs.2023.0684
YOU Xiusong,GE Shirong,GUO Yinan,et al. Digital twin-driven control construction for three machines of smart coal mining face[J]. Journal of China Coal Society,2024,49(7):1−12. doi: 10.13225/j.cnki.jccs.2023.0684
Citation: YOU Xiusong,GE Shirong,GUO Yinan,et al. Digital twin-driven control construction for three machines of smart coal mining face[J]. Journal of China Coal Society,2024,49(7):1−12. doi: 10.13225/j.cnki.jccs.2023.0684

智采工作面三机数字孪生驱动控制架构

Digital twin-driven control construction for three machines of smart coal mining face

  • 摘要: 为了进一步提高煤矿综采设备智能控制水平,实现智采工作面常态化运行,提出基于数字孪生智采工作面驱动控制的相关概念和系统架构。智采工作面数字孪生系统由物理设备、虚拟孪生体、虚实交互模型组成,通过数字化方法建立与实体设备相映射的虚拟模型,来达到综采设备在作业过程中虚实交互、智能决策、精准控制和动态演化的目的。阐述智采工作面常态化运行要求和采煤机、液压支架和刮板输送机的相关控制难点。提出了智采工作面单机数字孪生驱动控制架构,包括机理模型、控制模型、孪生数据模型和数字孪生模型同步与演化等要素;研究数字孪生虚实交互方法,利用信息物理系统来保障信息交互能力,采用知识模型来解决数据拥堵问题,为智采工作面数字孪生控制系统的虚实交互提供实时性。提出智采工作面数字孪生驱动的三机协同控制方法,包括三机关联关系、智能采煤控制、智能支护控制与智能运输控制。最后以矿山数字孪生实际应用为例,通过建立相关模型和设计相关实验方案,对数字孪生智能控制进行验证。通过展开数字孪生智能控制架构、模式等理论研究,旨在解决目前综采工作面存在的环境感知程度低、设备预测精度差和人工干预强度大等问题,实现在复杂环境条件下设备的自适应控制与人机交互,为煤矿智能化建设提供借鉴意义。

     

    Abstract: In order to further improve the intelligent control level of fully mechanized mining equipment in coal mines and achieve the normalized operation of intelligent mining face, this paper proposes the related concepts and system architecture of intelligent mining face driving control based on digital twin. The digital twin system of intelligent mining face is composed of physical equipment, virtual twin and virtual and real interaction model. The virtual model mapped with physical equipment is established by digital method to achieve the purpose of virtual and real interaction, intelligent decision, accurate control and dynamic evolution in fully mechanized mining equipment during operation. The paper expounds the normal operation requirements of intelligent mining face and related control difficulties of shearer, hydraulic support and scraper conveyor, and proposes the single-machine digital twin driving control architecture of smart mining face, including mechanism model, control model, twin data model and digital twin model synchronization and evolution. The method of digital twin virtual-real interaction is described, the Cyber-Physical System is used to guarantee the information interaction ability, and the knowledge model is used to solve the data congestion problem, which provides a real-time virtual-real interaction for the digital twin control system of intelligent mining face. A three-machine cooperative control method driven by the digital twin of intelligent mining face is proposed, including three-machine correlation, intelligent coal mining control, intelligent support control and intelligent transportation control. Finally, taking the practical application of digital twin in mines as an example, the intelligent control of digital twin is verified by establishing the relevant model and designing the relevant experiment scheme. By carrying out theoretical research on digital twin intelligent control architecture and mode, the paper aims to solve the current problems of low environmental perception, poor equipment prediction accuracy and high manual intervention intensity in fully mechanized mining face, realize an adaptive control and human-computer interaction of equipment under complex environmental conditions, and provide a reference for the intelligent construction of coal mines.

     

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