In the present study, theoretical and experimental investigations were conducted focusing on the load-carrying characteristics of the powered hydraulic support. Based on the drive space, a kinematic model using the Denavit–Hartenberg theory based on drive space was developed to predict the position information of the hydraulic support. Then the dynamic model of the support was established to analyze the carrying behaviors of the support. A computational procedure was presented to obtain a coupled solution of the kinematic mechanism and the failure mechanism. A test bench was designed to verify the model. The numerical model gained deep insight into the effects of the strokes of the column and the equilibrium jack, the working force of the column, the equilibrium, and the friction coefficients. As a result, the working intervals of the column and the equilibrium jack as well as the loading characteristics were investigated under various supporting attitudes. The obtained responses illustrate that the optimal structural parameters could be reasonably established to improve the performance of the powered support. Moreover, the performed analyses demonstrate that the proposed methodology can be applied to accurately predict the experimental response of the support and provide a basis to adaptively adjust the surrounding rock strata and the powered support in industrial applications.
WangGFXuYXRenHW. Intelligent and ecological coal mining as well as clean utilization technology in China: Review and prospects. Int J Min Sci Technol2019; 29(2): 161–169.
2.
XieJCWangXWYangZJ. Attitude-aware method for hydraulic support groups in a virtual reality environment. Proc IMechE, C: J Mech Eng Sci2019; 233(14): 4805–4818.
3.
WilsonAH. Support load requirements on longwall faces. Min Eng (Lond)1975; 134: 479–491.
4.
PanRLiYWangH, et al.Assessment of ground instability risk of lower seam longwall panels during crossing overlying remnant pillars. Roy Soc Open Sci2020; 7(10): 201249.
5.
SmartBAzizN. The influence of caving in the hirst and bullied seams on powered support rating. In: Proceedings of the Symposium on Ground Movement and Control Related to Coal Mining, Wollongong, Australia, 1–12 August 1986, pp. 182–193
6.
MedhurstTReedK. Ground response curves for longwall support assessment. Min Technol2005; 114: 81–88.
7.
ZhangXZhangJWanL, et al.Research on guarantee equipment for setting load of hydraulic supports. Appl Mech Mater2011; 44-47: 2021–2025.
8.
SinghGSinghU. A numerical modeling approach for assessment of progressive caving of strata and performance of hydraulic powered support in longwall workings. Comput Geotech2009; 36(7): 1142–1156.
9.
MedhurstTBrownE. A study of the mechanical behaviour of coal for pillar design. Int J Rock Mech Min1998; 35(8): 1087–1105.
10.
MangalAPaulP. Rock mechanical investigation of strata loading characteristics to assess caving and requirement of support resistance in a mechanized powered support longwall face. Int J Min Sci Technol2016; 26(6): 1081–1087.
11.
ChengJYWanZJJiYL. Shield-roof interaction in longwall panels: insights from field data and their application to ground control. Adv Civ Eng2018; 10: 1–18.
12.
WitekMPrusekS. Numerical calculations of shield support stress based on laboratory test results. Comput Geotech2016; 72: 74–88.
BaiJBHouCJ. Control principle of surrounding rocks in deep roadway and its application. J Chin U Min Techno2006; 35(2): 145–148.
15.
KongLHJiangFXWangCW. Study of reasonable working resistance of support in fully mechanized sublevel caving face in extra-thick coal seam. Chin J Rock Mech Eng2010; 29(11): 2312–2318.
16.
XuYJWangGFRenHW. Theory of coupling relationship between surrounding rocks and powered support. J China Coal Soc2015; 40(11): 2528–2533.
17.
WangJCWangLGuoY. Determining the support capacity based on roof and coal wall control. J China Coal Soc2014; 39(8): 1619–1624.
18.
MengZSZengQLGaoKD, et al.Failure analysis of super-large mining height powered support. Eng Fail Anal2018; 92: 378–391.
19.
RajwaSJanoszekTPrusekS. Influence of canopy ratio of powered roof support on longwall working stability - a case study. Int J Min Sci Technol2019; 29(4): 591–598.
20.
SinghGSinghU. Prediction of caving behavior of strata and optimum rating of hydraulic powered support for longwall workings. Int J Min Sci Technol2010; 47(1): 1–16.
21.
HolubKRušajováJHolečkoJ. Particle velocity generated by rockburst during exploitation of the longwall and its impact on the workings. Int J Rock Mech Min2011; 48(6): 942–949.
22.
VermaA. Numerical analysis of an interaction between hydraulic-powered support and surrounding rock strata. Int J Geomech2013; 13(2): 181–192.
23.
GaoFQSteadDCogganJ. Evaluation of coal longwall caving characteristics using an innovative UDEC Trigon approach. Comput Geotech2014; 55: 448–460.
24.
ShabanimashcoolMJingLRLiCC. Discontinuous modelling of stratum cave-in in a longwall coal mine in the arctic area. Geotech Geol Eng2014; 32(5): 1239–1252.
25.
TruemanRLymanGCockerA. Longwall roof control through a fundamental understanding of shield–strata interaction. Int J Rock Mech Min2009; 46(2): 371–380.
26.
ChengJYWanZJPengSS, et al.What can the changes in shield resistance tell us during the period of shearer’s cutting and neighboring shields’ advance?Int J Min Sci Technol2015; 25(3): 361–367.
27.
PrusekSPłonkaMWalentekA. Applying the ground reaction curve concept to the assessment of shield support performance in longwall faces. Arab J Geosci2016; 9(3): 167.
28.
WangYLiHWGuoW. Monitoring method of recovery state of hydraulic support guard plate based on image recognition. Ind Min Autom2019; 45(2): 47–53.
29.
ZhangXQWangALiJZ. Design and application of virtual reality system in fully mechanized mining face. Proced Eng2011; 26: 2165–2172.
30.
LiangMFFangXQLiS, et al.A fiber Bragg grating tilt sensor for posture monitoring of hydraulic supports in coal mine working face. Measurement2019; 138: 305–313.
31.
YanHFSuFXChengZH, et al.A study on the remote monitoring system of hydraulic support based on 3DVR. In: 2010 International Conference on Audio, Shanghai, China, 23–25 November 2010, pp. 912–915.
32.
LiangSZhengXWChenY, et al.Study of monitoring system of hydraulic support movement state based on virtual reality. In: Proceedings 2013 International Conference on Mechatronic Sciences, Shenyang, China, 20–22 December 2013, pp. 3434–3437.
33.
TangSSWeiCK. Design of monitoring system for hydraulic support based on LabVIEW. Adv Mat Res2014; 989-994: 2758–2760.
34.
XieJCYangZJWangXW, et al.A virtual reality collaborative planning simulator and its method for three machines in a fully mechanized coal mining face. Arab J Sci Eng2018; 43(9): 4835–4854.
35.
GeXXieJCWangXW, et al.A virtual adjustment method and experimental study of the support attitude of hydraulic support groups in propulsion state. Measurement2020; 158: 107743.
36.
WangBBXieJCWangXW, et al.A new method for measuring the attitude and straightness of hydraulic support groups based on point clouds. Arab J Sci Eng2021; 46(12): 11739–11757.
37.
NiuJF. Research of straightness control system of fully mechanized coal mining face. Ind Min Autom2015; 41(5): 5–8.
38.
ChenDLiS. Measurement of coal mining height based on hydraulic support structural angle. J China Coal Soc2016; 41(3): 788–793.
39.
ShiHBXieJCWangXW. An operation optimization method of a fully mechanized coal mining face based on semiphysical virtual simulation. Int J Coal Sci Technol2020; 7(1): 147–163.
40.
DenavitJHartenbergR. A kinematic notation for lower-pair mechanisms. J Appl Mech1955; 22: 215–221.
41.
CaiZX. Fundamentals of robotics. 2nd ed.Beijing, China: China Machine Press, 2015.
42.
ZhouYC. Preliminary analysis of mechanical characteristics of shield supports. J China Coal Soc1981; 1(1): 1–17.
43.
XuYJWangGFLiuYX. Supporting property and adaptability of 2-leg powered support. J China Coal Soc2016; 41(8): 2113–2120.
