Hydraulic Support Research Articles

A deep learning method based on multi-scale fusion for noise-resistant coal-gangue recognition

Coal-gangue recognition technology plays an important role in the intelligent realization of integrated working faces and coal quality improvement. However, the existing methods are easily affected by high dust, noise, and other disturbances, resulting in unstable recognition results that make it difficult to meet the needs of industrial applications. To realize accurate recognition of coal-gangue in noisy environments, this paper proposes an end-to-end multi-scale feature fusion convolutional neural network (MCNN-BILSTM) based gangue recognition method, which can automatically learn and fuse complementary information from multiple signal components of vibration signals. It combines traditional filtering methods and the idea of multi-scale learning, which can expand the breadth and depth of the feature learning process. the breadth and depth of the feature learning process. Moreover, to strengthen the expression of key features, a feature weighting method based on the attention mechanism is combined to give adaptive weights to different features. Finally, the experimental platform of a tail beam of coal-gangue impact hydraulic support is built, and several comparative experiments are carried out. The comprehensive comparison experiments show that the method shows strong adaptability, robustness, and noise resistance under various complex noise environments, and is suitable for complex practical industrial sites.

Dynamic characteristics simulation and optimization of hydraulic support based on CAE method

In order to improve the stability, safety, and trajectory efficiency of hydraulic support, a composite simulation scheme was applied to analyze the modal characteristics and dynamic stress. A multi-objective optimization method was proposed, which can effectively reduce the weight and stress peak while ensuring the stability of the support, and improve the trajectory efficiency of the front end point of the top beam. Through multi rigid body dynamics analysis, the vertical movement of the top beam and vertical pressure of the front connecting rod were obtained. Through finite element analysis, the modal shapes and transient stress variation laws of the hydraulic support were investigated, and the optimization results were validated. A mechanical analysis model was established for the four-bar linkage mechanism structure of hydraulic support, and the dimension combination that satisfies the minimum angular velocity was obtained. The results indicate that the proposed optimization scheme can effectively improve the motion efficiency and dynamic response characteristics of hydraulic supports.

A multi modal fusion coal gangue recognition method based on IBWO-CNN-LSTM

Accurate identification of coal and gangue is a crucial guarantee for efficient and safe mining of top coal caving face. This article proposes a coal-gangue recognition method based on an improved beluga whale optimization algorithm (IBWO), convolutional neural network, and long short-term memory network (CNN-LSTM) multi-modal fusion model. First, the mutation and memory library mechanisms are introduced into the beluga whale optimization to explore the solution space fully, prevent falling into local optimum, and accelerate the convergence process. Subsequently, the image mapping of the audio signal and vibration signal is performed to extract Mel-Frequency Cepstral Coefficients (MFCC) features, generating rich sample data for CNN-LSTM. Then the multi-head attention mechanism is introduced into CNN-LSTM to speed up the training speed and improve the classification accuracy. Finally, the IBWO-CNN-LSTM coal-gangue recognition model is constructed by the optimal hyperparameter combination obtained by IBWO to realize the automatic recognition of coal-gangue. The benchmark function proves that IBWO is superior to other optimization algorithms. By building an experimental platform for the impact of coal and gangue falling on the tail beam of hydraulic support, multiple experimental data collection is carried out. The experimental results show that the proposed coal-gangue recognition model has better performance than other recognition models, and the accuracy rate reaches 95.238%. The multi-modal fusion strategy helps to improve the accuracy and robustness of coal-gangue recognition.

Roadway portal and self-moving hydraulic support for rockburst prevention in coal mine and its application

As coal mining depths increase, rockbursts pose a significant threat to the safety of coal mine operations. Addressing the challenge of safely and steadily advancing excavation faces amid rockburst hazards, this study assesses the current state of reinforcement support technology for rockburst-prone roadways. It scrutinizes the concept of roadway anti-rockburst hydraulic support, support design, and the integration with the surrounding rock mass. The research delineates key directions for enhancing support systems, including the mechanical mechanisms of anti-rockburst hydraulic support, integrated roadway and support design, the synergistic pressure-equalizing effect of primary supports and bolts(cables), and the development of robotic systems for roadway anti-rockburst hydraulic support reinforcement. We propose an integrated design approach that holistically addresses both primary and reinforcement support in rockburst-prone roadways. To tackle the challenge of handling hydraulic supports in confined spaces, we developed a gantry hydraulic support system capable of self-movement with mechanical arm assistance for anti-rockburst hydraulic support. Field trials demonstrate that this system enables cyclical support advancement and retraction, automating and intelligently managing the underground advanced support sector. This innovation significantly reduces worker numbers and labor intensity, enhancing operational safety and efficiency. Furthermore, the system facilitates permanent support via bolt drilling under hydraulic protection, effectively mitigating the risks associated with unstable temporary roadway support and unsafe working conditions without proper roof coverage, thereby ensuring the secure and efficient operation of mining face.

Plasticity in Hydraulic Architecture: Riparian Trees Respond to Increased Temperatures With Genotype-Specific Adjustments to Leaf Traits.

Climate means and variability are shifting rapidly, leading to mismatches between climate and locally adapted plant traits. Phenotypic plasticity, the ability of a plant to respond to environmental conditions within a lifetime, may provide a buffer for plants to persist under increasing temperature and water stress. We used two reciprocal common gardens across a steep temperature gradient to investigate plasticity in six populations of Fremont cottonwood, an important foundation tree species in arid riparian ecosystems. We investigated two components of leaf hydraulic architecture: Leaf venation and stomatal morphology, both of which regulate leaf water potential and photosynthesis. These traits will likely affect plant performance under climate stressors, but it is unclear whether they are controlled by genetic or environmental factors and whether they respond to the environment in parallel or independent directions. We found that: (1) Populations had divergent responses to a hotter growing environment, increasing or decreasing vein density. (2) Populations showed surprisingly independent responses of venation vs. stomatal traits. (3) As a result of these different responses, plasticity in hydraulic architecture traits was not predictable from historic climate conditions at population source locations and often varied substantially within populations. (4) Hydraulic architecture was clearly linked to growth, with higher vein and stomatal density predicting greater tree growth in the hottest growing environment. However, higher plasticity in these traits did not increase average growth across multiple environments. Thus, P. fremontii populations and genotypes vary in their capacity to adjust their leaf hydraulic architecture and support growth in contrasting environments, but this plasticity is not clearly predictable or beneficial. Identifying genotypes suitable for future conditions will depend on the relative importance of multiple traits and on both evolutionary and ecological responses to changing temperature and water availability.

Roof stability analysis model of super-long fully mechanized working face and its application

The strata behavior of a fully mechanized working face is obviously different from that of a short working face after the dip length of the coal face is lengthened. In view of the characteristics of high frequency, high peak value and large range of weighting in super-long working faces, a mechanical analysis model based on elastic foundation beam theory was established according to the bearing characteristics of hydraulic support and immediate roof. The results show that the roof deflection is positively correlated with the working face length, and with the increase of the working face length, the roof deflection in more areas has a larger value and it gradually changes from a single peak to multiple peaks. The roof stability decreases with the in-crease of the working face length and the decrease of length-thickness ratio. The research results are verified in working faces of different lengths in Buertai Coal Mine, and the phenomena of roof caving in different regions and asynchronous weighting in the face are explained. This study at-tempts to provide a theoretical basis for the roof treatment of super-long working faces.

Data-driven prediction framework of surrounding rock pressure in a fully mechanized coal face with temporal-spatial correlation

Surrounding rock pressure prediction for fully mechanized coal face (FMCF) roof management and control is of great significance. The key challenge is to effectively combine various factors to evolve the surrounding rock pressure trend with high temporal-spatial correlation and heterogeneity. The hydraulic support load is an important indicator that reflects the change in the surrounding rock pressure. Inspired by the research on 'support-surrounding rock’ and the massive data collected by sensors, this paper proposes a data-driven prediction framework for surrounding rock pressure in FMCFs. The framework includes the multidimensional working condition matrix (MWCM) building module, the hydraulic support group temporal-spatial feature fusion (HTSFF) network, and the adaptive deployment strategy (ADS). The MWCM generating methods of hydraulic support in combination with the mining process and the data quality and quantity requirements of the conventional supervised learning method are weakened by the treatment of missing data adapting to the working conditions. The HTSFF network focuses on capturing the spatial correlation of the surrounding rock pressure along the mining direction and the temporal periodicity along the advancing direction of the FMCF and fully considers the dependencies between them. ADS aims to solve the problem of missing data in model deployment and reduce the interference of abnormal data in the model prediction process by adaptively generating MWCM. The rationality and practicability of various designs of the proposed framework were verified on our dataset. Quantitative experiments show that the average error of the surrounding rock pressure prediction is 1.2406 MPa, and the accuracy, precision, and recall rate of periodic pressure prediction are all above 95%. This method can effectively assist FMCF roof management and control. Although the method is effective, it may require further fine-tuning of the model to adapt to different geological conditions and varying sensor quality, ensuring broader applicability.

A Multi-Mode Pressure Stabilization Control Method for Pump–Valve Cooperation in Liquid Supply System

In order to solve the problems of frequent pressure fluctuations caused by frequent action of the unloading valve of the pump station and serious hydraulic shock due to the variable amount of fluid used in the hydraulic support system of the coal mining face and the irregularity of the load suffered by the system, a pump–valve cooperative multi-mode stabilizing control method based on a digital unloading valve was proposed. Firstly, a prototype of a digital unloading valve under high-pressure and high water-based conditions was developed, and a digital control scheme was proposed to control the pilot valve by a servo motor to adjust the system pressure in real time. Then, an experimental platform for simulating the hydraulic bracket and a co-simulation model was constructed, and the validity of the co-simulation model was verified through experiments. Secondly, a collaborative multi-mode pressure stabilization control method for the pump valve based on a GRNN (General Regression Neural Network) was established to control the flow and pressure output of the emulsion pumping station according to the actual working conditions. Finally, numerical research and experimental verification were carried out for different working conditions to prove the effectiveness of this method. The results showed that the proposed pressure stabilization control method could adaptively adjust the working state of the digital unloading valve and the liquid supply flow of the emulsion pump station according to the working condition of the hydraulic support, effectively reducing the frequency and amplitude of the system pressure fluctuations and making the system pressure more stable.

Characterization of dam failure flooding in an urban reservoir under different rainfall conditions

In water conservation projects, reservoirs play a key role in controlling and regulating floods. In recent years, extreme rainfall events have occurred more frequently. Urban reservoirs in danger under extreme rainfall happen occasionally. The breaching of urban reservoirs seriously threatens the lives and property of the population downstream. A lack of clarity regarding the characterization of the flooding response remains owing to urban reservoir overtopping under different rainfall conditions. This study used observed data from the heavy rainfall event in Zhengzhou on July 20, 2021, with Jiangang Reservoir in Zhengzhou as the study site. The study designed a storm-flood process with different rainfall scenarios that combines the long-duration rainstorm formula and Chicago rain pattern method, establishing a response relationship between extreme rainfall and flooding processes. Flood evolution simulation analyses were carried out for different scenarios of rainfall and flooding processes under three working conditions: rainfall only, dam failure only and dam failure coupled with rainfall, to characterize the flood response due to dam failure under different rainfall conditions. The results showed that the peak of the rainfall occurs earlier in the total rainfall calendar time, the faster the dam failure rate of the reservoir. As the rain peak occurs at a time that is later in the total rainfall calendar, and the recurrence period and rainfall duration increase, the flood volume increases and urban inundation becomes more severe. The rainfall type had less of an effect on the difference in the extent of inundation between different working conditions. The extent of flood inundation for the dam failure-coupled rainfall scenario is much greater than that for the dam failure only scenario. The increase in inundation extent in the dam failure coupled rainfall scenario at the higher levels of flood severity is smaller. Study results provide hydraulic element support for flood hazard assessment.

Study on instability mechanisms and control of coal pillar spalling and coal crumbs leakage during working face crossing faults

The stability of coal pillars in fault areas is crucial for ensuring the safe passage of working faces. Based on field observations, frequent coal pillar spalling and substantial tectonic coal crumbs leakage, as well as tilting of hydraulic supports, are observed when working faces transition from primary coal to tectonic coal. To analyze the instability mechanisms behind these phenomena, this paper establishes a mechanical model of coal pillars in fault areas and analyzes the distribution of tectonic stresses and factors affecting the stability of coal pillars. The results indicate that horizontal tectonic stress adheres to an exponential function dependent on the angle factor, where (k0) is a parameter associated with the friction angle of the coal body, the dip angle of the fault, and the friction angle of the fault plane. The stability of coal pillars is influenced by factors such as roof and floor pressures, coal pillar integrity, mining height, and shield support force, with coal pillar integrity being the most critical. To ensure the smooth passage of working faces through faults, this study proposes a combined control technique of “inclined mining” and “grouting,” including reducing mining heights, adjusting the slope of working face advancement, and pre-grouting of coal pillars. Industrial experiments conducted on-site have shown improved integrity of tectonic coal, enabling the working face to pass through faults smoothly and significantly increasing production efficiency.

Deformation mechanism and control technology of gob-side entry retaining with roadside backfilling: a numerical analysis and field investigation

The technology of gob-side entry retaining (GER) has the advantages in terms of higher resource recovery rate and lower drivage ratio. In this study, the GER implementation in N1217 panel in Ningtiaota Coal Mine, to verify the adaptability of the gob-side entry retaining with roadside backfilling, the FLAC3D numerical model was established, the stress evolution law and plastic zone distribution of the roadway surrounding rock were analyzed, the deformation characteristics of the roadway during the mining period were revealed, the roadway surrounding rock control technology was proposed, and the development of roof cracks was analyzed. The numerical results show that during the mining of the working face, the roadside backfill body and gangue are jointly loaded, the peak stress of the surrounding rock is transferred from the mining side to the solid coal side, the plastic zone of the roof and the solid coal side increases significantly, and the tensile and shear mixed failure occurs. Based on the evolution characteristics of the stress and plastic zone of the surrounding rock during the mining period of the working face, a collaborative control technology of the surrounding rock based on gangue retaining bracket + roadside backfill + bolt (cable) is proposed, and the borehole peep shows that the roadway is affected by roof fracture rotation and subsidence, which leads to the development of roadway overburden cracks and failures to the depth. The monitoring results indicate that the control measures are highly effective, with minimal roadway convergence observed and stable bolt (cable) supporting forces recorded. Additionally, hydraulic support resistance monitoring confirms that the roadway remains stable. It can ensure the safe mining of the working face of the Ningtiaota coal mine and other similar roadways.

Study on Surrounding Rock Control of Withdrawal Space in Fully Mechanized Caving Mining of a 19 m Extra-Thick Coal Seam

The section span of the withdrawal space of fully mechanized top coal caving in an extra-thick coal seam is large, and with the gradual withdrawal of the hydraulic support, a series of strong dynamic pressure disasters occur in the withdrawal space, and the difficulty of surrounding rock support control increases sharply. In order to study the control mechanism of surrounding rock in the final mining withdrawal space in detail and put forward a reasonable support technology scheme, taking the large-section withdrawal space of an 8309 fully mechanized caving face in an extra-thick coal seam of a mine as the research object—through the theoretical investigation of whether the key blocks of the main roof are stably hinged under varied stopping coal caving distances and fracture locations of the main roof—the reasonable and optimal stopping coal caving distances and roadway formation time are determined. Using numerical simulation and similar simulation methods, the vertical stress and the maximum shear stress research indicators were introduced to verify the accuracy of the theoretical analysis results. The results show the following: (1) The reasonable stopping coal caving span is 1~2 times the cycle weighting interval, the best stopping coal caving distance in this geological condition is 30 m, and the best fracture position of the main roof is located above the goaf. (2) The migration of overlying strata in the withdrawal space has obvious zoning characteristics, and the zoning is as follows: a stopping coal caving area, support area of the hydraulic support, withdrawal channel area, and stopping coal pillar area. (3) According to the zoning characteristics of overlying strata movement, the asymmetric zoning support control scheme of the withdrawal space is proposed. The field monitoring results show that the maximum roof subsidence in the withdrawal space is 151 mm, the maximum internal squeezing amount of the stopping coal pillar is 82 mm, and the supporting and anchoring effect of each partition in the withdrawal space is good. The set of partition asymmetric support control schemes has been successfully applied to field practice.

Effects of structural parameters of pressure-swirl nozzle on atomization and dust removal characteristics.

To further improve the dust removal efficiency of water spray, the influence of key structure parameters of nozzle on atomization characteristic (droplet size, atomization angle, flow rate, effective spray distance, wind disturbance resistance) was studied. The results showed that the nozzle had good atomization performance when the outlet diameter was 1.5mm. The internal structure of the nozzle had an obvious influence on the atomization characteristics. The shrinkage angle had a prominent effect on the droplet size and atomization angle. When the shrinkage angle was increased from 60 to 120°, the droplet size and atomization angle were improved by 29.2% and 45.5%, respectively, while the increased shrinkage angle from 120 to 150° only improved by 9.1% and 4.2%, respectively. In addition, the diameter of the center hole had a strong correlation with the effective spray distance. When the diameter of the center hole increased from 1 to 2mm, the effective spray distance increased by 60.9% (to 7.4m) at the pressure of 4MPa, while the effective spray distance without change increased when the diameter of the center hole increased from 2 to 2.5mm. It was determined that the nozzle with the outlet aperture of 1.5mm, the shrinkage angle of 120°, and the diameter of the center hole of 2mm had good atomization and dust control characteristics. Additionally, it was verified that the optimized nozzle had a substantial improvement in controlling respirable dust, and the dust removal efficiencies for PM2.5 and PM5 were increased by 14.29% and 16.52%, respectively, compared to the original nozzle. This study provided guidance for choosing the nozzle of hydraulic support to form the effective dust control spray.

Development of an Intelligent Coal Production and Operation Platform Based on a Real-Time Data Warehouse and AI Model

Smart mining solutions currently suffer from inadequate big data support and insufficient AI applications. The main reason for these limitations is the absence of a comprehensive industrial internet cloud platform tailored for the coal industry, which restricts resource integration. This paper presents the development of an innovative platform designed to enhance safety, operational efficiency, and automation in fully mechanized coal mining in China. This platform integrates cloud edge computing, real-time data processing, and AI-driven analytics to improve decision-making and maintenance strategies. Several AI models have been developed for the proactive maintenance of comprehensive mining face equipment, including early warnings for periodic weighting and the detection of common faults such as those in the shearer, hydraulic support, and conveyor. The platform leverages large-scale knowledge graph models and Graph Retrieval-Augmented Generation (GraphRAG) technology to build structured knowledge graphs. This facilitates intelligent Q&A capabilities and precise fault diagnosis, thereby enhancing system responsiveness and improving the accuracy of fault resolution. The practical process of implementing such a platform primarily based on open-source components is summarized in this paper.

Dynamics and experimental study of a novel proportional directional valve with displacement feedback groove controlled by high-speed switching valves

The intelligence of hydraulic roof support is an important guarantee for unmanned fully mechanized coal mining face. The water-based medium proportional directional valve is the main factor that restricts the intelligent realization of support system. The support control valve needs to meet the 2/3 (two-position three-way) structure, taking into account both manual and electro-hydraulic control functions. The current water-based proportional valve does not satisfy the structural or functional demands of the support system. In this paper, a novel 2/3 water-based proportional directional valve is presented based on the displacement-flow feedback principle, which has two control modes: manual on-off control and electro-hydraulic proportional control. The proportional valve comprises two main valve spools and two pilot valves. The pilot valve is composed of a 2/3 on-off valve with manual operation capability and a high-speed switching valve group controlled by PWM (Pulse Width Modulation). The mathematical model of the proportional valve is established, and the experimental system is built to verify the characteristics of proportional valve. The proportional valve can meet the special functional requirements of the support. In the proportional control mode, the adjustment of spool displacement is regulated through the modulation of PWM duty ratio, resulting in effective control performance of the proportional valve. Furthermore, the discontinuous flow of the high-speed switching valve causes the pressure fluctuation of the pilot hydraulic bridge. Increasing the carrier frequency of PWM can reduce the amplitude of control chamber pressure and spool displacement fluctuation. The findings of the study can offer valuable insights for the continued advancement and enhancement of water-based proportional valves used in hydraulic roof support systems.

Research on Decision-Making and Control Technology for Hydraulic Supports Based on Digital Twins

To further enhance the intelligent construction of coal mines and improve the control accuracy of hydraulic support displacement straightness, a digital twin control method for hydraulic support displacement has been proposed. First, a dataset related to hydraulic support is established, and a ridge regression prediction model is developed to achieve digital twin-based displacement decision analysis. Next, by analyzing the mechanical structure and displacement principles of the hydraulic supports, a hydraulic cylinder mathematics model is established, leading to the state-space representation of the controlled object. This study focuses on error control during the multi-agent operation of the hydraulic supports, designing a corresponding controller and using discretization methods to verify the consistency of output displacement between followers and leaders. Finally, simulation experiments based on the digital twin model of hydraulic supports are conducted, validating that the hydraulic supports can be controlled in formation according to actual production requirements. The digital twin control method enables the precise adaptive displacement control of hydraulic supports and provides valuable insights for the intelligent construction of mining faces.

Analysis of the load‐bearing characteristics of hydraulic supports for top‐coal caving under the impact of coal and gangue

AbstractTo study the effect of different sizes and speeds of coal gangue falling on hydraulic supports for top‐coal caving discharge hydraulic support on the bearing characteristics of the hydraulic support, the ADAMS hydraulic support rigid‐flexible coupling analysis model was established. HyperMesh is used to flexibly process the hydraulic support, and the column and jack are equivalently replaced by spring damping system. By applying step loads of different sizes and speeds to simulate the impact force generated when the coal gangue falls on different positions of the cover beam, the dynamic response characteristics of the column, balance jack and other articulation points are obtained. Analyses show that: when the impact load is closer to the roof beam, the articulation point of the roof beam‐cover beam and the balancing jack are easy to be damaged. When the same impact load is applied to the cover beam, the faster the load is applied, the hydraulic support column and balancing jack may not be able to absorb and disperse the pressure effectively in time, resulting in the articulation points being subjected to a larger impact force, which is easy to cause damage or destruction. When different sizes and speeds of impact loads are applied to the cover beam, the latter has a greater impact on the dynamic response of the front and rear connecting rod articulation points and the cover beam‐roof beam articulation point than the former, and the hydraulic bracket will be more prone to vibration, deformation, and stress concentration, thus affecting the stability and safety of the bracket. The article is of guiding significance for designing and optimizing the structure and parameters of the hydraulic support, and improving the support performance and stability of the hydraulic support in the comprehensive release working face.

Research on Velocity Feedforward Control and Precise Damping Technology of a Hydraulic Support Face Guard System Based on Displacement Feedback

The hydraulic support face guard system is essential for supporting the exposed coal wall at the working face. However, the hydraulic support face guard system approaching the coal wall may cause impact disturbances, reducing the load-bearing capacity of coal walls. Particularly, the hydraulic support face guard system is characterized by a large turning radius when mining thick coal seams. A strong disturbance and impact on the coal wall may occur if the approaching speed is too fast, leading to issues such as rib spalling. In this paper, a feedforward fuzzy PID displacement velocity compound controller (FFD displacement speed compound controller) is designed. The PID controller, fuzzy PID controller, feedforward PID controller, and FFD displacement speed compound controller are compared in terms of the tracking characteristics of the support system and the impact response of the coal wall, validating the controller’s rationality. The results indicate that the designed FFD displacement speed compound controller has significant advantages. This controller maintains a tracking error range of less than 1% for target displacement with random disturbances in the system, with a response adjustment time that is 34% faster than the PID controller. Furthermore, the tracking error range for target velocity is reduced by 8.4% compared to the feedforward PID controller, reaching 13.8%. Additionally, the impact disturbance of the support system on the coal wall is suppressed by the FFD displacement speed compound controller, reducing the instantaneous contact impact between the support plate and the coal wall by 350 kN. In summary, the FFD compound controller demonstrates excellence in tracking responsiveness and disturbance rejection, enhancing the efficacy of hydraulic supports, and achieving precise control over the impact on the coal wall.

Enhanced path tracking control of hydraulic support pushing mechanism via adaptive sliding mode technique in coal mine backfill operations

The hydraulic support pushing mechanism is the primary equipment utilized in coal mine backfill operations, playing a crucial role in enhancing filling efficiency, ensuring a stable filling body, and managing gob safety. This paper focuses on analyzing the dynamic model and the interrelationship of the hydraulic cylinder, which serves as the power source for the pushing mechanism. To address the intricate coupling effects arising from the hydraulic cylinders and the displacement-force induced by the shared pump, this study employs feedforward compensation for decoupling analysis. Additionally, this article introduces an adaptive sliding mode approach law and an adaptive synovial controller to combat issues such as buffeting and interference. The simulation results demonstrate that the sliding mode reaching law proposed in this paper can achieve a stable state in approximately 3 seconds, which is significantly better than other methods. Combining the experimental equipment information from a mining area in Hebei Province with Amesim-Simulink simulation results, it is evident that the adaptive sliding mode controller exhibits an error range between approximately 1.33E-4 and 1.5E-4 during the stable phase. This performance surpasses traditional PI and fuzzy PID controllers in terms of path tracking ability, effectively enabling precise control of the filling support pushing mechanism.

Design and field evaluation of hydraulic fracturing boreholes for terminal mining faces

The terminal mining is an essential part of fully mechanized mining, and the reasonable length of the flap roof during the terminal mining is an important basis for the smooth operation of the terminal mining. With the research background of the 213 working face of the Longde Coal Mine, the contribution of this study is the influence law of hydraulic fracturing on the terminal mining mechanical behavior of the working face. Four different numerical calculation models of terminal mining hydraulic fracturing are established, and the optimal hydraulic fracturing site plan is determined according to the length of the terminal mining flap top and the working resistance of hydraulic support. The effect of hydraulic fracturing construction and the law of mechanical behavior in the terminal mining stage in the field test are analyzed. The results show that through hydraulic fracturing technology, the control of the length of the flap roof of the working face during the terminal mining period has been realized.