基于雷达预探与截割反馈的采煤机煤岩界面精细化建模方法研究

Coal mine intelligent unmined is an important direction in the future, and the precise recognition of coal rock interface is the key problem to be solved. By means of theoretical analysis and experimental verification, the eigen component decomposition equation of echo signal is constructed, the relationship of electromagnetic echo transmission in mixed media is discussed, the variation laws of conductivity, reflection and attenuation characteristics of the radar detecting coal rock medium are studied, the boundary conditions of the high-resolution imaging of complex geometry are determined, and a multilevel refinement search model is established。The paper studies the feedback characteristics of the amplitude and resistance fluctuation of the cut vibration, establishes the mapping relationship between the change rate and the cut feedback information of the coal rock, analyzes the difference between the feedback characteristics and the radar predetermination coal rock interface, and establishes the comparison feedback control model of the coal rock interface. This paper uses Tsai method to transform the projection matrix of radar coordinate system to cut feedback image coordinate system, analyzes the tensorFlow convoluted neural network with pixel points,.establishes the mathematical model of radar prejudgment-cut feedback-fusion discernment, analyzes the judgement relation criterion of radar prejudgment information and cut feedback state, constructs the revised fusion control method based on radar predetermination and cut feedback, and expounds the theory of fine modeling of coal mining machine interface。

煤矿智能化无人开采是未来发展重要方向，而煤岩界面精准识别是智能化开采亟需解决关键问题。项目采用理论分析与试验验证的方法，构建回波信号的本征分量分解方程，探讨混合介质中电磁回波的传递关系，研究雷达探测煤岩介质的导电率、反射特性、衰减特性的变化规律，确定复杂几何形状的异质体高分辨率成像的边界条件，建立多级细化搜索模型；研究截割振动变化幅值与阻力波动的反馈特性，建立变化率与煤岩截割反馈信息的映射关系，分析反馈特征与雷达预判煤岩界面的差异，建立煤岩界面对比反馈控制模型；采用Tsai方法进行雷达坐标系到截割反馈图像坐标系的投影矩阵转换，分析融合后像素点的TensorFlow卷积神经网络，建立雷达预判-截割反馈-融合识辨的数学模型，分析雷达预判识辨信息与截割反馈状态的判定关系准则，构建基于雷达预判与截割反馈的修正融合控制方法，阐明采煤机煤岩界面精细化的建模理论。

项目采用理论分析与试验验证的方法，利用双锁相放大技术实现被测信号从噪声信号中的提取，基于信号实验测试和搭建的矿用聚焦双频激电仪试验平台研究不同噪音信号干扰下系统的噪声抑制特性，建立了基于双锁相放大技术的测试系统，从分辨率、穿透力和稳定性三个方面综合考虑，使用LTD-2600探地雷达主机，配置GC400MHz屏蔽天线完成项目任务，取得了如下创新性研究成果：.（1）建立了双锁相放大技术的数学模型，通过理论分析证明了该技术可实现微弱信号检测。当噪声信号频率是参考信号频率奇数倍时，待测信号幅值、相位的相对误差均随噪声信号与待测信号幅值比值增大而增大。噪声信号频率是参考信号频率偶数倍时，待测信号幅值、相位的相对误差且与噪声信号的幅值、频率、相位无关。.（2）锁相放大技术可实现对直流噪声和交流偶数倍频噪声的抑制。当积分时间为信号周期的1倍、2倍、3倍，即积分时间为待测信号周期整数倍时，直流噪声和交流偶数倍频噪声对系统基本无影响。交流奇数倍频噪声对系统计算幅度影响较大，随着噪声信号幅度增大而增大，随着噪声信号频率增大而减小，对于计算相位影响较小。.（3）搭建了基于锁相放大技术的系统测试平台，测试证明激电电压幅值测量误差绝对值与激电电压信号幅值大小无关，而与频率有关，且该样机可对幅值小于5V 的激电电压信号进行采集，最大测量误差绝对值小于1.5%，可实现对激电电压信号幅值与相位的高精度检测。.（4）分析了煤矿井下掘进头超前探测方法和煤矿井下侧帮探测方法，使用LTD-2600探地雷达主机，配置GC400MHz屏蔽天线完成本次检测任务，识别现场探测中遇到的有限目标体引起的异常现象，对各类图像进行解释提供依据，根据双锁相放大技术，最终得到识别结果使用探地雷达来进行煤炭和岩石的分辨是可行的。