固体充填刮板输送机是固体充填开采技术的关键装备，其高效智能化的程度制约着固体智能充填开采技术的进步，暂难突破超大采长、大功率、高可靠性的瓶颈，运行状态受地质条件、充填工艺等主控因素影响显著，异常工况自主调控问题亟待解决。总结了固体充填刮板输送机特征；构建了固体充填刮板输送机位姿形态与运输状态表征方法；通过分析异常工况的形成机理，选取异常工况判别指标，结合位姿与运输状态表征方法，给出了其空间位姿、牵引状态等异常工况判别准则与典型异常工况的调控路径，揭示了多工况状态下固体充填刮板输送机运载调控机制，提出了实时调控充填材料运输量、直线及水平程度组合的异常工况自主调控方法。全国首个260 m工作面长固体充填工程案例表明：通过异常工况自主调控，平均最大水平偏移距每减少100 mm，刮板链牵引力可减少85 kN，输送功率损耗可减少55 kW；平均最大垂直偏移距每减小100 mm时，输送功率损耗可减少7.2 kW；单位长度货载运量每减少100 kN/m，刮板链牵引力可减少31.9 kN，输送功率损耗可减少38.2 kW。所提出的异常工况自主调控方法可显著提升固体充填刮板输送机的输送效能，可助力实现固体智能充填开采。

Solid backfilling scraper conveyor is a key equipment of solid backfilling mining technology, and the degree of its high efficiency and intelligence restricts the development of solid intelligent backfilling mining technology. Currently, it is difficult to break through the bottleneck of high power, super-large mining and high reliability. The operating state is significantly affected by the main controlling factors such as geological conditions and filling process. The problem of autonomous control of abnormal working conditions needs to be solved urgently. The characteristics of solid backfilling scraper conveyor is summarized, and the posture and conveyance state characterization method of solid backfilling scraper conveyor is developed. By analyzing the formation principle of abnormal working conditions, selecting the discriminant index of abnormal working conditions, and combined with the characterization method of posture and conveyance state, the discriminant criteria of abnormal working conditions of the spatial posture and traction state of the scraper conveyor and the adjustment and control path of typical abnormal working conditions are given. The mechanism of conveyance control of solid backfilling scraper conveyor under multi-working conditions is revealed, and the efficient autonomous control method for abnormal working conditions is proposed to real-time control the transportation volume of backfilling materials, the straight line and horizontal extent. The first 260-meter-long solid filling project in China shows that through the autonomous control of abnormal working conditions, for every 100 mm reduction in horizontal offset, the traction is reduced by 85 kN and the transmission power loss is reduced by 55 kW, when the maximum vertical offset is reduced by 100 mm, the conveying power loss can be reduced by 7.2 kW, and for every 100 kN/m reduction in the mass of the cargo per unit length, the traction is reduced by 31.9 kN and the transmission power loss is reduced by 38.2 kW. The proposed autonomous control method of abnormal working conditions can significantly improve the conveying efficiency of solid backfilling scraper conveyor, and can help realize intelligent solid backfilling mining.