Intune with on-premise AD and Azure?

I'm not able to find an answer to this but we have AD running AD Connect to sync to O365/Azure and would like to have our Win10 machines managed by Intune. The enrollment methods MS offers don't work at all and I'm starting to suspect that this has to do because the Intune authority is the cloud but the computers themselves are using on-premise AD. Pressing connect on the 'work or school' screen just brings up a quick cmd box that disappears almost instantly. Is there a way to enroll these machines into Intune or troubleshoot this process? Thanks in advance.