CN101737072B - Hydraulic support end socket electro-hydraulic controller - Google Patents
Hydraulic support end socket electro-hydraulic controller Download PDFInfo
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- CN101737072B CN101737072B CN2009102278491A CN200910227849A CN101737072B CN 101737072 B CN101737072 B CN 101737072B CN 2009102278491 A CN2009102278491 A CN 2009102278491A CN 200910227849 A CN200910227849 A CN 200910227849A CN 101737072 B CN101737072 B CN 101737072B
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Abstract
The invention discloses a hydraulic support end socket electro-hydraulic controller in which a liquid crystal display unit is connected with a parallel data bus P3 port of an MCU and a control bus pin; a keyboard scanning unit is connected with a scanning signal output bus P5 port of the MCU, an input signal receiving pin and an interrupt signal receiving pin; a drive circuit unit is connected with a buzzer control pin of the MCU, an alarm lamp control pin and a power light control terminal 3.3V power; an RS-485 interface unit is connected with an asynchronous serial communication pin and a read/write control pin of the MCU; a power supply unit is respectively connected with the corresponding power terminals of the MCU unit, the liquid crystal display unit, the keyboard scanning unit, the drive circuit unit and the RS-485 interface unit; and the JP1 port of the keyboard input unit is connected with a JP1 port of the keyboard scanning unit. The invention can control corresponding functions of the hydraulic support by a centralized control program or the hydraulic support end socket electro-hydraulic controller according to the position of the coal cutter, thus realizing safe and reliable automatic control on the hydraulic support at the coal face.
Description
Technical field
The present invention relates to a kind of controller of coal mine underground hydraulic support frame, the especially a kind of central controlled termination of coal-face hydraulic support electrohydraulic controller that is used for.
Technical background
Later 1980s, first two automatic coal plough of planer head comes into operation in the U.S. in the world, has many to realize the automation of coal mining in Germany's use then again, improved safety greatly.
Earlier 1990s, the PM4 hydraulic support electrohydraulic control system that France DBT company releases can move frame automatically and pass drag conveyor, the supporting use of this system and coal plough be suitable for the broadwall of medium-thickness seam and girdle, but production efficiency is poor than coal-winning machine.
Bimillennium, German DBT company cooperates with domestic R﹠D institution and coal machine factory, has developed comprehensive automation thin seam mining equipment, is used for the thin seam mining in colliery, has realized the automation control of girdle comprehensive mining.
In order to realize operated from a distance to the coal-face hydraulic support, on the hydraulic support main control computer, controller is set, image information and hydraulic support main controller support status information by the coal-winning machine camera system, realization is to the Long-distance Control of hydraulic support, solving support effectively tries to stop people from fighting each other not in place, pushing and sliding are untimely, and the back timber inclination angle is excessive, problems such as setting load deficiency.But this main controller based on import, not only the price high-adaptability is poor, and the technology sealing has caused communications protocol underground, fittings supply is untimely, termination electrohydraulic controller keypad function is incomplete, can not carry out feature operation to hydraulic support effectively and timely, can't be connected with hydraulic support structure of an essay controller with central control computer and realize the automatic control of networking, cause the down-hole fully-mechanized mining working to control automatically, adapt to Minepit environment complicated and changeable, restricted the development of coal industry, and mined and produce the network realization of automatic control.
Summary of the invention
Based on solving hydraulic support structure of an essay controller, termination electrohydraulic controller and the mutual communication of central control computer, realize the network problem of control automatically, single function manipulation key of hydraulic support is provided with the untimely problem of function control that not exclusively causes, and the invention provides a kind of coal-face hydraulic support end socket electro-hydraulic controller.
To achieve these goals, a kind of hydraulic support end socket electro-hydraulic controller of the present invention, comprise MCU unit, liquid crystal display, keyboard scan unit, drive circuit unit, RS-485 interface unit, power supply unit and keyboard input block, its formation is that liquid crystal display is connected with the control bus pin with the parallel data bus line P3 mouth of MCU; Sweep signal output bus P5 mouth, input signal that the keyboard scan unit is directly connected to MCU receive pin and interrupt signal reception pin; Drive circuit unit is connected with power supply indicator control terminal 3.3V power supply with buzzer control pin, the alarm lamp control pin of MCU; The RS-485 interface unit is connected with read/write control pin with the asynchronous serial communication pin of MCU; Power supply unit is connected with the corresponding power terminal of MCU unit, liquid crystal display, keyboard scan unit, drive circuit unit and RS-485 interface unit respectively; The JP1 mouth of keyboard input block is connected with the JP1 mouth of keyboard scan unit;
Described MCU unit is to be connected with MCU by 15 bit multiplex holding wires by the RAM memory, the least-significant byte address wire is transferred by address latch U25, high seven bit address lines directly link to each other with MCU, control bus is connected with chip select line, the read/write line of MCU respectively, and reset circuit is connected with MCU respectively with crystal oscillator; JTAG directly is connected with the JTAG pin of MCU;
Described liquid crystal display is that the MS12864R LCD is connected to MCU by control signal level conversion unit and data signal levels converting unit respectively; The pin of MS12864R LCD LCD1 is connected with slide rheostat R140;
Described drive circuit unit is to be connected with MCU by drive circuit unit with alarm lamp by external buzzer; Power supply indicator is connected with the 3.3V power supply by drive circuit unit;
Described keyboard scan unit is to be linked to each other with MCU by signal scanning unit, signal input unit and logic interrupt location, and signal scanning unit, signal input unit U11 and logic interrupt location are connected with the JP1 mouth respectively;
Described RS-485 interface unit is to be connected with MCU unit power ground by anti-jamming circuit by power ground, RS-485 bus driver unit is connected with MCU asynchronous serial communication interface by the logic isolation device, the lead-out terminal of logic isolation device U33, U34 is connected with MCU by one group of Schmidt trigger circuit, the data transmit-receive control pin of RS-485 bus driver unit is connected with MCU, and anti-high pressure is invaded circuit and is connected with external communication apparatus;
Described power supply unit is that the 12V power supply is introduced by socket, to the 5V level conversion unit 12V power source transition is become the 5V power supply through 12V, to the 3.3V level conversion unit 12V power source transition is become the 3.3V power supply through 12V, the 5V power supply is connected with the ground terminal with the power supply terminal of corresponding units respectively with the 3.3V power supply;
Described keyboard input block is 5 * 8 determinant keyboards, and 13 road holding wires are connected with JP1 respectively, and keyboard is set to 40 buttons.
The MODBUS communications protocol is adopted in electrohydraulic controller communication of the present invention, open communications protocol is convenient to carry out communication between each device, solved the problem of hydraulic support structure of an essay controller, termination electrohydraulic controller and the mutual communication of central control computer, by the automatic communication of networking, realized the unattended automatic control of work plane.In order to adapt to the abominable complex environment in down-hole; the bus driver of RS-485 interface unit is invaded circuit by anti-high pressure and is connected with external communication apparatus; bus driver is taken over control high pressure outward and is invaded the unit; and the diode that is provided with two reversal connections is as the threshold current holding circuit; when extraneous high voltage is invaded; the anti-high-voltage diode that anti-high pressure is invaded the unit forms the loop with conducting between external circuit and external circuit and ground; absorb high-pressure energy, the infringement of having avoided high voltage to bring effectively to communication system.The termination electrohydraulic controller serves as that control is moved according to send command code control hydraulic support to each structure of an essay controller with the infrared emission signal of coal-winning machine, has realized mining face under mine unattended duty mining operations, has improved safety and reliability that mine is produced.The keyboard input block is designed to 5 * 8 determinant keyboards, have 40 buttons, 17 single actions, action in groups, program upgrade and the display screen interface that are used for the Long-distance Control hydraulic support are switched and order affirmation and cancellation, thereby solved hydraulic support list function manipulation key the untimely problem of function control that not exclusively causes has been set, make hydraulic support end socket electro-hydraulic controller more flexible, more perfect functions to the control of hydraulic support.Dispose anti-power down power supply in the RAM memory of expansion, prevent the loss of data of when outage, storing among the RAM.
Electrohydraulic controller of the present invention has two kinds of methods of operation, position according to coal-winning machine, not only can finish function corresponding by hydraulic support end socket electro-hydraulic controller operating personnel's manual operation, and can realize automatic control operation by the centralized Control program, finish function corresponding, realized the automatic control that the coal-face hydraulic support is safe and reliable.
Description of drawings
Fig. 1 is the systematic schematic diagram of electrohydraulic controller of the present invention;
Fig. 2 is the keyboard input block schematic diagram of electrohydraulic controller of the present invention;
Fig. 3 is the MCU unit schematic diagram of electrohydraulic controller of the present invention;
Fig. 4 is the liquid crystal display schematic diagram of electrohydraulic controller of the present invention;
Fig. 5 is the keyboard scan unit schematic diagram of electrohydraulic controller of the present invention;
Fig. 6 is the drive circuit unit schematic diagram of electrohydraulic controller of the present invention;
Fig. 7 is the RS-485 interface unit schematic diagram of electrohydraulic controller of the present invention;
Fig. 8 is the power supply unit schematic diagram of electrohydraulic controller of the present invention;
Fig. 9 is the communication system structure chart of electrohydraulic controller of the present invention.
The specific embodiment
By specific embodiment the specific embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, is as the criterion to enable those skilled in the art to realization.
As shown in Figure 9, in specific implementation process, all structure of an essay controllers are connected with communication bus, the termination electrohydraulic controller is connected by H10 Interface and Communication bus, the termination electrohydraulic controller is by all structure of an essay controllers of communication bus centralized Control, structure of an essay controller all adopts the master-slave mode communication mode with the termination electrohydraulic controller, adopts the MODBUS communications protocol; The termination electrohydraulic controller is connected with central control computer by the H9 interface, and central control computer and structure of an essay controller all adopt the master-slave mode communication mode, adopts the MODBUS communications protocol.
As shown in Figure 1, implement a kind of hydraulic support end socket electro-hydraulic controller of the present invention, comprise MCU unit, liquid crystal display, keyboard scan unit, drive circuit unit, RS-485 interface unit and six unit of power supply unit.Liquid crystal display, keyboard scan unit, drive circuit unit and RS-485 interface unit are connected respectively on the MCU unit, and be subjected to the MCU unit controls, wherein: liquid crystal display is connected with control bus pin P2.4-P2.7 with the parallel data bus line P3 mouth of MCU U24; The sweep signal output bus P5 mouth that the keyboard scan unit is directly connected to MCU U24 is connected with input signal reception pin P4.0-P4.4 and interrupt signal reception pin P0.5; Drive circuit unit is connected with power supply indicator control terminal 3.3V power supply with buzzer control pin P2.2, the alarm lamp control pin P2.3 of MCU U24; The RS-485 interface unit is connected with read/write control pin P0.6, P2.0 with the asynchronous serial communication pin P0.0-P0.4 of MCU U24.Power supply unit is connected with the corresponding power terminal of MCU unit, liquid crystal display, keyboard scan unit, drive circuit unit and RS-485 interface unit respectively.
As shown in Figure 3, in MCU unit implementation process, the mixed signal SOC type single-chip microcomputer C8051F020 that MCU U24 has adopted U.S. Cygnal company to produce, the P0.0-P0.5 pin of C8051F020U24 satisfies the requirement of device for functions such as UART0, UART1, INT0 and INT1 through crossbar configuration in this device; For increasing system data storage capacity extension external RAM memory U26, be connected to the low eight bit data line of MCU U24 by eight bit multiplex data/address wires, the least-significant byte address wire is transferred by address latch U25, high seven bit address lines directly link to each other with MCU U24, control bus is connected with chip select line, the read/write line of MCUU24 respectively, anti-power down power supply is disposed in control system data write and storage in the RAM memory U26, prevent the loss of data of RAM when outage; Reset circuit links to each other with XTAL1, XTAL2 pin with the RST pin of MCU U24 respectively with crystal oscillator Y1, and when the S1 key was pressed, system returned to original state; JTAG directly links to each other with the JTAG pin of MCU U24.
As shown in Figure 4, in the liquid crystal display implementation process, the MS12864R LCD is by electrical level transferring chip U44, U20 converts the 5V signal to parallel data bus line P3 mouth and the control bus pin P2.4-P2.7 that is connected to MCU U24 behind the 3.3V signal, the part that is connected with MS12864R LCD LCD1 is the 5V system, the part that is connected with MCU U24 is the 3.3V system, the displaying contents of the control bus signal of MCU U24 and data-signal control MS12864R LCD LCD1, comprise the hydraulic support parameter, state and action etc., build human-computer interaction interface, for the operation of keyboard provides operating basis, parallel data bus line has the transmitted in both directions function, the data transfer direction of the state control data bus of the DIR pin of the P2.1 pin control U44 by MCU U24; The backlight intensity of MS12864R LCD LCD1 is regulated by the slide rheostat R140 that is connected with 18,19,20 pins of LCD1.
As shown in Figure 5, in keyboard scan unit implementation process, signal scanning unit U15, U14 and signal input unit U11 and logic interrupt location are connected respectively to the sweep signal output P5 mouth of MCU U24 and input signal receives pin P4.0-P4.4 and interrupt signal receives pin P0.5, and signal scanning unit U15, U14 and signal input unit U11 and logic interrupt location are connected respectively to the JP1 mouth; Sweep signal 3.3V is controlled by the P5 mouth of MCU U24 and inserts the JP1 mouth after output converts the 5V signal to by chip U15, U14, input signal 5V is produced by the control of JP1 mouth logical signal, convert the P4.0-P4.4 pin that inserts MCU U24 behind the 3.3V signal to by chip U11, logic interrupt signal 5V is controlled by JP1 mouth logical signal, generate the P0.5 pin that MCU U24 is inserted in the back by chip U7, U8, when manual operation, the keyboard scan unit passes to MCU U24 accurately to the keyboard state, for the operation of system provides concrete operation code.
As shown in Figure 6, in the drive circuit unit implementation process, the external buzzer U50 of buzzer driver element links to each other with relay K 1, four pins of relay K 1 are connected with No. 3 pins and the buzzer U50 of 12V power supply and triode Q1 respectively, No. 1 pin of triode Q1 is connected with the buzzer control pin P2.2 of MCU U24 by C106, R54, U27B, when there is incorrect state in system's operation appearance hydraulic support wrong or that detect, the buzzer control pin of MCU U24 produces control signal, drives the buzzer sounding; The alarm lamp D10 of alarm lamp driver element is connected with current-limiting resistance R75 with No. 3 pins of triode Q2 respectively, No. 1 pin of triode Q2 is connected with the alarm lamp control pin P2.3 of MCU U24 by C111, R67, U27C, when there is incorrect state in system's operation appearance hydraulic support wrong or that detect, the alarm lamp control pin of MCUU24 produces control signal, and alarm lamp is luminous; The power supply indicator D11 of power supply indicator driver element is connected with current-limiting resistance R74 with No. 3 pins of triode Q3 respectively, No. 1 pin of triode Q3 is connected with the 3.3V power supply by C119, R68, when system powers just often, power supply indicator is normally luminous, during the system electricity shortage, the power supply indicator deepening.
As shown in Figure 7, in RS-485 interface unit implementation process, RS-485 bus driver unit adopts the high-speed low-power-consumption transceiver MAX485EPA chip of MAX company as bus driver, message transmission rate can reach 2.5Mbps, the working power ground wire of bus driver is connected with MCU unit power ground by anti-jamming circuit, the isolation of the power supply of different brackets; RS-485 bus driver unit is connected with read/write control pin P0.6, P2.0 with the asynchronous serial communication pin P0.0-P0.4 of MCU U24 by logic isolation device U30, U31, U32, U33, U34, U35, wherein the lead-out terminal of logic isolation device U33, U34 is connected with P0.3 with the P0.1 of MCU U24 by one group of Schmidt trigger circuit, thereby obtain more stable received signal, by the read/write state of control pin P0.6, P2.0 high-low level control bus driver; RS-485 bus driver U36, U37 difference channel are invaded the unit with anti-high pressure and are linked to each other; and by preventing that high pressure intrusion unit links to each other with external communication apparatus interface H9, H10; prevent that the external circuit high voltage from invading the RS-485 interface unit, and diode P6KE6.8D21, the D22, D23, the D24 that are provided with reversal connection are as bus driver cell gate threshold currents holding circuit.
As shown in Figure 8, in the power supply unit implementation process, from installing outside the introducing, the 5V power supply is connected with the ground terminal with the power supply terminal of corresponding unit respectively with the 3.3V power supply 12V power supply by socket H7.The 5V power supply is obtained through BA05T chip U28 step-down by the 12V power supply, and the 3.3V power supply is obtained through BA033T chip U29 step-down by the 12V power supply.Seal in zero resistance between 5V system and the 3.3V system, seal in zero resistance R77 between 12V system and the 3.3V system, seal in zero resistance R76 between 5V system and the 12V system.
The Modbus agreement based on the RS-485 interface is adopted in the communication of control system.Solidified driver in the MCU U24 as the described liquid crystal display of feature, keyboard scan unit, drive circuit unit, RS-485 interface unit.
As described in Figure 2, implement the operation keyboard of a kind of hydraulic support end socket electro-hydraulic controller of the present invention.The keyboard input block adopts 5 * 8 determinant keyboards, 13 road holding wires are connected with JP-1 respectively, keyboard Designing is 40 buttons, is used for switching and the order affirmation and the cancellation of 17 single actions, action in groups, program upgrade and the display screen interface of Long-distance Control support, S
1Be " parameter demonstration " key, S
2Be " addressing " key, S
3Be " mistake demonstration " key, S
4Be " suddenly stopping " key, S
5Be " going up page turning " key, S
6Be " following page turning " key, S
7Be " left page turning " key, S
8Be " right page turning " key, S
9Be " 0 " numerical key, S
10Be " 1 " numerical key, S
11Be " 2 " numerical key, S
12Be " 3 " numerical key, S
13Be " 4 " numerical key, S
14Be " 5 " numerical key, S
15Be " 6 " numerical key, S
16Be " 7 " numerical key, S
17Be " 8 " numerical key, S
18Be " 9 " numerical key, S
19Be " stretching the one-level wall supporting " key, S
20Be " receiving the one-level wall supporting " key, S
21Be " stretching the secondary wall supporting " key, S
22Be " receiving the secondary wall supporting " key, S
23Be " setting prop " key, S
24Be " falling post " key, S
25Be " pushing and sliding " key, S
26Be " moving frame " key, S
27Be " carrying the end " key, S
28Be " stretching side guard board " key, S
29Be " receipts side guard board " key, S
30Be " stretching balance jack " key, S
31Be " receipts balance jack " key, S
32Be " spraying " key, S
33Be " range finding " key, S
34Be " stretching extensible canopy " key, S
35Be " receipts extensible canopy " key, S
36Be " partial circulating " key, S
37Be " function in groups " key, S
38Be " carriage return " key, S
39Be " withdrawing from " key, S
40Be " automatic guidance " key.
In specific implementation process, the JP1 mouth of keyboard input block is connected with the JP1 mouth of keyboard scan unit.
When implementing the control method of a kind of hydraulic support end socket electro-hydraulic controller of the present invention, the position signalling of the coal-winning machine that structure of an essay controller is collected and be transferred to the termination electrohydraulic controller by communication bus, the termination electrohydraulic controller serves as that control is according to sending command code to each structure of an essay controller, the automation control of realization unattended duty coal-face hydraulic bracket system with coal-winning machine transmitting site signal.System is in service, coal-winning machine position infrared information constantly passes to the termination electrohydraulic controller by structure of an essay controller, and the termination electrohydraulic controller can send instructions to relevant hydraulic support structure of an essay controller real-time and accurately by automatic and manual dual mode according to coal-winning machine position infrared information and fall frame, moving conveyor, rises the frame supporting roof and draw actions such as moving support.Meanwhile, structure of an essay controller constantly feeds back to the termination electrohydraulic controller with the hydraulic support health information, the termination electrohydraulic controller is handled, is analyzed and judge through data, at any time send control instruction to structure of an essay controller, and each unit running status of demonstration hydraulic support, send alarm signal when makeing mistakes, and show error location and reason, can carry out program upgrade to structure of an essay controller in case of necessity.
Embodiment according to the foregoing description, those skilled in the art can obtain the combination of corresponding system software and software, realize a kind of hydraulic support end socket electro-hydraulic controller of the present invention, can realize simultaneously the reliable operation of hydraulic support, reach the purpose that the hydraulic end head support is monitored in real time, other technology contents that relates in this manual and technical term should be understood and enforcement with the technological means of passing through usefulness according to the common practise of this area, also can enforcement be set by rational analysis ratiocination.
Claims (1)
1. hydraulic support end socket electro-hydraulic controller, comprise MCU unit, liquid crystal display, keyboard scan unit, drive circuit unit, RS-485 interface unit, power supply unit and keyboard input block, it is characterized in that: liquid crystal display is connected with control bus pin (P2.4-P2.7) with parallel data bus line (P3) mouth of MCU (U24); Sweep signal output bus (P5) mouth, input signal that the keyboard scan unit is directly connected to MCU (U24) receive pin (P4.0-P4.4) and interrupt signal reception pin (P0.5); Drive circuit unit is connected with power supply indicator control terminal 3.3V power supply with buzzer control pin (P2.2), the alarm lamp control pin (P2.3) of MCU (U24); The asynchronous serial communication pin (P0.0-P0.4) of RS-485 interface unit and MCU (U24) with read write control pin (P0.6, P2.0) and be connected; Power supply unit is connected with the corresponding power terminal of MCU unit, liquid crystal display, keyboard scan unit, drive circuit unit and RS-485 interface unit respectively; The JP1 mouth of keyboard input block is connected with the JP1 mouth of keyboard scan unit;
Described MCU unit is to be connected with MCU by 15 bit multiplex holding wires by the RAM memory, the least-significant byte address wire is transferred by address latch (U25), high seven bit address lines directly link to each other with MCU, control bus is connected with chip select line, the read/write line of MCU respectively, and reset circuit is connected with MCU respectively with crystal oscillator; JTAG directly is connected with the JTAG pin of MCU;
Described liquid crystal display is that the MS12864R LCD is connected to MCU by control signal level conversion unit and data signal levels converting unit respectively; The pin of MS12864R LCD LCD1 (18,19,20) is connected with slide rheostat (R140);
Described drive circuit unit is to be connected with MCU by drive circuit unit with alarm lamp by external buzzer; Power supply indicator is connected with the 3.3V power supply by drive circuit unit;
Described keyboard scan unit is to be linked to each other with MCU by signal scanning unit, signal input unit and logic interrupt location, and signal scanning unit (U15, U14), signal input unit (U11) and logic interrupt location are connected with the JP1 mouth respectively;
Described RS-485 interface unit is to be connected with MCU unit power ground by anti-jamming circuit by power ground, RS-485 bus driver unit is connected with MCU asynchronous serial communication interface by the logic isolation device, the lead-out terminal of logic isolation device (U33, U34) is connected with MCU by one group of Schmidt trigger circuit, the data transmit-receive control pin of RS-485 bus driver unit is connected with MCU, and anti-high pressure is invaded circuit and is connected with external communication apparatus;
Described power supply unit is that the 12V power supply is introduced by socket (H7), to the 5V level conversion unit 12V power source transition is become the 5V power supply through 12V, to the 3.3V level conversion unit 12V power source transition is become the 3.3V power supply through 12V, the 5V power supply is connected with the ground terminal with the power supply terminal of corresponding units respectively with the 3.3V power supply;
Described keyboard input block is 5 * 8 determinant keyboards, and 13 road holding wires are connected with JP1 respectively, and keyboard is set to 40 buttons.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102278491A CN101737072B (en) | 2009-12-15 | 2009-12-15 | Hydraulic support end socket electro-hydraulic controller |
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| CN2009102278491A CN101737072B (en) | 2009-12-15 | 2009-12-15 | Hydraulic support end socket electro-hydraulic controller |
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| CN101737072A CN101737072A (en) | 2010-06-16 |
| CN101737072B true CN101737072B (en) | 2011-10-12 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102004483A (en) * | 2010-12-15 | 2011-04-06 | 河北天择重型机械有限公司 | Fully-mechanized mining digital manless working face control system |
| CN102418541B (en) * | 2011-08-23 | 2013-12-25 | 三一重型装备有限公司 | Method, device and system for automatically moving hydraulic supports for coal plough |
| CN102505951A (en) * | 2011-11-22 | 2012-06-20 | 郑州煤矿机械集团股份有限公司 | Intrinsically safe control box for mine |
| CN103306700B (en) * | 2013-05-15 | 2015-12-09 | 太原理工大学 | The control method of a kind of coal mine fully-mechanized mining working unmanned operation |
| CN113153403B (en) * | 2021-04-13 | 2023-11-17 | 北京天玛智控科技股份有限公司 | Automatic control method and device for hydraulic support of fully mechanized mining face |
| CN116291659B (en) * | 2023-05-24 | 2023-08-08 | 太原理工大学 | Hydraulic support man-machine cooperative control strategy recommendation method |
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