CN103758523B - A kind of thin coal seam unmanned work plane moves the construction process of frame restricted model automatically - Google Patents

Abstract

Thin coal seam unmanned work plane moves a construction process for frame restricted model automatically, belongs to the construction process that shut die type is moved in colliery.Based on the restriction relation between thin coal seam unmanned working surface hydraulic support and other mechanical equipment, build the operation restricted model between coal-winning machine and hydraulic support; When coal-winning machine comes and goes traction coal cutting along manless working face, on support, infrared remote receiver receives the infrared rays that on coal-winning machine, infrared transmitter sends, and to receive a ultrared frame support for fixed point, face guard packed up by the support controlling front roll front, avoid front roll cut face guard, control ten frame support pushing and sliding ten/one strokes after back roll, make drag conveyor by certain curved, the support completing whole pushing and sliding stroke performs to fall and shifts action, realizes support and the mutual restriction relation between coal-winning machine displacement and lead.To improve hydraulic support Automated condtrol design, improve its functional performance, improve the reliability of equipment and life-span, significant.

Description

A kind of thin coal seam unmanned work plane moves the construction process of frame restricted model automatically

Technical field

The present invention relates to the construction process that shut die type is moved in a kind of colliery, specifically a kind of thin coal seam unmanned work plane moves the construction process of frame restricted model automatically.

Background technology

Through exploitation for many years, in the many regional mines of China, the reserves of thick and high seam are close to exhausted, and for the exploitation of girdle (thickness≤1.3m), are in the state of slowly development for a long time due to reasons such as economic technology and safety.In coal in China reserves, the recoverable reserves of girdle is about 61.5 hundred million t, account for about 19% of the total recoverable reserves of national coal, but according to incompletely statistics, the annual production of China's girdle only accounts for about 10.4% of national coal total output, the serious disproportion of output and reserves.

Manless working face coal-mining technique is the important channel solving coal industry safety in production and sustainable development, and the difficulty particularly slowly even stayed cool for China's long-run development adopts the exploitation of girdle, will have its own strategic significance.The main mechanical equipment of manless working face comprises short fuselage coal-winning machine, drag conveyor and hydraulic support, coal-winning machine comes and goes traction coal cutting along work plane, and coal breakage is loaded in drag conveyor, coal breakage is transported work plane by drag conveyor, by elevating conveyor and extensible belt conveyor, coal is transported again, the function that hydraulic support completes supported face top board and advanced by mechanical equipment across pitch.Although three kinds of mechanical equipments are separate, separately control, being in operation is mutual restriction, mutually coordination, there is restriction relation in operation.In coal mining process, mechanical equipment must run according to this restriction relation, and the work that could normally coordinate, gives full play to the production capacity of equipment.Otherwise, will interfere between equipment, occur such as coal-winning machine cut back timber, the supporting phenomenon such as not in time.The roof and floor condition of work plane, coal-winning machine physical dimension and hydraulic rack structure etc., directly affect the restriction relation between mechanical equipment.

Content of the present invention

Technical problem: in order to overcome the deficiency of the restriction relation technology between existing thin coal seam unmanned working surface hydraulic support and other mechanical equipment, the object of the invention is to provide that a kind of thinking is simple, computing is reasonable and automaticity is high, productivity effect, safety and reliability are good, can realize a kind of thin coal seam unmanned work plane of restriction relation between hydraulic support and other mechanical equipment and automatically move the construction process of frame restricted model.

Technical scheme: object of the present invention is achieved through the following technical solutions: based on the restriction relation between thin coal seam unmanned working surface hydraulic support and other mechanical equipment, builds the operation restricted model between coal-winning machine and hydraulic support, when coal-winning machine comes and goes traction coal cutting along manless working face, on support, infrared remote receiver receives the infrared rays that on coal-winning machine, infrared transmitter sends, and to receive a ultrared frame support for fixed point, face guard packed up by the support controlling front roll front, avoid front roll cut face guard, and ten frame support pushing and sliding ten/one strokes after control back roll, drag conveyor after making back roll within the scope of ten frame support widths draws near according to distance back roll and sequentially pushes ahead, form bending section, the support completing whole pushing and sliding stroke performs to fall and shifts action, thus the mutual restriction relation realized between the displacement of support and coal-winning machine and lead, construction process concrete steps are as follows:

A, hydraulic support in manless working face is carried out serial number from left to right: 1,2,3 ..., N; When short fuselage coal-winning machine comes and goes traction coal cutting along manless working face, on hydraulic support, infrared receiver receives the infrared rays that on short fuselage coal-winning machine, RF transmitter sends, to receive a ultrared frame hydraulic support for fixed point, the distance calculated by support frame number between work plane left end and fixed point is represented, namely with K in formula, K is for being not more than (x ₀/ l) maximum integer; x ₀represent the spacing of work plane left end and fixed point; L is set spacing;

B, by fixed point to the horizontal projection distance L of short fuselage coal-winning machine front roll ₁be scaled the round numbers △ K calculated by support frame number _1,namely by the horizontal projection distance L of fixed point to short fuselage coal-winning machine back roll ₂be scaled the round numbers △ K calculated by support frame number ₂, namely and define: i ∈ (0,1,2 ...);

C, by short fuselage coal-winning machine from left to right along manless working face traction be decided to be positive direction traction, from right to left traction be decided to be negative direction traction, represent the lead of short fuselage coal-winning machine with variable x, that is:

D, use T _irepresent the relevant action of hydraulic support, as setting prop, fall post, reach, pushing and sliding; Subscript represent i-th action (i=0,1,2 ...); Define 12 action symbols as follows:

T ₀: receive face guard; T ₁: stretch face guard and pushing and sliding 1/10 stroke; T ₂: pushing and sliding 1/5 stroke; T ₃: pushing and sliding 3/10 stroke; T ₄: pushing and sliding 2/5 stroke; T ₅: pushing and sliding 1/2 stroke; T ₆: pushing and sliding 3/5 stroke; T ₇: pushing and sliding 7/10 stroke; T ₈: pushing and sliding 4/5 stroke; T ₉: pushing and sliding 9/10 stroke; T ₁₀: pushing and sliding 1 stroke; T ₁₁: fall and shift;

The hydraulic support that e, definition hydraulic support function of movement are numbered M performs T _iduring action, be defined as: meet in formula expression performs an action; When short fuselage coal-winning machine comes and goes traction coal cutting along manless working face, 12 actions that 12 frame hydraulic support distributions near short fuselage coal-winning machine perform can be expressed as: ---K ₀face guard received by frame; ---K ₁frame stretches face guard and pushing and sliding 1/10 stroke; ---K ₂frame pushing and sliding 1/5 stroke; ---K ₃frame pushing and sliding 3/10 stroke; ---K ₄frame pushing and sliding 2/5 stroke; ---K ₅frame pushing and sliding 1/2 stroke; ---K ₆frame pushing and sliding 3/5 stroke; ---K ₇frame pushing and sliding 7/10 stroke; ---K ₈frame pushing and sliding 4/5 stroke; ---K ₉frame pushing and sliding 9/10 stroke; ---K ₁₀frame pushing and sliding 1 stroke; ---K ₁₁frame falls and shifts, and unification is denoted as: i ∈ (0,1,2 ..., 11);

F, analyze and can obtain the restriction relation mathematic(al) representation that hydraulic support and short fuselage coal-winning machine run and be:

$K_i=\left\{\begin{array}{c}K+x({\mathrm{\&Delta;K}}_i+1)(i<1)\\ K-x({\mathrm{\&Delta;K}}_i+i)(i\&GreaterEqual;1)\end{array}\right.,i\&Element;(\mathrm{0,1,2},...,11)$

That is:

$T_i=\left\{\begin{array}{c}K+x({\mathrm{\&Delta;K}}_i+1)(i<1)\\ K-x({\mathrm{\&Delta;K}}_i+i)(i\&GreaterEqual;1)\end{array}\right.,i\&Element;(\mathrm{0,1,2},...,11)$

Or $T_i=\left\{\begin{array}{c}K+x[\mathrm{int}\left(\frac{L_1}{2l}\right)+1)](i<1)\\ K-x\left[\mathrm{int}\left(\frac{L_2}{2l}\right)+i)\right](i\&GreaterEqual;1)\end{array}\right.,i\&Element;(\mathrm{0,1,2},...,11)$

When short fuselage coal-winning machine along manless working face forward and oppositely traction coal cutting time, along with hydraulic support receives the infrared rays that short fuselage coal-winning machine sends, corresponding distance x ₀namely determined, namely with the change of short fuselage coal winning machine position, relative to infrared transmitter or infrared remote receiver horizontal projection distance △ K _i12 constant frame hydraulic support K _ithe action T that execution 12 is different respectively _i[i ∈ (0,1,2 ..., 11)];

G, with K frame hydraulic support corresponding to infrared emittance on short fuselage coal-winning machine for benchmark, perform corresponding action relative to 12 frame hydraulic supports of K frame hydraulic support invariant position according to restriction relation, the constraint Controlling model namely automatically moving frame and short fuselage coal winning machine position can be described below:

1) when short fuselage coal-winning machine draws coal cutting to the right:

1. K+ △ K ₁+ 1 frame hydraulic support performs receives face guard action;

2. K-△ K ₂-1 frame hydraulic support performs stretches face guard and pushing and sliding 1/10 stroke;

3. K-△ K ₃-2 frame hydraulic supports perform pushing and sliding 1/10 stroke;

4. K-△ K ₄-3 frame hydraulic supports perform pushing and sliding 1/5 stroke;

5. K-△ K ₅-4 frame hydraulic supports perform pushing and sliding 3/10 stroke;

6. K-△ K ₆-5 frame hydraulic supports perform pushing and sliding 2/5 stroke;

7. K-△ K ₇-6 frame hydraulic supports perform pushing and sliding 1/2 stroke;

8. K-△ K ₈-7 frame hydraulic supports perform pushing and sliding 3/5 stroke;

9. K-△ K ₉-8 frame hydraulic supports perform pushing and sliding 7/10 stroke;

10. K-△ K ₁₀-9 frame hydraulic supports perform pushing and sliding 4/5 stroke;

k-△ K ₁₁-10 frame hydraulic supports perform pushing and sliding 1 stroke;

k-△ K ₁₂-11 frame hydraulic supports perform to fall and shift action.

2) when short fuselage coal-winning machine draws coal cutting left:

1. K-△ K ₁-1 frame hydraulic support performs receives face guard action;

2. K+ △ K ₂+ 1 frame hydraulic support performs stretches face guard and pushing and sliding 1/10 stroke;

3. K+ △ K ₃+ 2 frame hydraulic supports perform pushing and sliding 1/5 stroke;

4. K+ △ K ₄+ 3 frame hydraulic supports perform pushing and sliding 3/10 stroke;

5. K+ △ K ₅+ 4 frame hydraulic supports perform pushing and sliding 2/5 stroke;

6. K+ △ K ₆+ 5 frame hydraulic supports perform pushing and sliding 1/2 stroke;

7. K+ △ K ₇+ 6 frame hydraulic supports perform pushing and sliding 3/5 stroke;

8. K+ △ K ₈+ 7 frame hydraulic supports perform pushing and sliding 7/10 stroke;

9. K+ △ K ₉+ 8 frame hydraulic supports perform pushing and sliding 4/5 stroke;

10. K+ △ K ₁₀+ 9 frame hydraulic supports perform pushing and sliding 9/10 stroke;

k+ △ K ₁₁+ 10 frame hydraulic supports perform pushing and sliding 1 stroke;

k+ △ K ₁₂+ 11 frame hydraulic supports perform to fall and shift action.

Beneficial effect, owing to have employed such scheme, by analyzing the restriction relation between thin coal seam unmanned working surface hydraulic support and other mechanical equipment, set up hydraulic support and the automatic control constraints model of short fuselage coal winning machine position, the method thinking is simple, computing is reasonable and automaticity is high, and productivity effect, safety and reliability are good.Adopt the construction process of this restricted model, for improve hydraulic support Automated condtrol design, improve its functional performance, the reliability improving equipment work and life-span, significant.

Accompanying drawing explanation

Fig. 1 is the restriction relation figure that the present invention's short fuselage coal-winning machine moves frame to the right when drawing automatically.

Fig. 2 is the restriction relation figure that the present invention's short fuselage coal-winning machine moves frame left when drawing automatically.

In figure, 1, short fuselage coal-winning machine; 2, drag conveyor; 3, hydraulic support; 4, rib; 5, back roll; 6, RF transmitter; 7, front roll; 8, infrared receiver; 9, manless working face.

Detailed description of the invention

By reference to the accompanying drawings the concrete implementation step of the present invention is described:

Embodiment 1: in fig. 1 and 2, x ₀represent the distance of fixed point distance work plane left end; L represents set spacing; L ₁represent the horizontal projection distance of fixed point distance coal-winning machine front roll; L ₂represent the horizontal projection distance of fixed point distance coal-winning machine back roll; represent i-th action that Ki frame hydraulic support performs.

Based on the restriction relation between thin coal seam unmanned working surface hydraulic support and other mechanical equipment, build the operation restricted model between coal-winning machine and hydraulic support, when coal-winning machine comes and goes traction coal cutting along manless working face, on support, infrared remote receiver receives the infrared rays that on coal-winning machine, infrared transmitter sends, and to receive a ultrared frame support for fixed point, face guard packed up by the support controlling front roll front, avoid front roll cut face guard, and ten frame support pushing and sliding ten/one strokes after control back roll, drag conveyor after making back roll within the scope of ten frame support widths draws near according to distance back roll and sequentially pushes ahead, form bending section, the support completing whole pushing and sliding stroke performs to fall and shifts action, thus the mutual restriction relation realized between the displacement of support and coal-winning machine and lead,

Construction process concrete steps are as follows:

A, hydraulic support 3 in manless working face 9 is carried out serial number from left to right: 1,2,3 ..., N; When short fuselage coal-winning machine 1 comes and goes traction coal cutting 4 along manless working face 9, on hydraulic support 3, infrared receiver 8 receives the infrared rays that on short fuselage coal-winning machine 1, RF transmitter 6 sends, to receive a ultrared frame hydraulic support 3 for fixed point, the distance calculated by support frame number between work plane left end and fixed point is represented, namely with K in formula, K is for being not more than (x ₀/ l) maximum integer; x ₀represent the spacing of work plane left end and fixed point; L is set spacing;

B, by fixed point to the horizontal projection distance L of short fuselage coal-winning machine 1 front roll 7 ₁be scaled the round numbers △ K calculated by support frame number ₁, namely by the horizontal projection distance L of fixed point to short fuselage coal-winning machine back roll 5 ₂be scaled the round numbers △ K calculated by support frame number ₂, namely and define: i ∈ (0,1,2 ...);

C, by short fuselage coal-winning machine 1 from left to right along manless working face 9 traction be decided to be positive direction traction, from right to left traction be decided to be negative direction traction, represent the lead of short fuselage coal-winning machine 1 with variable x, that is:

D, use T _irepresent the relevant action of hydraulic support 3, as setting prop, fall post, reach, pushing and sliding, receipts face guard; Subscript represent i-th action (i=0,1,2 ...).Define 12 action symbols as follows:

T ₀: receive face guard; T ₁: stretch face guard and pushing and sliding 1/10 stroke; T ₂: pushing and sliding 1/5 stroke; T ₃: pushing and sliding 3/10 stroke; T ₄: pushing and sliding 2/5 stroke; T ₅: pushing and sliding 1/2 stroke; T ₆: pushing and sliding 3/5 stroke; T ₇: pushing and sliding 7/10 stroke; T ₈: pushing and sliding 4/5 stroke; T ₉: pushing and sliding 9/10 stroke; T ₁₀: pushing and sliding 1 stroke; T ₁₁: fall and shift;

The hydraulic support 3 that e, definition hydraulic support 3 function of movement are numbered M performs T _iduring action, be defined as: meet in formula expression performs an action.When short fuselage coal-winning machine 1 comes and goes traction coal cutting 4 along manless working face, 12 actions that 12 frame hydraulic support distributions near short fuselage coal-winning machine 1 perform can be expressed as: ---K ₀face guard received by frame; ---K ₁frame stretches face guard and pushing and sliding 1/10 stroke; ---K ₂frame pushing and sliding 1/5 stroke; ---K ₃frame pushing and sliding 3/10 stroke; ---K ₄frame pushing and sliding 2/5 stroke; ---K ₅frame pushing and sliding 1/2 stroke; ---K ₆frame pushing and sliding 3/5 stroke; ---K ₇frame pushing and sliding 7/10 stroke; ---K ₈frame pushing and sliding 4/5 stroke; ---K ₉frame pushing and sliding 9/10 stroke; ---K ₁₀frame pushing and sliding 1 stroke; ---K ₁₁frame falls and shifts, and unification is denoted as: i ∈ (0,1,2 ..., 11);

F, analyze and can obtain the restriction relation mathematic(al) representation that hydraulic support 3 and short fuselage coal-winning machine 1 run and be:

$K_i=\left\{\begin{array}{c}K+x({\mathrm{\&Delta;K}}_i+1)(i<1)\\ K-x({\mathrm{\&Delta;K}}_i+i)(i\&GreaterEqual;1)\end{array}\right.,i\&Element;(\mathrm{0,1,2},...,11)$

That is:

$T_i=\left\{\begin{array}{c}K+x({\mathrm{\&Delta;K}}_i+1)(i<1)\\ K-x({\mathrm{\&Delta;K}}_i+i)(i\&GreaterEqual;1)\end{array}\right.,i\&Element;(\mathrm{0,1,2},...,11)$

Or $T_i=\left\{\begin{array}{c}K+x[\mathrm{int}\left(\frac{L_1}{2l}\right)+1)](i<1)\\ K-x\left[\mathrm{int}\left(\frac{L_2}{2l}\right)+i)\right](i\&GreaterEqual;1)\end{array}\right.,i\&Element;(\mathrm{0,1,2},...,11)$

When short fuselage coal-winning machine 1 along manless working face 9 forward and oppositely traction coal cutting 4 time, along with hydraulic support 3 receives the infrared rays that short fuselage coal-winning machine 1 sends, corresponding distance x ₀namely determined, namely with the change of short fuselage coal-winning machine 1 position, relative to infrared transmitter 6 or infrared remote receiver 8 horizontal projection distance △ K _i12 constant frame hydraulic support K _ithe action T that execution 12 is different respectively _i[i ∈ (0,1,2 ..., 11)];

G, with the K frame hydraulic support 3 of infrared transmitter 6 correspondence on short fuselage coal-winning machine 1 for benchmark, perform corresponding action relative to 12 frame hydraulic supports 3 of K frame hydraulic support 3 invariant position according to restriction relation, the constraint Controlling model namely automatically moving frame and short fuselage coal-winning machine 1 position can be described below:

1) when short fuselage coal-winning machine 1 draws coal cutting 4 to the right:

1. K+ △ K ₁+ 1 frame hydraulic support 3 performs receives face guard action;

2. K-△ K ₂-1 frame hydraulic support 3 performs stretches face guard and pushing and sliding 1/10 stroke;

3. K-△ K ₃-2 frame hydraulic supports 3 perform pushing and sliding 1/10 stroke;

4. K-△ K ₄-3 frame hydraulic supports 3 perform pushing and sliding 1/5 stroke;

5. K-△ K ₅-4 frame hydraulic supports 3 perform pushing and sliding 3/10 stroke;

6. K-△ K ₆-5 frame hydraulic supports 3 perform pushing and sliding 2/5 stroke;

7. K-△ K ₇-6 frame hydraulic supports 3 perform pushing and sliding 1/2 stroke;

8. K-△ K ₈-7 frame hydraulic supports 3 perform pushing and sliding 3/5 stroke;

9. K-△ K ₉-8 frame hydraulic supports 3 perform pushing and sliding 7/10 stroke;

10. K-△ K ₁₀-9 frame hydraulic supports 3 perform pushing and sliding 4/5 stroke;

k-△ K ₁₁-10 frame hydraulic supports 3 perform pushing and sliding 1 stroke;

k-△ K ₁₂-11 frame hydraulic supports 3 perform to fall and shift action.

2) when short fuselage coal-winning machine 1 draws coal cutting 4 left:

1. K-△ K ₁-1 frame hydraulic support 3 performs receives face guard action;

2. K+ △ K ₂+ 1 frame hydraulic support 3 performs stretches face guard and pushing and sliding 1/10 stroke;

3. K+ △ K ₃+ 2 frame hydraulic supports 3 perform pushing and sliding 1/5 stroke;

4. K+ △ K ₄+ 3 frame hydraulic supports 3 perform pushing and sliding 3/10 stroke;

5. K+ △ K ₅+ 4 frame hydraulic supports 3 perform pushing and sliding 2/5 stroke;

6. K+ △ K ₆+ 5 frame hydraulic supports 3 perform pushing and sliding 1/2 stroke;

7. K+ △ K ₇+ 6 frame hydraulic supports 3 perform pushing and sliding 3/5 stroke;

8. K+ △ K ₈+ 7 frame hydraulic supports 3 perform pushing and sliding 7/10 stroke;

9. K+ △ K ₉+ 8 frame hydraulic supports 3 perform pushing and sliding 4/5 stroke;

10. K+ △ K ₁₀+ 9 frame hydraulic supports 3 perform pushing and sliding 9/10 stroke;

k+ △ K ₁₁+ 10 frame hydraulic supports 3 perform pushing and sliding 1 stroke;

k+ △ K ₁₂+ 11 frame hydraulic supports 3 perform to fall and shift action.

The present invention is by analyzing the restriction relation between thin coal seam unmanned working surface hydraulic support and other mechanical equipment, set up hydraulic support and the automatic control constraints model of short fuselage coal winning machine position, the method thinking is simple, computing is reasonable and automaticity is high, productivity effect, safety and reliability are good, adopt the construction process of this restricted model, for improve hydraulic support Automated condtrol design, improve its functional performance, the reliability improving equipment work and life-span, significant.

Claims (1)

1. a thin coal seam unmanned work plane moves the construction process of frame restricted model automatically, it is characterized in that: based on the restriction relation between thin coal seam unmanned working surface hydraulic support and other mechanical equipment, build the operation restricted model between coal-winning machine and hydraulic support, when coal-winning machine comes and goes traction coal cutting along manless working face, on support, infrared remote receiver receives the infrared rays that on coal-winning machine, infrared transmitter sends, and to receive a ultrared frame support for fixed point, face guard packed up by the support controlling front roll front, avoid front roll cut face guard, and ten frame support pushing and sliding ten/one strokes after control back roll, drag conveyor after making back roll within the scope of ten frame support widths draws near according to distance back roll and sequentially pushes ahead, form bending section, the support completing whole pushing and sliding stroke performs to fall and shifts action, thus the mutual restriction relation realized between the displacement of support and coal-winning machine and lead, construction process concrete steps are as follows:

A, hydraulic support in manless working face is carried out serial number from left to right: 1,2,3 ..., N; When short fuselage coal-winning machine comes and goes traction coal cutting along manless working face, on hydraulic support, infrared receiver receives the infrared rays that on short fuselage coal-winning machine, RF transmitter sends, to receive a ultrared frame hydraulic support for fixed point, the distance calculated by support frame number between work plane left end and fixed point is represented, namely with K in formula, K is for being not more than (x ₀/ l) maximum integer; x ₀represent the spacing of work plane left end and fixed point; L is set spacing;

B, by fixed point to the horizontal projection distance L of short fuselage coal-winning machine front roll ₁be scaled the round numbers △ K calculated by support frame number ₁, namely by the horizontal projection distance L of fixed point to short fuselage coal-winning machine back roll ₂be scaled the round numbers △ K calculated by support frame number ₂, namely and define: ${\mathrm{\&Delta;K}}_i=\left\{\begin{array}{c}{\mathrm{\&Delta;K}}_1(i<1)\\ {\mathrm{\&Delta;K}}_2(i\&GreaterEqual;1)\end{array}\right.,$ i∈(0，1，2，…，)；

C, by short fuselage coal-winning machine from left to right along manless working face traction be decided to be positive direction traction, from right to left traction be decided to be negative direction traction, represent the lead of short fuselage coal-winning machine with variable x, that is:

D, use T _irepresent the relevant action of hydraulic support, as setting prop, fall post, reach, pushing and sliding; Subscript represent i-th action (i=0,1,2 ...); Define 12 action symbols as follows:

T ₀: receive face guard; T ₁: stretch face guard and pushing and sliding 1/10 stroke; T ₂: pushing and sliding 1/5 stroke; T ₃: pushing and sliding 3/10 stroke; T ₄: pushing and sliding 2/5 stroke; T ₅: pushing and sliding 1/2 stroke; T ₆: pushing and sliding 3/5 stroke; T ₇: pushing and sliding 7/10 stroke; T ₈: pushing and sliding 4/5 stroke; T ₉: pushing and sliding 9/10 stroke; T ₁₀: pushing and sliding 1 stroke; T ₁₁: fall and shift;

The hydraulic support that e, definition hydraulic support function of movement are numbered M performs T _iduring action, be defined as: meet in formula expression performs an action; When short fuselage coal-winning machine comes and goes traction coal cutting along manless working face, 12 actions that 12 frame hydraulic support distributions near short fuselage coal-winning machine perform are expressed as: ---K ₀face guard received by frame; ---K ₁frame stretches face guard and pushing and sliding 1/10 stroke; ---K ₂frame pushing and sliding 1/5 stroke; ---K ₃frame pushing and sliding 3/10 stroke; ---K ₄frame pushing and sliding 2/5 stroke; ---K ₅frame pushing and sliding 1/2 stroke; ---K ₆frame pushing and sliding 3/5 stroke; ---K ₇frame pushing and sliding 7/10 stroke; ---K ₈frame pushing and sliding 4/5 stroke; ---K ₉frame pushing and sliding 9/10 stroke; ---K ₁₀frame pushing and sliding 1 stroke; ---K ₁₁frame falls and shifts, and unification is denoted as: i ∈ (0,1,2 ..., 11);

F, analyze and can obtain the restriction relation mathematic(al) representation that hydraulic support and short fuselage coal-winning machine run and be:

$K_i=\left\{\begin{array}{c}K+x({\mathrm{\&Delta;K}}_i+1)(i<1)\\ K-x({\mathrm{\&Delta;K}}_i+i)(i\&GreaterEqual;1)\end{array}\right.,$ i∈(0，1，2，…，11)

That is:

$T_i=\left\{\begin{array}{c}K+x({\mathrm{\&Delta;K}}_i+1)(i<1)\\ K-x({\mathrm{\&Delta;K}}_i+i)(i\&GreaterEqual;1)\end{array}\right.,$ i∈(0，1，2，…，11)

Or $T_i=\left\{\begin{array}{c}K+x[\mathrm{int}\left(\frac{L_1}{2l}\right)+1)](i<1)\\ K-x[\mathrm{int}\left(\frac{L_2}{2l}\right)+i)](i\&GreaterEqual;1)\end{array}\right.,$ i∈(0，1，2，…，11)

When short fuselage coal-winning machine along manless working face forward and oppositely traction coal cutting time, along with hydraulic support receives the infrared rays that short fuselage coal-winning machine sends, corresponding distance x ₀namely determined, namely with the change of short fuselage coal winning machine position, relative to infrared transmitter or infrared remote receiver horizontal projection distance △ K _i12 constant frame hydraulic support K _ithe action T that execution 12 is different respectively _i[i ∈ (0,1,2 ..., 11)];

G, with K frame hydraulic support corresponding to infrared emittance on short fuselage coal-winning machine for benchmark, perform corresponding action relative to 12 frame hydraulic supports of K frame hydraulic support invariant position according to restriction relation, the constraint Controlling model namely automatically moving frame and short fuselage coal winning machine position can be described below:

1) when short fuselage coal-winning machine draws coal cutting to the right:

1. K+ △ K ₁+ 1 frame hydraulic support performs receives face guard action;

2. K-△ K ₂-1 frame hydraulic support performs stretches face guard and pushing and sliding 1/10 stroke;

3. K-△ K ₃-2 frame hydraulic supports perform pushing and sliding 1/10 stroke;

4. K-△ K ₄-3 frame hydraulic supports perform pushing and sliding 1/5 stroke;

5. K-△ K ₅-4 frame hydraulic supports perform pushing and sliding 3/10 stroke;

6. K-△ K ₆-5 frame hydraulic supports perform pushing and sliding 2/5 stroke;

7. K-△ K ₇-6 frame hydraulic supports perform pushing and sliding 1/2 stroke;

8. K-△ K ₈-7 frame hydraulic supports perform pushing and sliding 3/5 stroke;

9. K-△ K ₉-8 frame hydraulic supports perform pushing and sliding 7/10 stroke;

10. K-△ K ₁₀-9 frame hydraulic supports perform pushing and sliding 4/5 stroke;

k-△ K ₁₁-10 frame hydraulic supports perform pushing and sliding 1 stroke;

k-△ K ₁₂-11 frame hydraulic supports perform to fall and shift action;

2) when short fuselage coal-winning machine draws coal cutting left:

1. K-△ K ₁-1 frame hydraulic support performs receives face guard action;

2. K+ △ K ₂+ 1 frame hydraulic support performs stretches face guard and pushing and sliding 1/10 stroke;

3. K+ △ K ₃+ 2 frame hydraulic supports perform pushing and sliding 1/5 stroke;

4. K+ △ K ₄+ 3 frame hydraulic supports perform pushing and sliding 3/10 stroke;

5. K+ △ K ₅+ 4 frame hydraulic supports perform pushing and sliding 2/5 stroke;

6. K+ △ K ₆+ 5 frame hydraulic supports perform pushing and sliding 1/2 stroke;

7. K+ △ K ₇+ 6 frame hydraulic supports perform pushing and sliding 3/5 stroke;

8. K+ △ K ₈+ 7 frame hydraulic supports perform pushing and sliding 7/10 stroke;

9. K+ △ K ₉+ 8 frame hydraulic supports perform pushing and sliding 4/5 stroke;

10. K+ △ K ₁₀+ 9 frame hydraulic supports perform pushing and sliding 9/10 stroke;

k+ △ K ₁₁+ 10 frame hydraulic supports perform pushing and sliding 1 stroke;

k+ △ K ₁₂+ 11 frame hydraulic supports perform to fall and shift action.