CN104533496B - Grouping pushing-sliding control system and method for intelligent hydraulic supports - Google Patents
Grouping pushing-sliding control system and method for intelligent hydraulic supports Download PDFInfo
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- CN104533496B CN104533496B CN201410823249.2A CN201410823249A CN104533496B CN 104533496 B CN104533496 B CN 104533496B CN 201410823249 A CN201410823249 A CN 201410823249A CN 104533496 B CN104533496 B CN 104533496B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/26—Hydraulic or pneumatic control
Abstract
The invention discloses a grouping pushing-sliding control system and method for intelligent hydraulic supports. The grouping pushing-sliding control system and method are suitable for pushing-sliding of the hydraulic supports of a fully-mechanized coal mining face under a coal mine. The system comprises distributed hydraulic support controllers and a hydraulic support remote monitoring system. Distributed hydraulic support controllers in the mining face are connected through a CAN bus and a TCP Ethernet, and connected with the hydraulic support remote monitoring system. Depending on a hydraulic support pushing-sliding curve stored in the system, the hydraulic supports can be divided into sections, parallel grouping control is performed inside each section, the number of grouped supports is set automatically depending on the driving pressure limit of a hydraulic pump, on the premise of guaranteeing drivability, the operation processes of grouping pushing-sliding control are simplified, the pushing-sliding efficiency is improved to the maximum degree, and the amount of repetition labor is reduced for an operator.
Description
Technical field
The present invention relates to a kind of pushing and sliding control system and method, on especially a kind of underground coal mine fully-mechanized mining working, hydraulic pressure props up
Mobile intelligent hydraulic support pushing and sliding control system and the method in groups using of frame pushing and sliding.
Background technology
Hydraulic support electrohydraulic control system occupies extremely important status, hydraulic pressure in the continuous coal mining activity of fully-mechanized mining working
The convenience of support electrohydraulic control system also determines the production efficiency of downhole operations personnel in very big program, in order that coal-winning machine
When being exploited, keep work surface grazing, be allowed under conditions of there is not abnormal mechanical friction with scrapper conveyor, maximum journey
The carrying out of degree cuts heavy cut entirely, operator need repeatedly carry out hydraulic support pushing and sliding, make scrapper conveyor keep straight, in order to subtract
The duplication of labour work of few operative employee, hydraulic support electrohydraulic control system provides the function of the control of pushing and sliding in groups.
However, this traditional pushing and sliding in groups control, before controlling, need the frame number that operator are controlled in groups
Setting, if insufficient pressure, operation to be re-started, trivial operations, do not possess auto-adaptive parameter and set；Operation completes it
Afterwards, when being controlled, groups of support is to carry out next frame pushing and sliding again after a frame completes, and pushing and sliding efficiency is low.
Content of the invention
For the weak point in above-mentioned technology, one kind is provided to process using hydraulic support pushing and sliding curve segmentation, can be in liquid
In the pressure limit that pressure bracket hydraulic pump is allowed, hydraulic support is carried out with high efficiency to greatest extent, and pushing and sliding control in groups, improve
The control efficiency of pushing and sliding in groups, reduce operator repeated workload intelligent hydraulic support in groups pushing and sliding control system and
Method.
For realizing above-mentioned technical purpose, the intelligent hydraulic support pushing and sliding control system in groups of the present invention, including being arranged on
Distributed hydraulic bracket controller on each hydraulic support on work surface and hydraulic support long distance control system, described distributed
Hydraulic bracket controller includes interconnective pushing and sliding displacement acquisition module, pushing and sliding curve segmentation module, in groups pushing and sliding control mould
Block, CAN and TCP communication module, the input of the described control module of pushing and sliding in groups respectively with pushing and sliding displacement acquisition mould
Block, pushing and sliding curve segmentation module, CAN are connected with the outfan of TCP communication module, each in described work surface
Distributed hydraulic bracket controller be connected with each other by TCP Ethernet and CAN and with hydraulic support long distance control system phase
Connect.
Described pushing and sliding displacement acquisition module is pushing and sliding displacement transducer, and it is responsible for gathering hydraulic support pushing and sliding displacement sensing
Device data, and it is filtered noise treatment；Pushing and sliding curve segmentation module, is responsible for pushing and sliding curve is carried out distributed D-P dividing
Section is processed；Pushing and sliding control module controls pushing and sliding in groups to control in groups, the control to CAN and TCP communication module simultaneously；
The described control module of pushing and sliding in groups and pushing and sliding curve segmentation module are intrinsic safety type mining main frame；Described hydraulic support remote monitoring
System includes intellectuality pushing and sliding monitoring module in groups, and pushing and sliding monitoring module is host computer computer in groups for described intellectuality, its effect
Only it is monitored and is not controlled, after all of data is caught, the virtual display of 3-dimensional can be carried out, data parameters are real-time
Inquiry, realizes the effect such as ground monitoring.
A kind of intellectuality hydraulic support pushing and sliding control method in groups, its step is as follows：
A. on all hydraulic support on work surface, distributed hydraulic bracket controller is installed, by all distributed hydraulic pressure
Bracket controller is to be connected with each other with cable by CAN communication subsystem and TCP communication subsystem, and it is remote to be connected to hydraulic support
In range monitoring system；
B. pushing and sliding itself pushing and sliding displacement information of displacement acquisition module Real-time Collection of distributed hydraulic bracket controller, and will
The pushing and sliding displacement information of itself is stored in the data base in distributed director, afterwards pushing and sliding displacement information is sent to liquid
Pressure support long distance control system in, hydraulic support long distance control system by the pushing and sliding displacement of all hydraulic supports collected from
Scatterplot generates pushing and sliding curve and stores；The pushing and sliding that itself is stored by distributed hydraulic bracket controller by TCP communication module
Displacement passes information transmission to hydraulic support monitoring system, afterwards hydraulic support monitoring system with the numbering of support as abscissa, with
Support corresponding pushing and sliding displacement is vertical coordinate, and the pushing and sliding displacement information of all distributed directors transmission is generated whole fully mechanized mining work
Make the pushing and sliding displacement curve in face；
C. hydraulic support electrohydraulic control system does D-P computing, the wherein support at fully-mechanized mining working two ends for pushing and sliding curve
Corresponding pushing and sliding curve point, as the starting point of D-P computing, is preset initial D-P computing apart from threshold values, is chosen all liquid first
Maxima and minima in pressure support pushing and sliding displacement, then seeks its difference DELTA D, is set in legal system scopeInside take
Random value initializes the maximum permissible distances threshold values δ of D-P computing；
If d. any hydraulic support corresponding pushing and sliding curve point to pushing and sliding curve starting point line distance be more than away from
From threshold values δ, then this point is marked as waypoint, and the hydraulic pressure that the corresponding hydraulic support of this point is marked as at waypoint props up
Frame, the hydraulic support at described waypoint will become the master controller of all hydraulic support in pushing and sliding curve subsegment, pushing and sliding curve
Subsegment controller proceeds segment processing in subsegment, so carries out distributed iterative process；
If e. the vertical dimension in any hydraulic support corresponding pushing and sliding curve point to current pushing and sliding curve subsegment is less than
The maximum permissible distances threshold values δ of D-P computing, then the master controller of current pushing and sliding curve subsegment is by distance value and last iteration
Manage the distance value recorded to compare, then retain this distance value if greater than last iteration distance, otherwise do not operated, finally
The distance value being retained is the ultimate range of current pushing and sliding curve subsegment and starting point vertical join line；
F. the hydraulic support quantity being comprised the discrete point quantity of current pushing and sliding curve subsegment with present segment is compared, when pushing away
When slipping the hydraulic support quantity that the discrete point quantity of curve subsegment comprises more than or equal to present segment, then complete current pushing and sliding bent
The segment processing of line subsegment, does not otherwise complete the segment processing of current pushing and sliding curve subsegment, repeats this step up to current pushing and sliding
The hydraulic support quantity that the discrete point quantity of curve subsegment comprises more than or equal to present segment；
G., after current pushing and sliding curve subsegment segmentation completes, after current pushing and sliding curve subsegment segmentation completes, this pushing and sliding is bent
Hydraulic support quantity that current pushing and sliding curve subsegment is comprised by the hydraulic bracket controller on the end points of line subsegment with prestore
Hydraulic pump can drive specified hydraulic support quantity to be compared, if the hydraulic support quantity that current pushing and sliding curve subsegment is comprised
Less than the drivable load quantity of hydraulic pump, then the segment processing of current pushing and sliding curve subsegment terminates, and by current pushing and sliding
The segmentation result of curve subsegment, the section including this section initiates support number, and section inner support quantity is sent to current pushing and sliding curve subsegment
Each of in the control module of pushing and sliding in groups of distributed hydraulic bracket controller, wait pushing and sliding in groups to control；If pushing and sliding
The hydraulic support quantity that curve subsegment is comprised is more than the drivable load quantity of hydraulic pump, then present segment will be using in step e
Retain is circulated segment processing apart from threshold values δ to current pushing and sliding curve subsegment, again in all of pushing and sliding curve subsegment
After the number of holders being comprised is less than the drivable number of holders of hydraulic pump, terminate the segment processing of pushing and sliding curve；
H. equation by way of discrete curve is built by the optimum theory utilization state differential equation, with current pushing and sliding curve
For the purpose of overall control time minimum in section, according to the hydraulic support quantity being comprised in this section, determine that each hydraulic pressure props up
The minimum command range u when pushing and sliding in groups control for the frame, described minimum command range u is to be pushed away in groups inside the section divided
When slipping parallel control, the displacement of hydraulic support each time；
I. the hydraulic support in fully-mechanized mining working is every a minimum command range u, all liquid in pushing and sliding curve subsegment
The pushing and sliding controller of pressure support all can arrange an identical pushing and sliding Process Synchronization barrier point, when all hydraulic support in this section
After all reaching this barrier point, just can carry out the setting of next barrier point, and then carry out pushing and sliding Process flowchart next time, such as
This iteration, till all of support pushing and sliding complete.
Beneficial effect：The present invention, when operative employee carries out pushing and sliding alignment control, is adopted by distributed hydraulic bracket controller
The pushing and sliding mobile message of collection hydraulic pressure support, and stored according to pushing and sliding information composition pushing and sliding curve, can be according to the liquid of storage
Pressure support pushing and sliding curve, hydraulic support is carried out Concourse Division, carries out controlling in groups parallel in each segment, according to hydraulic pressure
The driving pressure of pump limits, and automatically carries out frame number setting in groups, to liquid in the pressure limit that hydraulic support hydraulic pump is allowed
Pressure support carries out high efficiency to greatest extent, and pushing and sliding control in groups, on the premise of ensureing drivability, simplify pushing and sliding control in groups
The operating process of system, improves pushing and sliding efficiency, it is simple to operate to greatest extent, reduces the duplication of labour amount of operative employee.
Brief description
Fig. 1 is the system hardware layout drawing of the present invention；
Fig. 2 is the structure chart of the distributed hydraulic bracket controller of the present invention；
Fig. 3 is the pushing and sliding curve after original pushing and sliding curve and the segment processing of the present invention；
Fig. 4 is the segmentation algorithm flow chart of the distributed pushing and sliding curve of the present invention；
Fig. 5 is the schematic diagram that in the section of the present invention, pushing and sliding control in groups.
Specific embodiment
The present invention will be further elaborated with specific embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the intelligent hydraulic support pushing and sliding control system in groups of the present invention, including being arranged on work
Distributed hydraulic bracket controller on each hydraulic support on face and hydraulic support long distance control system, described distributed hydraulic pressure
Bracket controller include interconnective pushing and sliding displacement acquisition module, pushing and sliding curve segmentation module, in groups pushing and sliding control module,
CAN and TCP communication module, the input of the described control module of pushing and sliding in groups respectively with pushing and sliding displacement acquisition module,
Pushing and sliding curve segmentation module, CAN are connected with the outfan of TCP communication module, each in described work surface point
Cloth hydraulic bracket controller is connected with each other with CAN by TCP Ethernet and is connected with hydraulic support long distance control system
Connect.
Described pushing and sliding displacement acquisition module is pushing and sliding displacement transducer, and it is responsible for gathering hydraulic support pushing and sliding displacement sensing
Device data, and it is filtered noise treatment；Pushing and sliding curve segmentation module, is responsible for pushing and sliding curve is carried out distributed D-P dividing
Section is processed；Pushing and sliding control module controls pushing and sliding in groups to control in groups, the control to CAN and TCP communication module simultaneously；
The described control module of pushing and sliding in groups and pushing and sliding curve segmentation module are intrinsic safety type mining main frame；Described hydraulic support remote monitoring
System includes intellectuality pushing and sliding monitoring module in groups, and pushing and sliding monitoring module is host computer computer in groups for described intellectuality, its effect
Only it is monitored and is not controlled, after all of data is caught, the virtual display of 3-dimensional can be carried out, data parameters are real-time
Inquiry, realizes the effect such as ground monitoring.
Described pushing and sliding displacement acquisition module is mainly carried out to pushing and sliding displacement during hydraulic support electrohydraulic control system in real time
Data acquisition and Filtering Processing, described acquisition module provides reliable data source for the described control system that pushes away in groups.
Described pushing and sliding curve segmentation module is the core of the described control system of pushing and sliding in groups, its internal foundation institute
The intelligent hydraulic support pushing and sliding control method in groups stated, carries out distributed pushing and sliding curve segmentation and processes to pushing and sliding displacement curve,
To carry out controlling in groups parallel in section.
The described control module of pushing and sliding in groups completes the setting to the minimum command range in section, is responsible for section inter-sync simultaneously
The dynamic setting of barrier point, is responsible for driving corresponding pushing and sliding hydraulic cylinder to carry out corresponding control action simultaneously.
Described CAN is responsible for carrying out real-time Communication for Power between all supports on whole fully-mechanized mining working；Institute
The TCP communication module stated is responsible for the pushing and sliding displacement data of hydraulic support, and the processing procedure number controlling in groups in intellectuality
According to being transferred to hydraulic support remote monitoring module.
As shown in figure 3, the pushing and sliding displacement acquisition subsystem of the intelligent pushing and sliding control system in groups of upper partial trace collects
Original pushing and sliding curve, actually pushing and sliding curve is a series of discrete point, and each o'clock is corresponding to a hydraulic support
Current pushing and sliding displacement.Lower partial trace is the curve after distributed pushing and sliding curve segmentation algorithm segmentation, and the standard after segmentation is every
Number of holders in section is not more than hydraulic pump maximum and can drive quantity.For each section, only when the slope of section is more than a certain facing
When dividing value, pushing and sliding in groups control and just present segment can be controlled, it is to avoid the unnecessary duplication of labour.
As shown in figure 4, a kind of intellectuality hydraulic support pushing and sliding control method in groups, its step is as follows：
A. on all hydraulic support on work surface, distributed hydraulic bracket controller is installed, by all distributed hydraulic pressure
Bracket controller is to be connected with each other with cable by CAN communication subsystem and TCP communication subsystem, and it is remote to be connected to hydraulic support
In range monitoring system；
B. pushing and sliding itself pushing and sliding displacement information of displacement acquisition module Real-time Collection of distributed hydraulic bracket controller, and will
The pushing and sliding displacement information of itself is stored in the data base in distributed director, afterwards pushing and sliding displacement information is sent to liquid
Pressure support long distance control system in, hydraulic support long distance control system by the pushing and sliding displacement of all hydraulic supports collected from
Scatterplot generates pushing and sliding curve and stores；The pushing and sliding that itself is stored by distributed hydraulic bracket controller by TCP communication module
Displacement passes information transmission to hydraulic support monitoring system, afterwards hydraulic support monitoring system with the numbering of support as abscissa, with
Support corresponding pushing and sliding displacement is vertical coordinate, and the pushing and sliding displacement information of all distributed directors transmission is generated whole fully mechanized mining work
Make the pushing and sliding displacement curve in face；
C. hydraulic support electrohydraulic control system does D-P computing, the wherein support at fully-mechanized mining working two ends for pushing and sliding curve
Corresponding pushing and sliding curve point, as the starting point of D-P computing, is preset initial D-P computing apart from threshold values, is chosen all liquid first
Maxima and minima in pressure support pushing and sliding displacement, then seeks its difference DELTA D, is set in legal system scopeInside take
Random value initializes the maximum permissible distances threshold values δ of D-P computing；
If d. any hydraulic support corresponding pushing and sliding curve point to pushing and sliding curve starting point line distance be more than away from
From threshold values δ, then this point is marked as waypoint, and the hydraulic pressure that the corresponding hydraulic support of this point is marked as at waypoint props up
Frame, the hydraulic support at described waypoint will become the master controller of all hydraulic support in pushing and sliding curve subsegment, pushing and sliding curve
Subsegment controller proceeds segment processing in subsegment, so carries out distributed iterative process；
If e. the vertical dimension in any hydraulic support corresponding pushing and sliding curve point to current pushing and sliding curve subsegment is less than
The maximum permissible distances threshold values δ of D-P computing, then the master controller of current pushing and sliding curve subsegment is by distance value and last iteration
Manage the distance value recorded to compare, then retain this distance value if greater than last iteration distance, otherwise do not operated, finally
The distance value being retained is the ultimate range of current pushing and sliding curve subsegment and starting point vertical join line；
F. the hydraulic support quantity being comprised the discrete point quantity of current pushing and sliding curve subsegment with present segment is compared, when pushing away
When slipping the hydraulic support quantity that the discrete point quantity of curve subsegment comprises more than or equal to present segment, then complete current pushing and sliding bent
The segment processing of line subsegment, does not otherwise complete the segment processing of current pushing and sliding curve subsegment, repeats this step up to current pushing and sliding
The hydraulic support quantity that the discrete point quantity of curve subsegment comprises more than or equal to present segment；
G., after current pushing and sliding curve subsegment segmentation completes, after current pushing and sliding curve subsegment segmentation completes, this pushing and sliding is bent
Hydraulic support quantity that current pushing and sliding curve subsegment is comprised by the hydraulic bracket controller on the end points of line subsegment with prestore
Hydraulic pump can drive specified hydraulic support quantity to be compared, if the hydraulic support quantity that current pushing and sliding curve subsegment is comprised
Less than the drivable load quantity of hydraulic pump, then the segment processing of current pushing and sliding curve subsegment terminates, and by current pushing and sliding
The segmentation result of curve subsegment, the section including this section initiates support number, and section inner support quantity is sent to current pushing and sliding curve subsegment
Each of in the control module of pushing and sliding in groups of distributed hydraulic bracket controller, wait pushing and sliding in groups to control；If pushing and sliding
The hydraulic support quantity that curve subsegment is comprised is more than the drivable load quantity of hydraulic pump, then present segment will be using in step e
Retain is circulated segment processing apart from threshold values δ to current pushing and sliding curve subsegment, again in all of pushing and sliding curve subsegment
After the number of holders being comprised is less than the drivable number of holders of hydraulic pump, terminate the segment processing of pushing and sliding curve；
H. equation by way of discrete curve is built by the optimum theory utilization state differential equation, with current pushing and sliding curve
For the purpose of overall control time minimum in section, according to the hydraulic support quantity being comprised in this section, determine that each hydraulic pressure props up
The minimum command range u when pushing and sliding in groups control for the frame, described minimum command range u is to be pushed away in groups inside the section divided
When slipping parallel control, the displacement of hydraulic support each time；
I. the hydraulic support in fully-mechanized mining working is every a minimum command range u, all liquid in pushing and sliding curve subsegment
The pushing and sliding controller of pressure support all can arrange an identical pushing and sliding Process Synchronization barrier point, when all hydraulic support in this section
After all reaching this barrier point, just can carry out the setting of next barrier point, and then carry out pushing and sliding Process flowchart next time, such as
This iteration, till all of support pushing and sliding complete.
Judge whether current pushing and sliding curve segmentation has completed segmentation, the foundation of judgement come to be current fragmentation count whether
The number of holders that should comprise equal to present segment, if greater than or be equal to, then explanation have been completed at the segmentation of present segment
Reason, otherwise has not been completed；
If above-mentioned steps do not complete segmentation, the scope of initialization D-P computing, when starting to start, corresponding to pushing and sliding
Operating range on curve is to last support corresponding pushing and sliding curve from the corresponding pushing and sliding curve point of first support
Point Pstart=P1,Pend=Pn, P in formula1,P2,...PnRefer to the pushing and sliding curve point on pushing and sliding displacement curve, PstartRefer to certain
The head-end of pushing and sliding curved section, PendRefer to the tail point of certain pushing and sliding curved section；
Algorithm is simplified according to D-P curve, calculates any bracket corresponding pushing and sliding curve point P in operating rangejTo fortune
The distance of the pushing and sliding curve starting point line in the range of calculationIn formulaRefer to pushing and sliding curve
Point PjArrive(by PstartAnd PendConstitute straight line) vertical dimension；
If in step above-mentioned stepsSet up, then P is describedjIt is a waypoint, you can pass through
Described CAN, carries out system broadcasts in hydraulic support electrohydraulic control system, by the information broadcast of new waypoint
To at each hydraulic bracket controller, so that each hydraulic support knows currently oneself be in which pushing and sliding song in real time
Line segment, if for some pushing and sliding curved section, the support that the number of holders of section can simultaneously drive more than hydraulic support hydraulic pump
It is necessary to carry out segmentation further with distributed D-P algorithm during quantity, then this when, each support is assured that
Oneself whether in this section, itself corresponding section the need of corrigendum, thus completing the synchronizing information of hydraulic support；
IfThen illustrate that this point is just being presently in section, segmentation need not be carried out again, only need
Record before arriving current calculating step in present segment, the D-P allowable distance D of maximummax, simultaneously can be by the counting of hydraulic support
Device adds 1, so that carried out the judgement whether current fragment process completes；
If pushing and sliding curve segmentation completes, the master controller of present segment can calculate currently contained hydraulic support quantity
Whether exceed the maximum drivable quantity of hydraulic pump, if in allowed limits, terminate segment processing；
If above-mentioned steps have exceeded the scope allowing, reset the maximum permissible distances of the D-P computing of present segment
For maximum permissible distances D in this sectionmax, simultaneously by data information transfer to data/address bus, to carry out meter again next time
Calculate.
By as above flow process, the whole segmentation of each pushing and sliding completes the most at last, and ensures number of holders in each segmentation not
More than admissible number of holders.
Described intellectuality in groups pushing and sliding control method after completing above-mentioned segment processing, you can enter in a certain section
Parallel pushing and sliding control row in groups, and system needed to complete the setting of minimum command range before receiving control pushing and sliding in groups.
System every secondary control hydraulic support minimum command range described in pushing and sliding forward, all supports in present segment
All pushing and sliding concordantly, and for some sections, the inclination angle very little of its section, can be considered concordant completely, then system can be shielded automatically
The pushing and sliding in groups covering this section control, and improve pushing and sliding efficiency.
After the acceptance of hydraulic support long distance control system comes from the data of TCP communication module, can be according to parameter on ground
3-dimensional real-time Simulation is carried out to underground working, is available for real-time working condition inquiry, a little process datas of operation can also be stored simultaneously
Come, in the event of fault, can be according to these records, failure judgement is wherein.
Claims (5)
1. a kind of intellectuality hydraulic support in groups pushing and sliding control system it is characterised in that：It includes being arranged on each on work surface
Distributed hydraulic bracket controller on hydraulic support and hydraulic support long distance control system, described distributed hydraulic support controls
Device includes interconnective pushing and sliding displacement acquisition module, pushing and sliding curve segmentation module, in groups pushing and sliding control module, CAN communication mould
Block and TCP communication module, the input of the described control module of pushing and sliding in groups is divided with pushing and sliding displacement acquisition module, pushing and sliding curve respectively
Root module, CAN are connected with the outfan of TCP communication module, and the distributed hydraulic pressure of each in described work surface props up
Frame controller is connected with each other with CAN by TCP Ethernet and is connected with hydraulic support long distance control system.
2. according to claim 1 intellectuality hydraulic support in groups pushing and sliding control system it is characterised in that：Described pushing and sliding
Displacement acquisition module is pushing and sliding displacement transducer, and it is responsible for gathering hydraulic support pushing and sliding displacement transducer data, and is filtered
Ripple goes noise treatment；Pushing and sliding curve segmentation module, is responsible for for pushing and sliding curve carrying out distributed D-P segment processing；Pushing and sliding control in groups
Molding block controls pushing and sliding in groups to control, the control to CAN and TCP communication module simultaneously.
3. according to claim 2 intellectuality hydraulic support in groups pushing and sliding control system it is characterised in that：Described in groups
Pushing and sliding control module and pushing and sliding curve segmentation module are intrinsic safety type mining main frame.
4. according to claim 1 intellectuality hydraulic support in groups pushing and sliding control system it is characterised in that：Described hydraulic pressure props up
Frame long distance control system includes intellectuality pushing and sliding monitoring module in groups, and pushing and sliding monitoring module is upper electromechanics in groups for described intellectuality
Brain, its effect is only monitored and is not controlled, and after all of data is caught, can carry out the virtual display of 3-dimensional, data
Parameter real-time query, realizes ground monitoring effect.
5. a kind of usage right require the intelligent hydraulic support of system described in 1 in groups pushing and sliding control method it is characterised in that walking
Suddenly as follows：
A. on all hydraulic support on work surface, distributed hydraulic bracket controller is installed, by all distributed hydraulic supports
Controller is to be connected with each other with cable by CAN communication subsystem and TCP communication subsystem, and is connected to hydraulic support and remotely supervises
In control system；
B. pushing and sliding itself pushing and sliding displacement information of displacement acquisition module Real-time Collection of distributed hydraulic bracket controller, and by itself
Pushing and sliding displacement information be stored in the data base in distributed director, afterwards pushing and sliding displacement information is sent to hydraulic pressure and props up
In frame long distance control system, hydraulic support long distance control system is by the discrete point of the pushing and sliding displacement of all hydraulic supports collected
Generate pushing and sliding curve to store；The pushing and sliding displacement that itself is stored by distributed hydraulic bracket controller by TCP communication module
Pass information transmission to hydraulic support monitoring system, afterwards hydraulic support monitoring system with the numbering of support as abscissa, with support
Corresponding pushing and sliding displacement is vertical coordinate, and the pushing and sliding displacement information of all distributed directors transmission is generated whole fully-mechanized mining working
Pushing and sliding displacement curve；
C. hydraulic support electrohydraulic control system does D-P computing for pushing and sliding curve, and the support institute at wherein fully-mechanized mining working two ends is right
The pushing and sliding curve point answered, as the starting point of D-P computing, is preset initial D-P computing apart from threshold values, is chosen all hydraulic first and prop up
Maxima and minima in frame pushing and sliding displacement, then seeks its difference DELTA D, is set in legal system scopeInside take random
The maximum permissible distances threshold values δ of value initialization D-P computing；
If d. the distance in any hydraulic support corresponding pushing and sliding curve point to pushing and sliding curve starting point line is more than apart from valve
Value δ, then this point be marked as waypoint, and the corresponding hydraulic support of this point is marked as the hydraulic support at waypoint, institute
Stating the hydraulic support at waypoint will become the master controller of all hydraulic support in pushing and sliding curve subsegment, pushing and sliding curve subsegment control
Device processed proceeds segment processing in subsegment, so carries out distributed iterative process；
If e. the vertical dimension in any hydraulic support corresponding pushing and sliding curve point to current pushing and sliding curve subsegment is less than D-P and transports
The maximum permissible distances threshold values δ calculating, then currently distance value is remembered by the master controller of pushing and sliding curve subsegment with last iterative processing
Distance value under record compares, and then retains this distance value if greater than last iteration distance, is not otherwise operated, finally protected
The distance value staying is the ultimate range of current pushing and sliding curve subsegment and starting point vertical join line；
F. the hydraulic support quantity being comprised the discrete point quantity of current pushing and sliding curve subsegment with present segment is compared, when pushing and sliding are bent
During the hydraulic support quantity that the discrete point quantity of line subsegment comprises more than or equal to present segment, then complete current pushing and sliding curve
The segment processing of section, does not otherwise complete the segment processing of current pushing and sliding curve subsegment, repeats this step up to current pushing and sliding curve
The hydraulic support quantity that the discrete point quantity of subsegment comprises more than or equal to present segment；
G., after current pushing and sliding curve subsegment segmentation completes, the hydraulic bracket controller on the end points of this pushing and sliding curve subsegment ought
Front pushing and sliding curve subsegment the hydraulic support quantity being comprised and the hydraulic pump prestoring can drive specified hydraulic support quantity to be compared
Relatively, if the hydraulic support quantity that current pushing and sliding curve subsegment is comprised is less than the drivable load quantity of hydraulic pump, currently
The segment processing of current pushing and sliding curve subsegment terminates, and the segmentation result by current pushing and sliding curve subsegment, and the section including this section rises
Beginning support number, section inner support quantity is sent to the one-tenth of each of current pushing and sliding curve subsegment distributed hydraulic bracket controller
In group pushing and sliding control module, pushing and sliding in groups are waited to control；If the hydraulic support quantity that pushing and sliding curve subsegment is comprised is more than liquid
The drivable load quantity of press pump, then present segment by using in step e retain apart from threshold values δ to current pushing and sliding curve subsegment again
It is circulated segment processing, the number of holders being comprised in all of pushing and sliding curve subsegment is less than drivable of hydraulic pump
After frame quantity, terminate the segment processing of pushing and sliding curve；
H. equation by way of discrete curve is built by the optimum theory utilization state differential equation, with current pushing and sliding curve subsegment
The overall control time minimum for the purpose of, according to the hydraulic support quantity being comprised in this section, determine that each hydraulic support exists
Minimum command range u when pushing and sliding control in groups, described minimum command range u is to carry out pushing and sliding in groups simultaneously inside the section divided
When row controls, the displacement of hydraulic support each time；
I. every a minimum command range u, all hydraulic in pushing and sliding curve subsegment props up the hydraulic support in fully-mechanized mining working
The pushing and sliding controller of frame all can arrange an identical pushing and sliding Process Synchronization barrier point, when all hydraulic support in this section all arrives
After reaching this barrier point, just can carry out the setting of next barrier point, and then carry out pushing and sliding Process flowchart next time, so repeatedly
In generation, till all of support pushing and sliding complete.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410823249.2A CN104533496B (en) | 2014-12-26 | 2014-12-26 | Grouping pushing-sliding control system and method for intelligent hydraulic supports |
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| CN201410823249.2A CN104533496B (en) | 2014-12-26 | 2014-12-26 | Grouping pushing-sliding control system and method for intelligent hydraulic supports |
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| CN104533496B true CN104533496B (en) | 2017-02-22 |
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| CN109343412A (en) * | 2018-11-05 | 2019-02-15 | 郑州煤机液压电控有限公司 | Hydraulic support electronic control system signal coupler |
| CN109458205B (en) * | 2018-11-05 | 2020-05-12 | 郑州煤机液压电控有限公司 | Control method for accurate pushing and sliding of hydraulic support |
| CN111427062B (en) * | 2020-04-23 | 2022-11-29 | 南京大学 | Hydraulic support alignment method based on laser radar |
| CN112524109A (en) * | 2020-12-02 | 2021-03-19 | 辽宁工程技术大学 | Four-point hoisting balance method for hydraulic support |
| CN114215564B (en) * | 2021-12-15 | 2023-11-28 | 北京康宁电通科技发展有限公司 | Intelligent early warning method for coal mine supporting equipment |
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Address after: 221116 No. 1 University Road, copper mountain, Jiangsu, Xuzhou Patentee after: China University of Mining & Technology Address before: 221116 Research Institute, China University of Mining and Technology, Xuzhou University, Jiangsu, China, Patentee before: China University of Mining & Technology |