CN104747221B - A kind of coal-mine hydraulic support moves frame intelligent control method automatically - Google Patents
A kind of coal-mine hydraulic support moves frame intelligent control method automatically Download PDFInfo
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- CN104747221B CN104747221B CN201510020535.XA CN201510020535A CN104747221B CN 104747221 B CN104747221 B CN 104747221B CN 201510020535 A CN201510020535 A CN 201510020535A CN 104747221 B CN104747221 B CN 104747221B
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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
A kind of coal-mine hydraulic support moves frame intelligent control method automatically, the automatic shifting frame of hydraulic support is completed according to the working condition of sensor using bracket controller, the shifting frame process of hydraulic support is divided into drop column, moves frame and setting prop stage, the motion state for carrying out hydraulic support by pressure sensor, stroke sensor and angular transducer etc. respectively perceives, and the action control of hydraulic support is carried out by bracket controller program.The present invention is by the solidification flow of usual hydraulic moving stand process, cure parameter, become with environment, the dynamic flow of device-aware and dynamic parameter, to solve, face roof is broken, pressure is big, it is long that the column time drops in hydraulic support, the big problem of actuation time difference, it improves hydraulic support and controls program to environment on coalface, equipment, the Dynamic Matching of liquid-supplying system and adaptability, improve the automatic intelligent level for moving frame.
Description
Technical field
The present invention relates to a kind of coal-mine hydraulic supports to move frame intelligent control method more particularly to a kind of hydraulic support automatically
The automatic intelligent control method and control system for moving frame.
Background technology
Fully-mechanized mining working is arranged in order by more hydraulic supports in working face, realize to the support of face roof and
Migration to scratch board conveyor.The hydraulic support of working face is pushed away in working face by the floating system of the weak constraint of scratch board conveyor
During shifting, since hydraulic support is connect with scratch board conveyor by pin ear, there are gap, cause to exist in passage action process
It is more not adapt to working face since existing bracket controller program Solidification, setting control parameter are static for certain error
The geological conditions of change, the equipment of gradual change and use environment, working face geology complicated condition, roof cracking, mine pressure is big, bottom plate pine
Soft, high inclination-angle, pump station pressure is insufficient, and electro hydraulic valve gradually blocks, insufficient pressure when multi rack acts simultaneously.Therefore, one have it is quiet
The program of state and the control system of parameter, it is difficult to adapt to dynamic geological conditions, equipment and use environment, it is necessary to make hydraulic support
Automatic shifting frame control system have intelligent functions, the functional requirement that working surface hydraulic support moves frame automatically could be met.
In the prior art, CN102305094A is disclosed a kind of moving frame side automatically using the hydraulic support of manual intervention
Method, but its automatic shifting frame depends on manual intervention of key point, and the degree of automation is relatively low, and it is also sensed that disclosure is not specific
Device arrangement and control mechanism；CN102418541A discloses a kind of automatic shifting frame method of coal plough hydraulic support, but digs
For coal machine hydraulic support relative to hydraulic support generally in the art, relatively simple for structure, shifting frame program step is fewer, moves frame mistake
The case where encountered in journey, is also fewer, from the point of view of disclosure of which, is controlled only by travel information, it is difficult to answer
It uses in the more complicated coal production of site environment, meanwhile, also it is only that coal plough hydraulic support is described from principle
Automatic shifting frame mechanism, do not disclose specific original paper arrangement clearly further, move frame step and control sequential.
For this purpose, a kind of safe and reliable fully-mechanized mining working surface hydraulic support of development is badly in need of in this field moves frame intelligent control system automatically
System realizes working face with machine automatic control system to solve the adaptability that hydraulic support moves frame program automatically.
Invention content
To solve the above problems, the present invention proposes that a kind of hydraulic support moves frame intelligence control system automatically, working face is more
The geological conditions of change, the hydraulic valve to run down at any time, mating liquid-supplying system and multi rack linkage cause holder liquid supply pressure
Change this polyfactorial, dynamically, has the system of perception and unaware action and control together with program and Parameter fusion, shape
At environment sensing, adaptive intelligentized automatic shifting frame controls program.Specific technical solution is：
A kind of coal-mine hydraulic support moves frame intelligent control method automatically, is examined in real time using hydraulic support passage detecting system
Passage state and top plate supporting state of the hydraulic support during moving frame automatically are surveyed, the hydraulic support elapses detecting system packet
Hydraulic support, bracket controller, stroke sensor, pressure sensor, angular transducer, height sensor and loine pressure is included to pass
Sensor；The hydraulic support is arranged along coal working face, and for supporting face roof, one is at least installed on every hydraulic support
A pressure sensor, for measuring the top plate supporting pressure of hydraulic support；One institute is at least installed on every hydraulic support
Stroke sensor is stated, for measuring the pass trip of each hydraulic support；One angle is at least installed on every hydraulic support
Sensor, for measuring operation posture of hydraulic support during moving frame；It is at least installed described in one on every hydraulic support
Height sensor, for measuring the height of hydraulic support；Several line-pressure sensors are configured on working face main line, are used
The liquid supply pressure that hydraulic support to measure execution action acts, and neighbour is sent to by support electrohydraulic control system communication network
Close bracket controller；On every hydraulic support install a bracket controller, each bracket controller respectively with this
Pressure sensor, stroke sensor, angular transducer are connected with line-pressure sensor, to acquire this roof timbering pressure
Power, pass trip, operation posture and main line pressure data, bracket controller are realized by controlling program to hydraulic moving stand
Process automatically controls.
It is preferred that the automatic shifting frame process is made of drop column stage, shifting frame stage, setting prop stage, drop column and setting prop stage root
According to detection pressure sensor state control, frame process is moved according to detection stroke sensor state control, each stage control program
All it is that its termination condition is determined by sensor setting threshold value and time control parameter.
It is preferred that in the drop column stage：It drops the column stage and opens a drop column totality according to the overall drop column time parameter of setting
Drop column process in this time window, then is divided into the small stage relay that several drop columns and formed by time window, Mei Ge little
The drop column stage need by column pressure decline a fixed amplitude, then open move frame testing time window, test
Whether can pull whether holder, detection stroke sensor value change, if it is possible to pull holder, just terminate to drop the entrance of column process
It to the frame stage is moved, otherwise closes and moves frame action and its move frame testing time window, continue to execute the small stage of next drop column,
Until totally the drop column time window time reaches, column drops in end, and rises frame report failure.
It is preferred that in the shifting frame stage：It is overall according to overall one shifting frame of drop column time parameter unlatching of setting to move the frame stage
Time window executes in this time window and moves frame action, stroke sensor value is detected in real time during moving frame, when it
When reaching the desired value of setting, or moving the arrival of frame overall time window, terminate to move the frame stage, into the setting prop stage.
It is preferred that in the setting prop stage：The setting prop stage is divided into 2 stages, and first stage makes hydraulic support reach initial branch
Support state makes top plate reach holding state, and the adjacent frame in left and right, which can synchronize, at this time executes the automatic drop column action for moving frame.Second rank
Section makes hydraulic support reach setting load, completes the complete support to top plate.2 stages of setting prop open up 2 time windows respectively
Action control is carried out, detects pressure sensor data in real time, the desired value set according to the pressure sensor of setting carries out setting prop
Action control.
Above-mentioned hydraulic support moves frame intelligence control system automatically, using pressure sensor detection hydraulic support column pressure and
Working face main pipeline pressure is detected the stroke of hydraulic support passage oil cylinder using stroke sensor, is detected using angular transducer
Operation posture of hydraulic support during moving frame detects the height of hydraulic support using height sensor.It is responsible in working face
Road configures several pressure sensors, the liquid supply pressure that the hydraulic support for measuring execution action acts, and can pass through
Support electrohydraulic control system communication network sends neighbouring bracket controller to.It is sent out using bracket controller each to hydraulic support
Oil cylinder carries out action directive, controls the action of hydraulic support, by bracket controller program realize to hydraulic support from
Dynamic control, bracket controller are connect with this pressure sensor, stroke sensor, angular transducer and height sensor, with
Acquire this roof timbering pressure, pass trip, walking posture, hydraulic support height and main pipeline pressure data, holder control
Device processed sends out action directive, by the working condition of sensing element real-time perception moving component, realizes dynamic to hydraulic support
The closed-loop control of work realizes that the automatic shifting frame of hydraulic support controls by controlling program and control parameter.Hydraulic moving stand mistake
Journey by drop column, move 3 stages of frame and setting prop and form, to solve that roof pressure is big, roof cracking, bottom plate pine in this 3 stages
The problems such as soft.In the drop column stage：When big due to face roof mine pressure, drop column actuation time is long, the drop column of every hydraulic support
Discharge time is uncertain, hydraulic support drop to can move holder pressure time it is uncertain, when hydraulic support column cannot drop
To the pressure time shift frame that can move holder, it is possible to the phenomenon that scraper plate transveyer is pulled occur.Moving the frame stage：It is pushing up
In the case that plate is broken, hydraulic support should limit drop pillar height degree, realized using functions such as wiping top shifting framves and move frame in the process to top plate
Management, prevent roof fall accident.In the case where bottom plate is soft, lift bottom should be used to act, hydraulic support big foot is lifted,
Prevent hydraulic support from occurring pricking bottom phenomenon.In the setting prop stage：It is divided into 2 stages, so that next frame can move frame with pre-cooling, carries
High heel machine advancing velocity eliminates the gap between hydraulic support and drag conveyor pin ear, prevents holder from moving rack position error value product
It is tired, it is ready work in advance for pushing and sliding process control.
The advantage of the invention is that：
Working face drop column efficiency is improved, just stops drop column process when holder can be moved, so that holder is used shortest
Time completes drop column, and reaches relevant effect, and it is also short to drop the column time short then setting prop time, improves and automatic moves frame speed
Degree；
The relevance of hydraulic support action and its liquid-supplying system is realized, dynamic adjusts control time parameter, realizes hydraulic pressure
Holder acts the coupling with liquid-supplying system；
Adaptability of the hydraulic support to working face roof and floor condition is improved, hydraulic support action and working face are realized
The coupling of geological conditions；
Adaptability of the hydraulic support to hydraulic valve state change is improved, hydraulic support action is realized and is set with working face
Standby coupling；
More hydraulic support actions detect working face main line pressure to the uncertainty of hydraulic support liquid-supplying system disturbance degree
Force value, and the automatic automatic adjustment for moving frame control parameter is carried out according to this, it realizes hydraulic support action parameter and multiple holders is same
When dynamic liquid-supplying system ability coupling when acting；
It realizes the dynamic regulation of control parameter, realizes the coupling with changeable geological conditions, equipment and environment.
Description of the drawings
Attached drawing 1 be equipped with hydraulic support of the present invention move automatically frame passage detecting system working surface hydraulic support show
It is intended to；
Reference numeral is as follows：
1- hydraulic supports；2- scratch board conveyors；3- bracket controllers；4- column pressure sensors；5- main line pressure passes
Sensor；6- stroke sensors；7- angular transducers；8- height sensors.
Specific implementation mode
Referring to attached drawing 1, description is equipped with the frame work that hydraulic support of the present invention moves frame intelligence control system automatically
Make face hydraulic support.It includes hydraulic support, bracket controller, stroke sensor, pressure sensing that hydraulic support, which elapses detecting system,
Device, angular transducer, height sensor and line-pressure sensor；Hydraulic support is arranged along coal working face, for supporting work
Make face top plate, a pressure sensor is at least installed on every hydraulic support, for measuring the top plate supporting pressure of hydraulic support；
One stroke sensor is at least installed, for measuring the pass trip of each hydraulic support on every hydraulic support；Every hydraulic pressure branch
One angular transducer is at least installed, for measuring operation posture of hydraulic support during moving frame on frame；Every hydraulic pressure branch
One height sensor is at least installed, for measuring the height of hydraulic support on frame；Several are configured on working face main line
Line-pressure sensor, the liquid supply pressure that the hydraulic support for measuring execution action acts, and pass through holder electrichydraulic control system
System communication network sends neighbouring bracket controller to；One bracket controller, each holder control are installed on every hydraulic support
Device is connect with this pressure sensor, stroke sensor, angular transducer and line-pressure sensor respectively, to acquire this
Roof timbering pressure, pass trip, operation posture and main line pressure data, bracket controller, which passes through, to be controlled program and realizes pair
Hydraulic moving stand process automatically controls.
It moves frame intelligent control method automatically with hydraulic support, liquid is detected in real time using above-mentioned hydraulic support passage detecting system
Passage state and top plate supporting state of the pressure holder during moving frame automatically, automatic frame process of moving is by drop column stage, shifting frame rank
Section, setting prop stage three phases composition, drop column are mainly controlled according to detection pressure sensor state with the setting prop stage, move frame
Process is mainly controlled according to detection stroke sensor state, and each stage control program is by each sensor detection data
Real-time measurement values and bracket controller in the comparison of threshold value that is arranged and time control parameter determine its termination condition.
The column stage drops：It drops the column stage and opens a drop column overall time window according to the overall drop column time parameter of setting,
In this time window, then drop column process is divided into the small stage relay that several drop columns and is formed, each small drop column rank
Whether section needs column pressure declining a fixed amplitude, then open and move frame testing time window, test and can
Pull whether holder, detection stroke sensor value change, if it is possible to pull holder, just terminate drop column process and enter shifting frame rank
Otherwise section closes and moves frame action and its move frame testing time window, the small stage of next drop column is continued to execute, until totality
The arrival of column time window time is dropped, terminates drop column, and rise frame report failure.
Meanwhile the height of hydraulic support is detected in real time in the entirely drop column stage, the height fall of hydraulic support must not
More than the 3/4 of side guard plate height, when it is more than given value, it is immediately finished drop column process, and setting prop report failure.
Move the frame stage：It moves the frame stage and opens a shifting frame overall time window according to the overall drop column time parameter of setting,
In this time window, executes and move frame action, stroke sensor value is detected in real time during moving frame, when it reaches setting
Desired value, or when shifting frame overall time window arrival, terminate to move the frame stage, into the setting prop stage.
It moves frame and encounters the soft occasion of bottom plate in the process, need to implement to drop column action again.At this point, dropping the column time again by given
Window terminates to drop column action again after making column decline the height value that one sets according to height sensor setting value, then be arranged
Bottom actuation time window is lifted, the lift bottom action for opening hydraulic support terminates hydraulic support when reaching lift bottom actuation time window
Lift bottom action.
Moving the frame stage, it is also necessary to detect the operation appearance of hydraulic support in real time using angular transducer during moving frame
State needs the component actuations levelling hydraulic pressure such as the bottom tune using hydraulic support, side guard plate when the posture of hydraulic support changes
Holder runs posture, it is made to keep keeping vertical relationship with drag conveyor.
If advancing velocity is less than the advancing velocity minimum value of setting during moving frame, at totally drop pillar height degree scene
Under the premise of situation, it is again turned on a time window and carries out hydraulic support synchronization drop column control, frame is moved when advancing velocity is more than
When threshold value is arranged in speed, terminate drop column action.
The setting prop stage：The setting prop stage is divided into 2 stages, and first stage makes hydraulic support reach initial support state, makes
Top plate reaches holding state, and the adjacent frame in left and right, which can synchronize, at this time executes the automatic drop column action for moving frame.Second stage makes hydraulic pressure
Holder reaches setting load, completes the complete support to top plate.2 stages of setting prop open up 2 time windows and are acted respectively
Control, detects pressure sensor data in real time, and the desired value set according to the pressure sensor of setting carries out setting prop action control.
After 2nd stage of setting prop, a time window can be opened, implement pushing and sliding action, eliminate hydraulic support with
The pin ear gap of drag conveyor moves frame for next frame and this subsequent pushing and sliding action is laid a solid foundation.
The various parameters of bracket controller, threshold values can be according to the neighbouring main line pressure of working surface hydraulic support into action
State adjusts, and pressure is smaller, and time parameter is then adjusted bigger, and pressure is bigger, then time parameter is then adjusted smaller.Meanwhile also
It can be according to the working condition of each hydraulic valve of hydraulic support appropriate regulating time parameter in real time, to ensure that its is dynamic with sensor
Make in place, and the simple parameter for leaning on time control such as side guard plate is adjusted according to equal proportion.
The typical process of above-mentioned automatic shifting frame intelligent control method is described as follows：
Parameter declaration：
Hydraulic support unloads column pressure value variable quantity threshold value during the drop column of Δ P1- settings；
Stroke sensor displacement value variable quantity threshold value in the timeslice of Δ L- settings；
The drop pillar height degree fall protection value of Δ H1- settings；
Column height threshold drops in the lift bottom action holder of Δ H2- settings；
Column process master control time parameter drops in T1-, when cannot complete drop column in the parameter area, terminates drop column process, and
Setting prop：
T11- advancing velocity detection time piece timing values；
T2- moves frame process master control time parameter, when cannot complete to move frame in the parameter area, terminates to move frame process, and
Setting prop；
T21- moves frame and acts delay time；
T22- lifts bottom time setting value；
T3- setting prop process master control time parameters when cannot complete setting prop in the parameter area, terminate setting prop process；
T31- pushing and sliding act setting time；
P1- setting prop transitional pressure threshold values；
The first bulging force threshold of P2- setting props.
(1) the column stage drops.
1. dropping column action.Execute column drop column action；Record initial time support height value, H0 ← support height sensor
Value；
2. the drop column stage starts timing.1 ← T1 of timer starts timer 1；
3. record works as front column pressure value.P0 ← column pressure value；
4. dropping the protection of column phases-time：Time arrival is arranged in timer 1, then reports and submits drop column process time out fault, and turn
(3)-①；
5. it is highly protective to drop column stage drop column：Acquire current brackets height value, h1 ← support height sensor values, such as h1-
H0 ＞ Δ H1 then report and submit the drop column process drop highly protective failure of column, and turn (3) -1.；
6. column unloading differentiates.Record works as front column pressure value, and p1 ← column pressure value then turns such as p1-p0 ＞ Δ P1
(3)-⑦；Otherwise turn (3) -4.；
7. can trial pull holder：Stroke sensor position L0 is recorded, is executed while dropping column and moves frame action, timing
2 ← T11 of device starts timer 2；.
It is reached 8. the time is arranged in timer 2, record stroke sensor position L1 then turns (2) -1. such as L1-L0 ＜ Δ L；It is no
Then turn (1) -3..
(2) the frame stage is moved.
1. moving the frame stage starts timing.1 ← T2 of timer starts timer 1；Record initial time support height value, H0
← support height sensor values；
2. if bottom plate is soft, drop column action is executed, turns (2) -3.；Otherwise, it executes and wipes top shifting frame (roof cracking), turn
(2)-⑤；
3. drop pillar height degree detects whether to reach lift bottom height value, support height value is read：H1 ← support height sensor values,
Such as H1-H0 ＞ Δ H2, then start to lift bottom：The action of lift bottom is executed, while terminating to drop column action；Setting lift bottom actuation time：Periodically
2 ← T2 of device, starts timer 2, and setting moves frame and starts actuation time, 3 ← T2 of timer2, start timer 3, and turn (2) -4.；
Otherwise turn (2) -2.；
4. if timer 3 reaches (bottom is lifted on side, and frame is moved on side), then turn (2) -5.；Otherwise turn (2) -8.；
5. moving frame action.It executes and moves frame action；Record stroke sensor position, L0 ← stroke sensor value；
6. advancing velocity differentiates.L1 ← stroke sensor value illustrates that speed is slow, then goes to (2) -7. such as L1-L0 ＜ Δ L；
Otherwise, turn (2) -8.；
7. dropping column again.Execute drop column action；When column discharge degree Δ P1, column drops in end again, and turns (2) -9.；
8. if timer 2 reaches, terminates to lift bottom action, turn (2) -5.；
9. moving frame phase targets stroke to judge, move whether frame stroke reaches target stroke, turns (3) -1. if reached；It is no
Then, turn (2) -6.；
10. moving the protection of frame phases-time：Time arrival is arranged in timer 1, then reports and submits and move frame process time out fault, and turn
(3)-①；Otherwise turn 4..
(3) the setting prop stage.
1. the setting prop stage starts timing.1 ← T3 of timer starts timer 1；
2. executing setting prop action；
3. the setting prop first stage terminates.P ← column pressure value judges whether that p ＞ P1 turn if reaching transitional pressure
(3)-④；Otherwise turn (3) -2.；
4. pushing and sliding act.Timer 2 ← T31 starts timer 2；
5. executing pushing and sliding action；
6. judging whether timer 2 reaches, if do not reached, turn (3) -5.；Otherwise, stop pushing and sliding action, turn (3)-
⑦；
7. setting prop second stage terminates.P ← column pressure value illustrates to have reached first bulging power, then turns (3)-such as p ＞ P2
⑨；Otherwise turn (3) -8.；
8. setting prop phases-time is protected：Time arrival is arranged in timer 1, then reports and submits setting prop process time out fault, stops rising
Column, and turn (3) -9.；Otherwise turn (3) -7.；
9. terminating to move frame automatically.
During moving frame automatically, some special circumstances can be usually encountered, it when in use can be according to the practical need at scene
Targetedly handled：
1, to the situation of roof cracking, wiping top should be set and move the control of frame program, that is, meeting the case where holder can move frame
Under, just no longer implement drop column, sliding advance of support mode is taken to carry out moving frame process control, prevents drop column from roof fall etc. excessively being caused to ask
Topic；
2, for the soft situation of bottom plate, bottom lifting device should be arranged in holder, and before holder lift bottom action, it is ensured that holder
Top beam is detached from top plate, and has a certain distance, i.e., how many distance drop in holder, so that it may how many height lifted, to avoid holder
Occur pricking bottom, coal piling phenomenon；
3, holder move frame during there is the situation that advancing velocity slows down, using again drop column by the way of, reduce holder with
Top plate frictional force, the process can also be implemented in the lift bottom stage, and to realize that frame is moved on side, bottom is lifted on side, and Bian Jiangzhu overcomes top plate broken
The problem of environmental condition that is broken soft with bottom plate and depositing is brought.
4, before holder action, first to the liquid supply pressure detection to hydraulic support, differentiate whether liquid supply pressure changes,
If variation, the equal proportion that control time parameter should be carried out according to the corresponding parameter adjustment rule of historical data adjusts.
The above, the preferable specific implementation mode of patent only of the present invention, but the protection domain of patent of the present invention is not
It is confined to this, any one skilled in the art can readily occur in the technical scope of patent diselosesll of the present invention
Change or replacement, should all cover within the protection domain of patent of the present invention.
Claims (10)
1. a kind of coal-mine hydraulic support moves frame intelligent control method automatically, it is characterised in that：
Passage state and top plate of the hydraulic support during moving frame automatically are detected in real time using hydraulic support passage detecting system
Holding state, the hydraulic support passage detecting system includes hydraulic support, bracket controller, stroke sensor, hydraulic support
Pressure sensor, angular transducer, height sensor and line-pressure sensor；
The hydraulic support is arranged along coal working face, and for supporting face roof, one is at least installed on every hydraulic support
A hydraulic support pressure sensor, for measuring the top plate supporting pressure of hydraulic support；
One stroke sensor is at least installed, for measuring the pass trip of each hydraulic support on every hydraulic support；
One angular transducer is at least installed, for measuring fortune of hydraulic support during moving frame on every hydraulic support
Row posture；
One height sensor is at least installed, for measuring the height of hydraulic support on every hydraulic support；
Several line-pressure sensors are configured on working face main line, what the hydraulic support for measuring execution action acted
Liquid supply pressure, and send neighbouring bracket controller to by support electrohydraulic control system communication network；Bracket controller it is each
Kind parameter, threshold values can be adjusted according to the neighbouring main line pressure of working surface hydraulic support into Mobile state, and pressure is smaller, time ginseng
Several, what is adjusted is bigger, and pressure is bigger, then time parameter is then adjusted smaller；
On every hydraulic support install a bracket controller, each bracket controller respectively with this hydraulic support pressure
Sensor, stroke sensor, angular transducer are connected with line-pressure sensor, to acquire this roof timbering pressure, push away
Journey, operation posture and main line pressure data are migrated, bracket controller is realized by controlling program to hydraulic moving stand process
Automatically control；
The automatic shifting frame process is made of drop column stage, shifting frame stage, setting prop stage, and drop column is with the setting prop stage according to detection liquid
The control of poppet pressure sensor states is pressed, moves frame process according to detection stroke sensor state control, each stage control program
All it is that its termination condition is determined by sensor setting threshold value and time control parameter.
2. hydraulic support as described in claim 1 moves frame intelligent control method automatically, it is characterised in that：Before holder action,
First the liquid supply pressure to hydraulic support is detected, differentiates whether liquid supply pressure changes, it, should be according to going through if variation
The corresponding parameter adjustment rule of history data carries out the equal proportion adjustment of control time parameter.
3. hydraulic support as described in claim 1 moves frame intelligent control method automatically, it is characterised in that：The drop column stage：
It drops the column stage and opens a drop column overall time window according to the overall drop column time parameter of setting, in this time window,
Drop column process is divided into the small stage relay that several drop columns again to form, each small drop column stage needs will be under column pressure
A fixed amplitude is dropped, then opens and moves frame testing time window, whether can pull holder, detection stroke passes if being tested
Whether sensor value changes, if it is possible to pull holder, just terminate drop column process and enter the shifting frame stage, otherwise close and move frame action
And its frame testing time window is moved, the small stage of next drop column is continued to execute, until totally the drop column time window time arrives
It reaches, terminates drop column, and rise frame report failure.
4. hydraulic support as claimed in claim 3 moves frame intelligent control method automatically, it is characterised in that：In the entirely drop column stage
The height of detection hydraulic support in real time, the height fall of hydraulic support is not greater than the 3/4 of side guard plate height, when it is more than
When given value, it is immediately finished drop column process, and setting prop report failure.
5. hydraulic support as described in claim 1 moves frame intelligent control method automatically, it is characterised in that：The shifting frame stage：
It moves the frame stage and opens a shifting frame overall time window according to the overall drop column time parameter of setting, in this time window,
It executes and moves frame action, stroke sensor value is detected in real time during moving frame, when advancing velocity is less than setting advancing velocity, open
It opens small time window and carries out drop column, carry out moving work in drop, it reaches the desired value of setting when stroke sensor value, or moves
When frame overall time window reaches, terminate to move the frame stage, into the setting prop stage.
6. hydraulic support as described in claim 1 moves frame intelligent control method automatically, it is characterised in that：The setting prop stage：
The setting prop stage is divided into 2 stages, and first stage makes hydraulic support reach initial support state, top plate is made to reach holding state,
The adjacent frame in left and right, which can synchronize, at this time executes the automatic drop column action for moving frame；Second stage makes hydraulic support reach setting load, complete
The complete support of pairs of top plate；2 stages of setting prop open up 2 time windows and carry out action control respectively, detect hydraulic pressure in real time
Poppet pressure sensing data, the desired value set according to the hydraulic support pressure sensor of setting carry out setting prop action control.
7. hydraulic support as claimed in claim 5 moves frame intelligent control method automatically, it is characterised in that：Frame is moved to encounter in the process
The soft occasion of bottom plate is needed to implement to drop column action again, at this point, dropping column time window again by given, be set according to height sensor
Terminate to drop column action again after setting the height value that value makes column decline a setting, then setting lift bottom actuation time window, is opened
The lift bottom of hydraulic support acts, and when reaching lift bottom actuation time window, terminates the lift bottom action of hydraulic support.
8. hydraulic support as claimed in claim 5 moves frame intelligent control method automatically, it is characterised in that：The shifting frame stage：
The operation posture for also needing to be detected hydraulic support in real time using angular transducer during moving frame is sent out in the posture of hydraulic support
When changing, the bottom tune using hydraulic support, side guard plate action levelling hydraulic support operation posture are needed, its holding and scraper plate are made
Conveyer keeps vertical relationship.
9. hydraulic support as claimed in claim 5 moves frame intelligent control method automatically, it is characterised in that：During moving frame such as
When fruit advancing velocity is less than the advancing velocity minimum value of setting, under the premise of totally dropping pillar height degree field condition, it is again turned on
One time window carries out hydraulic support synchronization drop column control, when advancing velocity is more than advancing velocity, and threshold value is arranged, end drop
Column acts.
10. hydraulic support as claimed in any one of claims 1-9 wherein moves frame intelligent control method automatically, it is characterised in that：Root
According to the working condition appropriate regulating time parameter in real time of each hydraulic valve of hydraulic support, according to hydraulic support when ensureing its lifting column
It can make action in place according to stroke sensor control when pressure sensor control, shifting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510020535.XA CN104747221B (en) | 2015-01-16 | 2015-01-16 | A kind of coal-mine hydraulic support moves frame intelligent control method automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510020535.XA CN104747221B (en) | 2015-01-16 | 2015-01-16 | A kind of coal-mine hydraulic support moves frame intelligent control method automatically |
Publications (2)
| Publication Number | Publication Date |
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| NL2030437B1 (en) * | 2022-01-05 | 2023-07-10 | Univ Liaoning Technical | Support-spallation integrated system for preventing damage of surrounding rock of roadway by rock burst |
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| CN105909294B (en) * | 2016-07-02 | 2018-03-23 | 山东科技大学 | A kind of hydraulic support and its method of work for possessing pose Detection ＆ Controling function |
| CN106401621B (en) * | 2016-09-28 | 2018-07-27 | 山东科技大学 | A kind of hydraulic support Intelligent Installation machine and its application method |
| CN106640168B (en) * | 2016-12-15 | 2018-12-04 | 日立楼宇技术（广州）有限公司 | A kind of control method of coal-mine integrated-mining equipment, device and coal-mine integrated-mining equipment |
| CN108571337A (en) * | 2018-03-27 | 2018-09-25 | 陕西陕煤黄陵矿业有限公司 | A kind of hydraulic support for broken bottom plate moves frame method automatically |
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| CN109113771B (en) * | 2018-07-17 | 2020-06-16 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support electrohydraulic self-adaptive control system based on BP neural network model |
| CN109625844A (en) * | 2018-11-28 | 2019-04-16 | 中国神华能源股份有限公司 | Control System of Belt Conveyer and control method |
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| CN112796814B (en) * | 2020-12-07 | 2023-05-23 | 北京天玛智控科技股份有限公司 | Control method and device of hydraulic support, electronic equipment and storage medium |
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| GB8521813D0 (en) * | 1985-09-03 | 1985-10-09 | Coal Industry Patents Ltd | Detection & protection systems |
| CN201934117U (en) * | 2010-12-29 | 2011-08-17 | 北京中科林重科技有限公司 | Electro-hydraulic control system for hydraulic support in working face |
| CN102373893A (en) * | 2011-11-18 | 2012-03-14 | 郑州煤矿机械集团股份有限公司 | Electrohydraulic control system for hydraulic support in thin-seam working surface |
| CN103244163B (en) * | 2013-05-23 | 2015-07-29 | 北京天地玛珂电液控制系统有限公司 | A kind of with array close to the working surface hydraulic support of sensing device and straightness accuracy control method thereof |
| CN103352713B (en) * | 2013-07-17 | 2016-02-10 | 中国矿业大学 | A kind of artificial intelligent type hydraulic support electric-hydraulic control |
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| NL2030437B1 (en) * | 2022-01-05 | 2023-07-10 | Univ Liaoning Technical | Support-spallation integrated system for preventing damage of surrounding rock of roadway by rock burst |
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Effective date of registration: 20201029 Address after: 100013 Beijing, Hepingli Youth ditch East Road, building No. 5, room and floor, No. 131, No. Patentee after: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Patentee after: BEIJING MEIKE TIANMA AUTOMATION SCIENCE & TECHNOLOGY Co.,Ltd. Address before: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee before: BEIJING MEIKE TIANMA AUTOMATION SCIENCE & TECHNOLOGY Co.,Ltd. |
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Address after: No.131, ground floor, Tiandi building, No.5, qingniangou East Road, Hepingli, Chaoyang District, Beijing 100013 Patentee after: Beijing Tianma Zhikong Technology Co.,Ltd. Patentee after: Beijing coal technology Tianma Automation Technology Co., Ltd Address before: No.131, ground floor, Tiandi building, No.5, qingniangou East Road, Hepingli, Chaoyang District, Beijing 100013 Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Patentee before: Beijing coal technology Tianma Automation Technology Co., Ltd |