CN106285756B - Lame advanced supporting control system and method for numbering serial - Google Patents
Lame advanced supporting control system and method for numbering serial Download PDFInfo
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- CN106285756B CN106285756B CN201610658418.0A CN201610658418A CN106285756B CN 106285756 B CN106285756 B CN 106285756B CN 201610658418 A CN201610658418 A CN 201610658418A CN 106285756 B CN106285756 B CN 106285756B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 15
- 230000004044 response Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000005065 mining Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000003245 coal Substances 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
- E21D23/12—Control, e.g. using remote control
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the invention discloses a kind of lame advanced supporting control system and method for numbering serial.The system comprises：One hand-hold wireless control device, a wireless transmitter and at least two bracket controllers；Command input device of the hand-hold wireless control device as control system, with the wireless transmitter wireless connection；The wireless transmitter is kept in communication with a bracket controller at least two bracket controllers and is connect；At least two bracket controllers are respectively arranged on its corresponding advance support rack, for bracket controller to be numbered, when failure occurs, to position the bracket controller to break down.Lame advanced supporting control system provided in an embodiment of the present invention and method for numbering serial can significantly reduce the hardware cost of system, improve safety and the high efficiency of tunnel operation.
Description
Technical field
The present embodiments relate to technical field of coal mine equipment more particularly to a kind of lame advanced supporting control systems and volume
Number method.
Background technology
In the pit mining of current mining, especially coal mine, the excavation operation in tunnel is every other operation
Prerequisite.Although the preferable mine of condition or coal mine roadway excavation operation are gradually adopted by artificial gib mode in the past
The mode of advanced hydraulic support supporting is substituted, but not yet introduces electrohydraulic control system, the safety of tunnelling operation and
High efficiency is still insufficient.On the one hand, the electrohydraulic control system on existing fully-mechanized mining working must generally have a special stand clothes
Business device dominates the coding work of completion system, must be typically installed at end or end tail bracket controller, and without disclosing it
Coding method；On the other hand, the particularity based on lame advanced supporting, the electrichydraulic control stent of required mating advanced hydraulic support
Amount controller is generally few, for the electrohydraulic control system of fully-mechanized mining working, is equipped with special stand server and not only can
The apparent hardware cost for increasing system, will also ensure the maintenance work in later stage.
Invention content
For above-mentioned technical problem, an embodiment of the present invention provides a kind of lame advanced supporting control system and number sides
Method to improve the safety of tunnel operation and high efficiency, avoids causing system when setting stent server in the controls
Unnecessary waste on hardware cost.
On the one hand, an embodiment of the present invention provides a kind of lame advanced supporting control system, the system comprises：One hand
Hold control device of wireless, a wireless transmitter and at least two bracket controllers；
Command input device of the hand-hold wireless control device as control system, it is wireless with the wireless transmitter
Connection；
A bracket controller in the wireless transmitter and at least two bracket controllers is kept in communication company
It connects；
At least two bracket controllers are respectively arranged on its corresponding advance support rack, the bracket controller
With keeping point-to-point connection, at least two stents between the adjacent stent controller on advance support rack adjacent thereto
A bracket controller in controller is kept in communication with the wireless transmitter to be connect, and with the wireless transmitter
The bracket controller of wireless telecommunications connection is kept to be chosen to be main support controller, for being compiled to other bracket controllers
Number, when failure occurs, to position the bracket controller to break down.
On the other hand, the embodiment of the present invention additionally provides a kind of lame advanced supporting control system method for numbering serial, the side
Method includes：
Adjacent stent controller quantity forwarded of the main support controller respectively to its left side and right side counts request, wherein,
The statistical number magnitude included in the quantity statistics request that the main support controller is sent is 0；
The adjacent stent controller receives the quantity statistics request, will to the main support controller feedback response
Statistical number magnitude in the quantity statistics request adds 1；
The later quantity statistics request of statistical number magnitude change is sent to next adjacent by the adjacent stent controller
Bracket controller, until next adjacent stent controller no longer exists；
When next adjacent stent controller no longer in the presence of, the adjacent stent controller is anti-by the statistical number magnitude
It is fed to the main support controller；
The statistical magnitude Data-Statistics bracket controller that the main support controller is fed back according to the adjacent stent controller
Quantity；
The quantity of bracket controller that the main support controller is obtained according to statistics is numbered for each bracket controller.
Lame advanced supporting control system provided in an embodiment of the present invention and method for numbering serial, by the way that hand-held control can be received
The wireless transmitter for the control instruction that device is sent, and select one to be controlled as main support in multiple bracket controllers
Device avoids necessity that server is separately provided in lame advanced supporting control system, so as to significantly reduce the hard of system
Part cost.
Description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, of the invention is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the structure chart for the lame advanced supporting control system that first embodiment of the invention provides；
Fig. 2 is the flow chart for the lame advanced supporting control system method for numbering serial that second embodiment of the invention provides；
Fig. 3 is quantity statistics process in the lame advanced supporting control system method for numbering serial that second embodiment of the invention provides
Principle schematic；
Fig. 4 is breakdown judge and fixed in the lame advanced supporting control system method for numbering serial that second embodiment of the invention provides
The flow chart of bit manipulation.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just
Part related to the present invention rather than entire infrastructure are illustrated only in description, attached drawing.
First embodiment
Present embodiments provide a kind of technical solution of lame advanced supporting control system.In the technical scheme, it is described
Lame advanced supporting control system includes：Be arranged on an advance support rack, and with the bracket controller on the stent
Keep in communication connection wireless transmitter 11 and the bracket controller 12 that is arranged on each advance support rack.
The wireless transmitter 11 is arranged on an advance support rack in multiple advance support racks.The nothing
The interaction of wireless signal can be carried out between the hand-hold wireless control device 10 that line R-T unit 11 and user hold.It is described hand-held
Control device of wireless 10 is otherwise known as " remote controler ", and user passes through the operation to the hand-hold wireless control device 10, Ke Yixiang
The wireless transmitter 11 sends the control instruction for entire lame advanced supporting system.
In addition, one in 11 numerous bracket controllers 12 of wireless transmitter keeps wireless telecommunications connection.Principle
On, the wireless transmitter 11 can keep in communication with any one bracket controller 12 and connect.However, in practice, in order to
Cause the more convenient of the wiring between wireless transmitter 11 and the bracket controller, preferably fill the wireless receiving and dispatching
11 bracket controller 12 with being arranged on same advance support rack with it is put to connect.
It is connect by the communication between a bracket controller 12 in numerous bracket controllers 12, the wireless receiving and dispatching
Device 11 can complete the quantity statistics to bracket controller 12, number and fault verification and positioning, exist again so as to eliminate
Necessity of server is separately provided in control system, the hardware cost of control system is greatly saved.
In the bracket controller 12, in addition to one of them between the wireless transmitter 11 company of keeping in communication
It connects, there is no directly communication connections between the wireless transmitter 11 for other.These bracket controllers 12 to from
The wireless transmitter 11 obtains the control instruction that user sends out there, completes the control operation of corresponding stent, need by
The bracket controller 12 that remain communication connection between the wireless transmitter 11 carries out transfer.
In order to complete the transfer of above-metioned instruction, each bracket controller 12 is advanced with one be arranged on beside it
The point-to-point connection kept between adjacent stent controller on support frame.It is described wireless by means of above-mentioned point-to-point connection
The operational order that R-T unit 11 is sent can transmit between different bracket controllers, be finally completed for whole system
Control.
Due to other bracket controllers 12 need obtain operational order, be required for by with the wireless transmitter 11
Between remain communication connection a bracket controller 12 transfer, so this is protected between the wireless transmitter 11
The bracket controller 12 that hold communication connection is referred to as main support controller, and other bracket controllers are referred to as adjacent stent
Controller.
In miscellaneous operational order, there is a kind of instruction to be referred to as quantity statistics request.This instruction is in the branch
Mutually transmitted between frame controller, be used to indicate the quantity of bracket controller present in 12 complete paired systems of bracket controller into
The operation of row statistics.
In addition there is a kind of instruction, be referred to as number instruction.This instruction is for lame advanced supporting control system
Bracket controller present in system assigns corresponding number.Why the bracket controller in system is numbered, it is therefore an objective to
In order to establish each tagging to each bracket controller of system, to control it operation.Once each bracket controller
Have its corresponding number, once system break down, to the investigation of source of failure equipment will be opposite it is easy.It is exemplary
, each bracket controller in order system uploads its number, and checks the number lacked in the numbered sequence that upload obtains,
It just can tentatively determine the bracket controller of existing failure.
Under a kind of preferred embodiment of this system, when bracket controller is numbered, the main support control
Installation position of the device according to each bracket controller spatially, is from right to left sequentially numbered each bracket controller.
Under another preferred embodiment of this system, when bracket controller is numbered, the main support controller is according to each
The installation position of a bracket controller spatially, is from left to right sequentially numbered each bracket controller.
The present embodiment is filled by selecting one in numerous bracket controllers as main support controller with wireless receiving and dispatching
Keep in communication between putting connection, after the operational order for receiving wireless transmitter transmission by with other bracket controllers
Between point-to-point connection, perform corresponding conduct so that no longer need to be separately provided in lame advanced supporting control system
The hardware cost of system is greatly saved in server.
Second embodiment
Present embodiments provide a kind of technical solution of lame advanced supporting control system method for numbering serial.In the technical solution
In, the lame advanced supporting control system method for numbering serial includes：Main support controller respectively to its left side and right side it is adjacent
The statistics request of bracket controller quantity forwarded, wherein, the system included in the quantity statistics request that the main support controller is sent
It is 0 to count magnitude；The adjacent stent controller receives the quantity statistics request, feeds back and rings to the main support controller
Should, the statistical number magnitude during the quantity statistics are asked adds 1；After the adjacent stent controller changes statistical number magnitude
Quantity statistics request be sent to next adjacent stent controller, until next adjacent stent controller no longer exists；When
Next adjacent stent controller no longer in the presence of, the statistical number magnitude is fed back to the master by the adjacent stent controller
Bracket controller；The main support controller is controlled according to the statistical magnitude Data-Statistics stent that the adjacent stent controller is fed back
The quantity of device；The quantity of bracket controller that the main support controller is obtained according to statistics is numbered for each bracket controller.
Referring to Fig. 2, the lame advanced supporting control system method for numbering serial includes：
S21, each bracket controller judge itself whether main branch by recognizing whether itself is connected with wireless transmitter
Frame controller.
In the present embodiment, a stent control of communication connection only itself is maintained between the wireless transmitter
Device processed, that is, a bracket controller of the wireless transmitter is connected to, it is only main support controller.Therefore, in institute
State lame advanced supporting control system method for numbering serial operation at the beginning of, can by judge itself whether with the wireless transmitter
Connection, judge a current bracket controller whether main support controller.
It should be noted that in same lame advanced supporting control system, it at most can only be there are one master controller.Such as
Fruit judges the bracket controller for occurring equal to or more than two in result, then can carry during the identification decision of S21
The user that wakes up checks the wiring of system, to be only chosen to be main support controller there are one bracket controller in guarantee system.
S22, adjacent stent controller quantity forwarded of the main support controller respectively to its left side and right side count request,
In, the statistical number magnitude included in the quantity statistics request that the main support controller is sent is 0.
After the judgement for completing main support controller, chosen main support controller starts to other bracket controllers
Quantity forwarded statistics request.
Due to each advance support rack, left and right is disposed adjacent, and only set on two adjacent stents in tunnel
Bracket controller between have point-to-point connection, and do not have between the bracket controller set on two non-adjacent stents
Wireless connection, therefore the quantity statistics sent by the main support controller are asked in a manner of hop-by-hop in different stents
It is transmitted between controller.In other words, the quantity statistics request is transferred to closely adjacent in the main support controller first
A bracket controller, then transmitted it to by this bracket controller and its close another adjacent bracket controller.
Such a field is included in the quantity statistics request, this field is specifically used to record to the number
Amount statistics request carried out the quantity of corresponding bracket controller.This field is referred to as statistical number magnitude.It is controlled in main support
When the bracket controller in device to its left side and right side sends the quantity statistics request, the value of the statistical number magnitude is 0.
S23, the adjacent stent controller receive the quantity statistics request, feed back and ring to the main support controller
Should, the statistical number magnitude during the quantity statistics are asked adds 1.
After the quantity statistics request is received, the primary action of the adjacent stent controller is intended to directly transmit
The source bracket controller feedback response of quantity statistics request that device receives.Once feedback response, the bracket controller in source
It is assured that the next adjacent stent controller of oneself has been received that the quantity statistics request.Further,
In the present embodiment, also whether source bracket controller can be also judged for oneself, according to whether response can be received
There are next adjacent stent controllers.
After the quantity statistics request is received, another action of the adjacent stent controller is, by described in
The statistical number magnitude included in quantity statistics request adds 1.This means that this bracket controller has been also assisted in quantity statistics.
The later quantity statistics request of statistical number magnitude change is sent to next by S24, the adjacent stent controller
Adjacent stent controller, until next adjacent stent controller no longer exists.
It should be noted that the quantity transmitted by the adjacent stent controller to its next adjacent stent controller
Statistics request, from operated in S23 in the request of received quantity statistics be different.It is the most basic the difference lies in,
Statistical number magnitude takes compared with the statistical number magnitude in the request of its quantity statistics received in its quantity statistics sent request
Value is changed.More specifically, value increases 1 compared to original.
Each stent controls it to be required for performing the described behaviour of S23 and S24 after quantity statistics request is received
Make, until receiving a bracket controller of above-mentioned quantity statistics request, there is no next adjacent stent controllers.
Fig. 3 shows the process of above-mentioned quantity statistics.Referring to Fig. 3, each bracket controller 12 is being received from described
After the quantity statistics request of wireless transmitter 11, the direct original node feeding back all asked to the quantity statistics responds,
Statistical number magnitude during the quantity statistics are asked again adds 1, and will complete the updated quantity statistics request of statistical number magnitude
Feed back to next adjacent bracket controller.
S25, when next adjacent stent controller no longer in the presence of, the adjacent stent controller is by the statistical magnitude
Value feeds back to the main support controller.
When one bracket controller next adjacent stent controller no longer in the presence of, illustrate this stent control
Device is the bracket controller set on the advance support rack in marginal position on spatial position.That is, the master
Bracket controller has completed the quantity statistics work of the bracket controller of side.Therefore, this bracket controller by its
The statistical number magnitude that operation obtains feeds back to the main support controller, terminates the quantity statistics to the bracket controller of this side
Work.
S26, the statistical magnitude Data-Statistics stent control that the main support controller is fed back according to the adjacent stent controller
The quantity of device processed.
The main support controller counts the quantity of bracket controller according to equation below：
N=NR+NL+1
Wherein, N represents the sum of bracket controller, NRRepresent that position is in the stent control on the right side of the main support controller
The number of device processed, NLRepresent that position is in the quantity of the bracket controller of the main support the left side of the controller.
S27, the quantity of bracket controller that the main support controller is obtained according to statistics are compiled for each bracket controller
Number.
Under a kind of embodiment, it is preferred that above-mentioned number process includes：The main support controller according to by it is left extremely
Right incremental order calculates the number of each bracket controller；The main support controller in the form of number distribution request, to
Each bracket controller issues its corresponding number.
Specifically, work as NL=0, NRDuring ＞ 0, the bracket controller ID number for being connected with wireless transmitter is set as 1, right side
Bracket controller successively ID number be set as 2,3 ..., NR、(NR+1)；Work as NL＞ 0, NRWhen=0, it is connected with wireless transmitter
Bracket controller ID number is set as (NL+ 1), ID number is set as N to left side brackets controller successivelyL、(NL-1)、……、2、1；Work as NL＞
0,NRDuring ＞ 0, the bracket controller ID for being connected with wireless transceiver is set as (NL+ 1) its left side brackets controller ID number is set as successively
NL、(NL- 1) ..., 2,1, right side bracket controller ID is set as (N successivelyL+2)、(NL+3)、……、(NL+NR)、(NL+NR+
1)。
Under another embodiment, it is preferred that above-mentioned number process includes：The main support controller according to by it is right extremely
Left order calculates the number of each bracket controller；The main support controller is in the form of number distribution request, to each
Bracket controller issues its corresponding number.
Specifically, work as NL=0, NRDuring ＞ 0, the bracket controller ID number for being connected with wireless transmitter is set as (NR+1),
ID number is set as N to right side bracket controller successivelyR、(NR-1)、……、2、1；Work as NL＞ 0, NRWhen=0, it is connected with wireless receiving and dispatching dress
The bracket controller ID number put is set as 1, left side brackets controller successively ID number be set as 2,3 ..., (NL)、(NL+1)；Work as NL
＞ 0, NRDuring ＞ 0, the bracket controller ID for being connected with wireless transceiver is set as (NR+ 1), left side brackets controller ID number is successively
It is set as (NR+2)、(NR+3)、……、(NR+NL)、(NR+NL+ 1), right side bracket controller ID is set as (N successivelyR)、(NR-
1)、……、2、1。
S28, the main support controller judge whether to break down by asking the number of each bracket controller, and
Position the bracket controller to break down.
Specifically, referring to Fig. 4, by asking the number of each bracket controller, judgement is the main support controller
No failure, and the bracket controller for positioning failure includes：
S41, the main support controller ask each bracket controller to upload its number with request message.
S42, the message number that the main support controller statistics uploads.
S43, if the sum of message number uploaded adds a statistical number magnitude acquired when being less than distribution number, the main support
Controller judgement has been broken down.
Once the sum of message number adds one result and the discrepancy of quantity of the bracket controller counted before again, can sentence
It is fixed, occur failure in system.
S44, the number that the main support controller is uploaded by identifying each bracket controller position the branch of failure
Frame controller.
During above-mentioned number identifies, if the missing of a number is found, it can be concluded that the stent of missing number
There is failure in controller.
The present embodiment is by being connected with number of the bracket controller to bracket controller in system of wireless transmitter
Amount is counted, and each bracket controller in system is numbered according to the sum of statistics, not only so that subsequent event
Barrier investigation is more convenient, and without adding independent server in systems, saves the hardware cost of system.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for those skilled in the art
For, the present invention can have various modifications and changes.All any modifications made within spirit and principles of the present invention are equal
Replace, improve etc., it should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of lame advanced supporting control system, which is characterized in that including：One hand-hold wireless control device, one wireless
R-T unit and at least two bracket controllers；
Command input device of the hand-hold wireless control device as control system, wirelessly connects with the wireless transmitter
It connects；
The wireless transmitter is kept in communication with a bracket controller at least two bracket controllers and is connect；
At least two bracket controllers are respectively arranged on its corresponding advance support rack, the bracket controller with
Adjacent advance support rack on adjacent stent controller between keep point-to-point connection, at least two stents controls
A bracket controller in device is kept in communication with the wireless transmitter to be connect, and is kept with the wireless transmitter
The bracket controller of wireless telecommunications connection is chosen to be main support controller, for the bracket controller to be numbered, with
Just when failure occurs, the bracket controller to break down is positioned；
Wherein, the adjacent stent controller quantity forwarded that the main support controller is additionally operable to respectively to its left side and right side counts
Request, and the quantity of bracket controller obtained according to statistics, are numbered for each bracket controller.
2. system according to claim 1, which is characterized in that when bracket controller is numbered, the main support
Installation position of the controller according to each bracket controller spatially, from right to left sequentially compiles each bracket controller
Number.
3. system according to claim 1, which is characterized in that when bracket controller is numbered, the main support
Installation position of the controller according to each bracket controller spatially, from left to right sequentially compiles each bracket controller
Number.
4. a kind of lame advanced supporting control system method for numbering serial, which is characterized in that including：
Adjacent stent controller quantity forwarded of the main support controller respectively to its left side and right side counts request, wherein, it is described
The statistical number magnitude included in the quantity statistics request that main support controller is sent is 0；
The adjacent stent controller receives the quantity statistics request, to the main support controller feedback response, by described in
Statistical number magnitude in quantity statistics request adds 1；
Statistical number magnitude is changed later quantity statistics request and is sent to next adjacent stent by the adjacent stent controller
Controller, until next adjacent stent controller no longer exists；
When next adjacent stent controller no longer in the presence of, the adjacent stent controller feeds back to the statistical number magnitude
The main support controller；
The number of statistical magnitude Data-Statistics bracket controller that the main support controller is fed back according to the adjacent stent controller
Amount；
The quantity of bracket controller that the main support controller is obtained according to statistics is numbered for each bracket controller.
5. according to the method described in claim 4, it is characterized in that, the adjacent stent controller is according to whether sound can be received
Foundation is should be, judges that next adjacent stent controller whether there is.
6. method according to claim 4 or 5, which is characterized in that the branch that the main support controller is obtained according to statistics
The quantity of frame controller includes for each bracket controller number：
The main support controller calculates the number of each bracket controller according to order incremental from left to right；
The main support controller issues its corresponding number in the form of number distribution request, to each bracket controller.
7. method according to claim 4 or 5, which is characterized in that the branch that the main support controller is obtained according to statistics
The quantity of frame controller includes for each bracket controller number：
The main support controller calculates the number of each bracket controller according to order from right to left；
The main support controller issues its corresponding number in the form of number distribution request, to each bracket controller.
8. method according to claim 4 or 5, which is characterized in that further include：
In the quantity of bracket controller that the main support controller is obtained according to statistics, it is numbered for each bracket controller
Afterwards, the main support controller judges whether to break down by asking the number of each bracket controller, and position appearance therefore
The bracket controller of barrier.
9. according to the method described in claim 8, it is characterized in that, the main support controller is by asking each stent to control
The number of device judges whether to break down, and the bracket controller for positioning failure includes：
The main support controller asks each bracket controller to upload its number with request message；
The message number that the main support controller statistics uploads；
If the sum of message number uploaded adds a statistical number magnitude acquired when being less than distribution number, the main support controller is sentenced
It is fixed to have broken down；
The number that the main support controller is uploaded by identifying each bracket controller positions the stent control of failure
Device.
10. method according to claim 4 or 5, which is characterized in that further include：
Before the adjacent stent controller quantity forwarded statistics request on the left of it and right side of main support controller, each stent control
Device processed by recognizing whether itself is connected with wireless transmitter, judge itself whether main support controller.
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| CN108266210A (en) * | 2018-03-06 | 2018-07-10 | 太原理工大学 | A kind of hydraulic support electrohydraulic control system bracket controller Bidirectional sort method |
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| CN105201537A (en) * | 2015-10-23 | 2015-12-30 | 广州日滨科技发展有限公司 | Wireless self-numbering method and device of hydraulic support electric hydraulic control system |
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