CN112796814A - Control method and device of hydraulic support, electronic equipment and storage medium - Google Patents
Control method and device of hydraulic support, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN112796814A CN112796814A CN202011438856.9A CN202011438856A CN112796814A CN 112796814 A CN112796814 A CN 112796814A CN 202011438856 A CN202011438856 A CN 202011438856A CN 112796814 A CN112796814 A CN 112796814A
- Authority
- CN
- China
- Prior art keywords
- column
- pressure
- stroke
- preset
- lower cavity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 73
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 239000007788 liquid Substances 0.000 claims abstract description 77
- 230000008569 process Effects 0.000 claims abstract description 40
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 230000008859 change Effects 0.000 claims description 17
- 230000001502 supplementing effect Effects 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 7
- 238000005086 pumping Methods 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 description 16
- 230000009471 action Effects 0.000 description 15
- 239000003245 coal Substances 0.000 description 12
- 230000006870 function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000005065 mining Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 239000012530 fluid Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- 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
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/26—Hydraulic or pneumatic control
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a control method and a control device for a hydraulic support, electronic equipment and a storage medium, wherein the method comprises the following steps: receiving a column descending instruction, and controlling the upright column to feed liquid according to the column descending instruction; detecting the pressure of the lower cavity of the stand column, and controlling the stand column to descend when the pressure of the lower cavity of the stand column is less than or equal to a preset column descending pressure threshold value; acquiring the flow of the stand column, and generating the stroke of the stand column according to the flow; when the stroke is greater than or equal to a preset column descending stroke threshold value, stopping column descending and entering a bottom lifting frame process; detecting the travel of the pull frame, and stopping the pull frame and lifting the column when the travel of the pull frame is greater than or equal to a preset pull frame travel threshold; and stopping lifting the column when the pressure of the lower cavity of the column is greater than or equal to the preset lifting column pressure threshold value, and replenishing liquid to the column until the pressure of the lower cavity of the column reaches the preset system pressure. The control method provided by the embodiment of the invention can meet the requirements of system cooperation and accurate control in the field automatic machine following process, and has reliability and convenience.
Description
Technical Field
The invention relates to the technical field of hydraulic systems of coal mine working surfaces, in particular to a control method and device of a hydraulic support, electronic equipment and a storage medium.
Background
The electrohydraulic control system for the hydraulic support of the fully mechanized mining face in China is widely popularized and applied, and the functions of single-action control of a single support, sequential program control of grouped support actions, automatic control (also called follow-up control) of the hydraulic support following the position of a coal mining machine and the like are realized. The automatic control function of the machine following is a high-level function of the automation of the fully mechanized coal mining face system, and is a key for realizing the automatic operation of the fully mechanized coal mining face.
The application of the automatic tracking control function not only reduces the labor intensity of coal mine workers, but also improves the production efficiency of coal mines, and especially successfully realizes automatic tracking in part of domestic coal mines with medium and thin coal seams (such as Huangling coal mines, Yujialiang coal mines and the like) with better geological conditions, fewer support functions and small supporting force. However, in the application process of the medium and thick coal seam follow-up machine, the follow-up machine efficiency is lower than that of manual operation, the energy utilization is poor, the control parameters are set by experience, and the like, so that the on-site debugging time is long, and the system universality is poor.
At present, most action control of the hydraulic support is not provided with a displacement sensor for closed-loop detection, and only rough open-loop control can be realized through time control and pressure detection, so that time parameter setting is a key factor influencing efficiency and quality of an automatic process of a follow machine on the premise of ensuring safety and operation reliability.
The quick support moving is a key process and link related to the automation efficiency and quality of the machine, wherein the column descending, the frame pulling and the column lifting (namely, the descending and the moving) are taken as a continuous process link.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above.
Therefore, a first objective of the present invention is to provide a control method for a hydraulic support, which can meet the requirements of system coordination and accurate control in the field automatic machine following process, and also has reliability and convenience.
A second object of the present invention is to provide a control device for a hydraulic mount.
A third object of the invention is to propose an electronic device.
A fourth object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling a hydraulic mount, including: receiving a column descending instruction, and controlling the upright column to feed liquid according to the column descending instruction; detecting the pressure of the lower cavity of the upright column, and controlling the upright column to descend when the pressure of the lower cavity of the upright column is less than or equal to a preset column descending pressure threshold value; acquiring the flow of the upright column, and generating the stroke of the upright column according to the flow; when the stroke is greater than or equal to a preset column descending stroke threshold value, stopping column descending and entering a bottom lifting frame process; detecting the travel of the pull frame, and stopping the pull frame and lifting the column when the travel of the pull frame is greater than or equal to the preset pull frame travel threshold; and stopping lifting the column when the pressure of the lower cavity of the column is greater than or equal to a preset lifting column pressure threshold value, and replenishing liquid to the column until the pressure of the lower cavity of the column reaches a preset system pressure.
According to the control method of the hydraulic support, firstly, a column descending instruction is received, the column is controlled to feed liquid according to the column descending instruction, the pressure of the lower cavity of the column is detected, the column is controlled to descend when the pressure of the lower cavity of the column is smaller than or equal to a preset column descending pressure threshold value, then the flow of the column is obtained, the stroke of the column is generated according to the flow, the column descending is stopped and a bottom lifting and pulling frame process is started when the stroke is larger than or equal to the preset column descending stroke threshold value, then the pulling frame stroke is detected, the pulling frame is stopped and the column is lifted when the pulling frame stroke is larger than or equal to a preset pulling frame stroke threshold value, the column is stopped to be lifted when the pressure of the lower cavity of the column is larger than or equal to a preset column lifting pressure threshold value, and liquid is replenished to the column until the pressure of the lower cavity of the column. Therefore, the requirements of system cooperation and accurate control in the automatic process of the on-site tracking machine can be met, the reliability and convenience are both considered, and the overall operation efficiency of the hydraulic support is improved.
In addition, the control method of the hydraulic bracket according to the above embodiment of the present invention may further have the following additional technical features:
in an embodiment of the present invention, the obtaining the flow rate of the pillar includes: acquiring the pressure of the lower cavity of the upright column and the system back pressure; and generating the flow according to the pressure of the lower cavity of the upright post and the back pressure of the system.
In an embodiment of the present invention, the obtaining the flow rate of the pillar includes: acquiring the pressure of the lower cavity of the upright column and the main liquid inlet pressure; and generating the flow according to the pressure of the lower cavity of the upright column and the main liquid inlet pressure.
In one embodiment of the present invention, the racking is performed when the following conditions are satisfied; the change rate of the travel sensor is greater than a preset change rate threshold value; and the pressure of the lower cavity of the upright post is smaller than a preset pressure threshold value.
In an embodiment of the present invention, a flow pump station is disposed in the liquid supply system, and is used for replenishing the liquid to the column.
In an embodiment of the present invention, the method for controlling the hydraulic bracket further includes:
detecting the displacement of the stroke sensor; if the displacement is smaller than K times of the target stroke, liquid supply is carried out at a first flow rate, wherein K is a proportionality coefficient; and if the displacement is greater than or equal to K times of the target stroke, feeding liquid at a second flow rate, wherein the first flow rate is greater than the second flow rate.
In order to achieve the above object, a second embodiment of the present invention provides a control device for a hydraulic mount, including: the liquid inlet module is used for receiving the column descending instruction and controlling the stand column to feed liquid according to the column descending instruction; the descending module is used for detecting the pressure of the lower cavity of the upright column and controlling the upright column to descend when the pressure of the lower cavity of the upright column is smaller than or equal to a preset column descending pressure threshold value; the generating module is used for acquiring the flow of the upright column and generating the stroke of the upright column according to the flow; the bottom lifting and pulling frame module is used for stopping the column descending and entering the bottom lifting and pulling frame process when the stroke is greater than or equal to a preset column descending stroke threshold value; the column lifting module is used for detecting the rack pulling stroke and stopping pulling the rack and lifting columns when the rack pulling stroke is greater than or equal to the preset rack pulling stroke threshold; and the liquid supplementing module is used for stopping lifting the column when the pressure of the lower cavity of the upright column is greater than or equal to a preset lifting column pressure threshold value, and supplementing liquid to the upright column until the pressure of the lower cavity of the upright column reaches a preset system pressure.
The control device of the hydraulic support receives the column descending command through the liquid inlet module and controls the upright column to feed liquid according to the column descending command, the pressure of the lower cavity of the upright post is detected by the descending module, and when the pressure of the lower cavity of the upright post is less than or equal to a preset descending pressure threshold value, controlling the upright post to descend, acquiring the flow of the upright post through the generating module, generating the stroke of the upright post according to the flow, when the stroke is larger than or equal to the preset column descending stroke threshold value, stopping column descending through the bottom-lifting pull frame module and entering the bottom-lifting pull frame process, the column lifting module is used for detecting the travel of the pull frame, and when the travel of the pull frame is greater than or equal to a preset pull frame travel threshold value, stopping pulling the frame and lifting the column, and when the pressure of the lower cavity of the upright column is greater than or equal to the preset pressure threshold value of the lifting column, and stopping lifting the column through the liquid supplementing module, and supplementing liquid to the stand column until the pressure of the lower cavity of the stand column reaches the preset system pressure. Therefore, the requirements of system cooperation and accurate control in the automatic process of the on-site tracking machine can be met, the reliability and convenience are both considered, and the overall operation efficiency of the hydraulic support is improved.
In addition, the control device for the hydraulic support according to the above embodiment of the present invention may further have the following additional technical features:
in an embodiment of the present invention, the control device of the hydraulic bracket further includes: the detection module is used for detecting the displacement of the stroke sensor; the first liquid supply module is used for supplying liquid at a first flow rate if the displacement is smaller than K times of the target stroke, wherein K is a proportionality coefficient; and the second liquid supply module is used for supplying liquid at a second flow rate if the displacement is greater than or equal to K times of the target stroke, wherein the first flow rate is greater than the second flow rate.
In order to achieve the above object, an embodiment of a third aspect of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for controlling a hydraulic mount according to the embodiment of the first aspect of the present invention.
According to the electronic equipment provided by the embodiment of the invention, the processor executes the computer program stored in the memory, so that the requirements of system cooperation and accurate control in the field machine following automation process can be met, the reliability and convenience are both considered, and the overall operation efficiency of the hydraulic support is improved.
To achieve the above object, a fourth aspect of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the method for controlling a hydraulic mount according to the first aspect of the present invention.
The non-transitory computer-readable storage medium of the embodiment of the invention can meet the requirements of system cooperation and accurate control in the field and machine following automation process by executing the stored computer program, and has the advantages of reliability and convenience, and meanwhile, the overall operation efficiency of the hydraulic support is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling a hydraulic mount according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a hydraulic mount according to one embodiment of the present invention;
FIG. 3 is a block schematic diagram of a control arrangement for a hydraulic mount according to one embodiment of the present invention;
fig. 4 is a block schematic diagram of a control device of a hydraulic mount according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method of a hydraulic mount, a control apparatus of a hydraulic mount, an electronic device, and a non-transitory computer-readable storage medium according to an embodiment of the present invention are described below with reference to the accompanying drawings.
The method for controlling a hydraulic bracket according to an embodiment of the present invention may be implemented by an electronic device, where the electronic device may be a Personal Computer (PC), a tablet Computer, a server, or the like, and is not limited herein.
In an embodiment of the present invention, a processing component, a storage component, and a driving component may be provided in the electronic device. Optionally, the driving component and the processing component may be integrated, the storage component may store an operating system, an application program, or other program modules, and the processing component implements the control method of the hydraulic bracket provided in the embodiment of the present invention by executing the application program stored in the storage component.
Fig. 1 is a flowchart of a control method of a hydraulic mount according to an embodiment of the present invention.
As shown in fig. 1, a method for controlling a hydraulic mount according to an embodiment of the present invention may include:
and S1, receiving the column descending instruction, and controlling the upright column to feed liquid according to the column descending instruction.
In the embodiment of the invention, the column descending instruction can be received by the electronic equipment, and the liquid inlet of the upright column is controlled according to the column descending instruction.
Specifically, after receiving the column descending instruction, the electronic device can control the solenoid valve corresponding to the column descending instruction to start to be powered on so as to control the column to feed liquid through the solenoid valve, namely, the upper cavity feeds liquid and the lower cavity returns liquid.
It should be noted that, in the process of liquid inlet of the column, since the area difference between the upper cavity and the lower cavity of the column is relatively large, and the pressure in the locking cavity or the lower cavity of the column is relatively large, and the cavity is relatively large, a pressure relief time (volume compression process, but no displacement change) is required in the process, and the pressure is not reduced to the threshold P in the initial stage of pressure relief because the pressure is not reduced to the threshold Pdown(i.e., the preset column pressure drop threshold), when the column is not dropped, is a pressure drop process, and the process is not timed.
And S2, detecting the pressure in the lower cavity of the upright column, and controlling the upright column to descend when the pressure in the lower cavity of the upright column is less than or equal to a preset column descending pressure threshold value. The preset column-descending pressure threshold value can be calibrated according to actual conditions.
Specifically, in the process of liquid inlet of the stand column, the pressure in the lower cavity of the stand column can be detected in real time through the pressure sensor, and when the pressure in the lower cavity of the stand column is detected to be smaller than or equal to the preset column-lowering pressure threshold value, the fact that the pressure in the lower cavity of the stand column reaches the pressure value capable of lowering the column at the moment is indicated, and the stand column can be controlled to descend immediately.
And S3, acquiring the flow of the upright post, and generating the stroke of the upright post according to the flow.
In one embodiment of the present invention, obtaining the flow rate of the column may include obtaining a pressure of the lower cavity of the column and a system back pressure (i.e., a column hydraulic back pressure), and generating the flow rate according to the pressure of the lower cavity of the column and the system back pressure.
In another embodiment of the present invention, obtaining the flow rate of the column may include obtaining a pressure of a lower cavity of the column and a main feed pressure, and generating the flow rate according to the pressure of the lower cavity of the column and the main feed pressure.
Specifically, in the process of descending the column, because the pressure of the upper cavity and the lower cavity of the column is balanced, the column descending process is a steady-state flow stability process, the stroke of the column descending process can be obtained by integrating the flow of the column, and the flow of the column can be obtained by two relations:
q＝f(p，preturn) (1)，
q＝f(pin,p) (2)，
wherein q can be the flow of the column, p can be the pressure in the lower cavity of the column, and p isreturnMay be the system back pressure (i.e., column return pressure), pinMay be the main inlet pressure (i.e., the main inlet pressure of the column).
The time-integrated relationship can then be used to,
or
And obtaining a real-time curve and data of the change of the stroke of the upright post (namely, the stroke of the falling upright post) along with the time, and obtaining the stroke of the upright post according to the real-time curve and the data, wherein H is the stroke of the upright post. Therefore, manual operation means can be better simulated, and the working efficiency of the column descending is improved.
And S4, stopping descending the column and entering the process of lifting the bottom pull frame when the stroke is larger than or equal to the preset column descending stroke threshold. The preset column descending stroke threshold value can be calibrated according to actual conditions.
And S5, detecting the rack pulling stroke, and stopping pulling the rack and lifting the column when the rack pulling stroke is greater than or equal to a preset rack pulling stroke threshold value. The preset pull frame stroke threshold value can be calibrated according to actual conditions.
Specifically, when the stroke of the upright column is greater than or equal to the preset column descending stroke threshold value in the process of descending the upright column, stopping column descending (for example, closing a column descending solenoid valve to stop column descending) and entering a bottom-lifting frame process. Then, the carriage stroke can be detected in real time, and when the carriage stroke is greater than or equal to the preset carriage stroke threshold, the carriage is stopped (for example, the corresponding electromagnetic valve is closed to stop the carriage), and the column is lifted.
In order to clearly illustrate the previous embodiment, in one embodiment of the present application, the broaching is performed when the following conditions are satisfied; the change rate of the stroke sensor is greater than a preset change rate threshold value, and the pressure of the lower cavity of the upright post is less than a preset pressure threshold value. The preset change rate threshold value and the preset pressure threshold value can be calibrated according to actual conditions.
Particularly, when the stroke of stand is greater than or equal to the preset column descending stroke threshold, the column descending is stopped and the process of lifting the bottom and pulling the frame is entered, at the moment, the bottom lifting and pulling the frame electromagnetic valve is controlled to be electrified, the bottom lifting action and the pulling the frame action are simultaneously carried out, if the stroke of the calculated stand (namely, the column descending stroke) is larger in error due to the abnormal condition of the bottom plate, the sinking of the top beam and other reasons, the top beam of the support is pressed when the bottom lifting is carried out, so that the pulling frame is slow or invalid, and according to the characteristics of the working condition, the pressure of the lower cavity of the stand and the stroke of the pushing jack are transmittedThe sensor detects, when the pressure of the lower cavity of the upright post is increased at the moment of roof contact, the pressure of the lower cavity of the upright post is judged, and if the pressure of the lower cavity of the upright post is greater than a threshold value pk(preset pressure threshold) or the lower cavity pressure is increased, the frame cannot be reliably pulled; or differentiating the stroke of the displacement sensor and using the differential value as a trigger point, and judging that the change rate (differential value) of the stroke sensor is less than a threshold kL(preset change rate threshold), judging that the frame cannot be reliably pulled, continuing to count down the column command with time t at the moment, and timing again.
At the moment, the column descending action and the pulling action are simultaneously executed, the stroke of the displacement sensor is differentiated, the differential value is used as a trigger point, the pressure in the lower cavity of the column is monitored, and when the change rate (differential value) of the stroke sensor exceeds a threshold kL(preset rate of change threshold), and the pressure of the lower cavity of the upright post is less than the threshold pk(preset pressure threshold value) shows that the frame can be reliably pulled at the moment, the electronic equipment closes the column descending electromagnetic valve, the column of the upright column is descended in place, the column descending is stopped at the moment, only the frame pulling action is executed, and the stroke of the newly added column descending is stored, so that the secondary margin control of the column descending is ensured.
It should be noted that the reliable pulling frame is mainly based on the displacement of the stroke sensor, and when the stroke of the displacement sensor stops in the middle or the change rate (differential value) of the stroke sensor is smaller than the threshold k on the premise that the pulling frame signal is normal and the system pressure is stable (the system pressure is greater than the minimum pulling frame pressure)L,(preset change rate threshold), display alarm signal, and stable pressure p of stock-entering systeminAnd if the pulling frame pressure is greater than the minimum pulling frame pressure, continuing the column descending command with the time t, timing again, continuously performing for at most n times under the working condition, and starting to ascend the column after the pulling frame stroke is greater than or equal to a preset pulling frame stroke threshold value. Wherein n can be a positive integer.
In the embodiment of the invention, when the carriage stroke is greater than or equal to the preset carriage stroke threshold, the carriage can be stopped and the column can be directly lifted, or when the carriage stroke is greater than or equal to the preset carriage stroke threshold, the carriage can be stopped, the column lifting command sent by the system is waited, and the column can be lifted after the column lifting command is received.
Specifically, when entering the column lifting process, the column lifting electromagnetic valve can be controlled to start working, the lower cavity of the upright column starts to feed liquid, and the upright column starts to ascend at the moment.
And S6, stopping lifting the column when the pressure of the lower cavity of the column is greater than or equal to the preset lifting column pressure threshold value, and replenishing liquid to the column until the pressure of the lower cavity of the column reaches the preset system pressure. The preset lifting column pressure threshold value and the preset system pressure can be calibrated according to actual conditions, and a flow pump station can be arranged in the liquid supply system and used for supplementing liquid for the stand column.
In particular during the raising of the upright. And taking the pressure of the lower cavity of the upright column as a detection object, closing the lifting solenoid valve to stop the lifting action when the pressure of the lower cavity of the upright column is greater than or equal to a preset lifting pressure threshold value, or prompting to alarm and closing the lifting solenoid valve when the pressure of the lower cavity of the upright column is still less than the preset lifting pressure threshold value after the continuous maximum holding time t is reached. It should be noted that after stopping the lifting motion, the pressure in the lower chamber of the column may not yet reach the preset system pressure (i.e., the steady pressure value).
At this time, the liquid can be replenished to the column until the pressure in the lower cavity of the column reaches the preset system pressure, wherein a flow pump station (e.g., a high-pressure small-flow pump station) can be arranged in the liquid supply system, and the liquid replenishing pump station is mainly used for automatically replenishing the liquid to the column so as to realize the function of automatically replenishing the pressure in the lower cavity of the column. When the column lifting is finished, if the pressure of the lower cavity of the column does not reach the preset system pressure, the automatic pressure supplementing function can be started, and when the pressure of the lower cavity of the column reaches the preset system pressure, the automatic pressure supplementing function is closed.
In an embodiment of the present invention, the method for controlling the hydraulic support may further include detecting a displacement of the stroke sensor, and if the displacement is smaller than K × target stroke, supplying liquid at a first flow rate, and if the displacement is greater than or equal to K × target stroke, supplying liquid at a second flow rate, the first flow rate being greater than the second flow rate, where K is a proportionality coefficient.
In particular, for a push hydraulic system with precise push control, a push jackFlow control (large flow regulation and small flow precision regulation) is performed by two-stage regulating valves, provided that the target stroke is set to LsetSetting a proportionality coefficient of K (0)<K<1) When the displacement of the pull frame stroke (the displacement of the stroke sensor) is less than k × LsetAt this time, the regulation can be carried out at a large flow rate (first flow rate), namely, the liquid supply is carried out at a large flow rate; when the displacement of the pull frame stroke is equal to or greater than k × LsetThe lifting column electromagnet is electrified, the lifting column action is started, the switching mode is triggered at the moment, the two-stage speed regulating valve for the pushing jack is changed into a small flow (second flow) regulating mode, namely liquid supply is carried out at a small flow, the triggering action of the two-stage speed regulating valve can be hydraulic control or electric control, and a hydraulic control port can be from an electromagnetic valve corresponding to actions of spraying, lifting of the upright column and the like. When the stroke of the pushing jack reaches LsetThe poppet solenoid valve may then be closed, thereby closing the two-stage governor valve. And then when the pressure of the lower cavity of the upright post reaches the preset system pressure, the post lifting electromagnetic valve is closed to stop the post lifting action. And finally, entering an intelligent pressure supplementing stage, and supplementing liquid to the stand column until the pressure of the lower cavity of the stand column reaches the preset system pressure.
It should be noted that the flow control described in this embodiment can be applied to the flow of raising the bottom bracket and raising the column.
Further, see fig. 2, wherein the vertical columns are mainly used for adjusting the height of the top beam and are used for providing a supporting initial force after the top beam is connected. When the upright column descends, the top beam is separated from the coal wall, when the upright column descends to a certain position, the pulling and lifting actions occur, the lifting jack lifts the support to reduce the contact area of the support and the floor, the friction force is reduced in the pulling process better, and the support is pushed to move. And a displacement sensor is arranged in the pushing jack, data of the displacement sensor is used as a judgment index in the pushing process, when the pulling frame stroke is greater than or equal to a preset pulling frame stroke threshold value, the pushing jack stops, the upright post jack works, the post lifting action starts, namely, the liquid is supplied to the lower cavity of the upright post, and the upright post rises until the top beam is abutted against the top.
In summary, the control method of the hydraulic bracket of the embodiment of the invention has at least the following advantages:
compared with the traditional state switching of a hydraulic support column descending-pulling-lifting unit, the state switching of the hydraulic support column descending-pulling-lifting unit is judged by mainly taking the stroke of a hydraulic cylinder instead of taking time as a judgment condition, and is more direct and effective;
secondly, the condition of reliable frame pulling of the stroke sensor is comprehensively judged, the condition of comprehensively judging the pressure change and the pushing stroke change of the lower cavity of the stand column at the moment of the bottom lifting action of the frame pulling is provided, the fault tolerance rate is lower, and the applicability is stronger;
thirdly, the automatic pressure supplementing function is adopted to decompose the column lifting process, so that efficient transmission and distribution of system liquid are realized;
the invention has simple structure, high integration level and high performability.
According to the control method of the hydraulic support, firstly, a column descending instruction is received, the column is controlled to feed liquid according to the column descending instruction, the pressure of the lower cavity of the column is detected, the column is controlled to descend when the pressure of the lower cavity of the column is smaller than or equal to a preset column descending pressure threshold value, then the flow of the column is obtained, the stroke of the column is generated according to the flow, the column descending is stopped and a bottom lifting and pulling frame process is started when the stroke is larger than or equal to the preset column descending stroke threshold value, then the pulling frame stroke is detected, the pulling frame is stopped and the column is lifted when the pulling frame stroke is larger than or equal to a preset pulling frame stroke threshold value, the column is stopped to be lifted when the pressure of the lower cavity of the column is larger than or equal to a preset column lifting pressure threshold value, and liquid is replenished to the column until the pressure of the lower cavity of the column. Therefore, the requirements of system cooperation and accurate control in the automatic process of the on-site tracking machine can be met, the reliability and convenience are both considered, and the overall operation efficiency of the hydraulic support is improved.
Fig. 3 is a block schematic diagram of a control device for a hydraulic mount according to one embodiment of the present invention.
Referring to fig. 3, a control apparatus 1000 for a hydraulic mount according to an embodiment of the present invention may include: the liquid feeding module 100, the descending module 200, the generating module 300, the bottom-lifting pull frame module 400, the column lifting module 500 and the liquid supplementing module 600.
The liquid inlet module 100 is configured to receive a column descending instruction, and control the column to feed liquid according to the column descending instruction.
The descending module 200 is configured to detect pressure in the lower cavity of the column, and control the column to descend when the pressure in the lower cavity of the column is less than or equal to a preset column descending pressure threshold.
The generating module 300 is configured to obtain a flow rate of the pillar and generate a stroke of the pillar according to the flow rate.
The bottom-lifting frame module 400 is configured to stop the pillar from descending and enter a bottom-lifting frame process when the stroke is greater than or equal to a preset pillar descending stroke threshold.
The column lifting module 500 is configured to detect a rack stroke, and stop the rack pulling and perform column lifting when the rack stroke is greater than or equal to a preset rack stroke threshold.
The fluid infusion module 600 is configured to stop the column lifting when the pressure of the lower cavity of the column is greater than or equal to a preset column lifting pressure threshold, and infuse fluid to the column until the pressure of the lower cavity of the column reaches a preset system pressure.
In an embodiment of the present invention, as shown in fig. 4, the control device 1000 of the hydraulic bracket may further include: a detection module 700, a first liquid supply module 800, and a second liquid supply module 900.
The detection module 700 is configured to detect a displacement of the stroke sensor.
The first liquid supply module 800 is configured to supply liquid at a first flow rate if the displacement is less than K x the target stroke, where K is a scaling factor.
The second liquid supply module 900 is configured to supply liquid at a second flow rate if the displacement is greater than or equal to K x the target stroke, the first flow rate being greater than the second flow rate.
It should be noted that the foregoing explanation of the embodiment of the control method of the hydraulic bracket is also applicable to the control device of the hydraulic bracket of this embodiment, and details are not repeated here.
In summary, the control device of the hydraulic support of the embodiment of the invention receives the column descending instruction through the liquid inlet module, controls the upright column to feed liquid according to the column descending instruction, the pressure of the lower cavity of the upright post is detected by the descending module, and when the pressure of the lower cavity of the upright post is less than or equal to a preset descending pressure threshold value, controlling the upright post to descend, acquiring the flow of the upright post through the generating module, generating the stroke of the upright post according to the flow, when the stroke is larger than or equal to the preset column descending stroke threshold value, stopping column descending through the bottom-lifting pull frame module and entering the bottom-lifting pull frame process, the column lifting module is used for detecting the travel of the pull frame, and when the travel of the pull frame is greater than or equal to a preset pull frame travel threshold value, stopping pulling the frame and lifting the column, and when the pressure of the lower cavity of the upright column is greater than or equal to the preset pressure threshold value of the lifting column, and stopping lifting the column through the liquid supplementing module, and supplementing liquid to the stand column until the pressure of the lower cavity of the stand column reaches the preset system pressure. Therefore, the requirements of system cooperation and accurate control in the automatic process of the on-site tracking machine can be met, the reliability and convenience are both considered, and the overall operation efficiency of the hydraulic support is improved.
In order to implement the foregoing embodiments, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method of the hydraulic bracket according to the foregoing embodiments.
According to the electronic equipment provided by the embodiment of the invention, the processor executes the computer program stored in the memory, so that the requirements of system cooperation and accurate control in the field machine following automation process can be met, the reliability and convenience are both considered, and the overall operation efficiency of the hydraulic support is improved.
In order to achieve the above embodiments, the present invention also proposes a non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that the program is executed by a processor to implement the control method of the hydraulic mount of the foregoing embodiments.
The non-transitory computer-readable storage medium of the embodiment of the invention can meet the requirements of system cooperation and accurate control in the field and machine following automation process by executing the stored computer program, and has the advantages of reliability and convenience, and meanwhile, the overall operation efficiency of the hydraulic support is improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method of controlling a hydraulic mount, comprising:
receiving a column descending instruction, and controlling the upright column to feed liquid according to the column descending instruction;
detecting the pressure of the lower cavity of the upright column, and controlling the upright column to descend when the pressure of the lower cavity of the upright column is less than or equal to a preset column descending pressure threshold value;
acquiring the flow of the upright column, and generating the stroke of the upright column according to the flow;
when the stroke is greater than or equal to a preset column descending stroke threshold value, stopping column descending and entering a bottom lifting frame process;
detecting the travel of the pull frame, and stopping the pull frame and lifting the column when the travel of the pull frame is greater than or equal to the preset pull frame travel threshold; and
and when the pressure of the lower cavity of the upright column is greater than or equal to a preset column lifting pressure threshold value, stopping column lifting, and supplementing liquid to the upright column until the pressure of the lower cavity of the upright column reaches a preset system pressure.
2. The method of controlling a hydraulic mount of claim 1, wherein the obtaining the flow rate of the column comprises:
acquiring the pressure of the lower cavity of the upright column and the system back pressure;
and generating the flow according to the pressure of the lower cavity of the upright post and the back pressure of the system.
3. The method of controlling a hydraulic mount of claim 1, wherein the obtaining the flow rate of the column comprises:
acquiring the pressure of the lower cavity of the upright column and the main liquid inlet pressure;
and generating the flow according to the pressure of the lower cavity of the upright column and the main liquid inlet pressure.
4. A control method of a hydraulic mount according to claim 1, characterized in that the mounting is performed when the following conditions are satisfied;
the change rate of the travel sensor is greater than a preset change rate threshold value;
and the pressure of the lower cavity of the upright post is smaller than a preset pressure threshold value.
5. A method of controlling a hydraulic support according to claim 1, wherein a flow pumping station is provided in the liquid supply system for replenishing the column.
6. The method of controlling a hydraulic mount of claim 1, further comprising:
detecting the displacement of the stroke sensor;
if the displacement is smaller than K times of the target stroke, liquid supply is carried out at a first flow rate, wherein K is a proportionality coefficient;
and if the displacement is greater than or equal to K times of the target stroke, feeding liquid at a second flow rate, wherein the first flow rate is greater than the second flow rate.
7. A control device for a hydraulic mount, comprising:
the liquid inlet module is used for receiving the column descending instruction and controlling the stand column to feed liquid according to the column descending instruction;
the descending module is used for detecting the pressure of the lower cavity of the upright column and controlling the upright column to descend when the pressure of the lower cavity of the upright column is smaller than or equal to a preset column descending pressure threshold value;
the generating module is used for acquiring the flow of the upright column and generating the stroke of the upright column according to the flow;
the bottom lifting and pulling frame module is used for stopping the column descending and entering the bottom lifting and pulling frame process when the stroke is greater than or equal to a preset column descending stroke threshold value;
the column lifting module is used for detecting the rack pulling stroke and stopping pulling the rack and lifting columns when the rack pulling stroke is greater than or equal to the preset rack pulling stroke threshold; and
and the liquid supplementing module is used for stopping lifting the column when the pressure of the lower cavity of the upright column is greater than or equal to a preset lifting column pressure threshold value, and supplementing liquid to the upright column until the pressure of the lower cavity of the upright column reaches a preset system pressure.
8. The control apparatus for a hydraulic mount of claim 7, further comprising:
the detection module is used for detecting the displacement of the stroke sensor;
the first liquid supply module is used for supplying liquid at a first flow rate if the displacement is smaller than K times of the target stroke, wherein K is a proportionality coefficient;
and the second liquid supply module is used for supplying liquid at a second flow rate if the displacement is greater than or equal to K times of the target stroke, wherein the first flow rate is greater than the second flow rate.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of controlling a hydraulic mount according to any one of claims 1-6.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor to implement the control method of a hydraulic mount according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011438856.9A CN112796814B (en) | 2020-12-07 | 2020-12-07 | Control method and device of hydraulic support, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011438856.9A CN112796814B (en) | 2020-12-07 | 2020-12-07 | Control method and device of hydraulic support, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112796814A true CN112796814A (en) | 2021-05-14 |
| CN112796814B CN112796814B (en) | 2023-05-23 |
Family
ID=75806627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011438856.9A Active CN112796814B (en) | 2020-12-07 | 2020-12-07 | Control method and device of hydraulic support, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112796814B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2268780A (en) * | 1992-06-24 | 1994-01-19 | Gullick Dobson Ltd | Mining apparatus |
| CN104747221A (en) * | 2015-01-16 | 2015-07-01 | 北京煤科天玛自动化科技有限公司 | Automatic support moving intelligent control method for hydraulic support for mining |
| CN105179001A (en) * | 2015-09-24 | 2015-12-23 | 北京天地玛珂电液控制系统有限公司 | Support control method of gob-side entry retaining hydraulic bracket |
| CN105569703A (en) * | 2015-12-11 | 2016-05-11 | 北京天地玛珂电液控制系统有限公司 | System and method for precise control over support moving and conveyor pushing of hydraulic supports |
-
2020
- 2020-12-07 CN CN202011438856.9A patent/CN112796814B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2268780A (en) * | 1992-06-24 | 1994-01-19 | Gullick Dobson Ltd | Mining apparatus |
| CN104747221A (en) * | 2015-01-16 | 2015-07-01 | 北京煤科天玛自动化科技有限公司 | Automatic support moving intelligent control method for hydraulic support for mining |
| CN105179001A (en) * | 2015-09-24 | 2015-12-23 | 北京天地玛珂电液控制系统有限公司 | Support control method of gob-side entry retaining hydraulic bracket |
| CN105569703A (en) * | 2015-12-11 | 2016-05-11 | 北京天地玛珂电液控制系统有限公司 | System and method for precise control over support moving and conveyor pushing of hydraulic supports |
Non-Patent Citations (1)
| Title |
|---|
| 周如林 等: "跟机液压系统压力流量耦合机理研究", 《煤炭科学技术》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112796814B (en) | 2023-05-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108569631B (en) | High-precision hydraulic synchronization system for large tower crane joint lifting and control method | |
| JPH04272471A (en) | Pressure accumulation type fuel injection device of diesel engine | |
| EP1232810A1 (en) | Press brake and method of controlling bidirectional fluid pump of hydraulic cylinder of press brake | |
| CN208087096U (en) | One kind being used for the raised high-precision hydraulic synchronous jacking system of large-scale tower crane supernumerary segment | |
| CN112796814A (en) | Control method and device of hydraulic support, electronic equipment and storage medium | |
| CN113236313A (en) | Hydraulic system and hydraulic support | |
| CN113338879B (en) | Automatic control method of automatic control system of horizontal pressure drive injection device for oil field | |
| CN103089749A (en) | Portable intelligent hydraulic loading device | |
| CN113339341A (en) | Hydraulic system and hydraulic support | |
| CN108468672B (en) | Energy-saving hydraulic system of stepping heating furnace | |
| CN103133434A (en) | Energy storage type energy-saving hydraulic pumping unit | |
| CN114673474B (en) | Intelligent control device based on oil well | |
| CN106270722A (en) | A kind of control method of lock formula hydraulic system of cutting machine | |
| CN114352591B (en) | Method for hydraulically and synchronously driving weights | |
| CN203176016U (en) | Pressurizing energy storage type energy-saving hydraulic pumping machine | |
| CN211820134U (en) | Heating furnace lifting loop energy-saving hydraulic system capable of meeting various working conditions | |
| CN206088896U (en) | Elevating platform electro -magnet electromagnetic force control system | |
| CN104499482A (en) | Pile hammer with electric control fuel system | |
| CN205349892U (en) | Electrical system of drive super large jumbo | |
| CN114109946A (en) | Multi-point synchronous positioning hydraulic device for jack and control method | |
| KR101468049B1 (en) | Bending Machine of Fluid Pressure Cylinder Synchronized Apparatus | |
| CN110510545B (en) | Hydraulic synchronous control loop for heavy double-scissor fork type lifting device | |
| CN111677706A (en) | Hydraulic control system of hydraulic pumping unit | |
| CN112661072B (en) | Shake eliminating system, method and device for lifting workbench | |
| CN109342208B (en) | Large-tonnage safe type material static force accurate loading simulation equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 101320 No.27, Linhe Avenue, Shunyi District, Beijing (Science and technology innovation function zone) Applicant after: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Applicant after: China Coal Huajin Group Co.,Ltd. Address before: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Applicant before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Applicant before: China Coal Huajin Group Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 101320 No.27, Linhe Avenue, Shunyi District, Beijing (Science and technology innovation function zone) Applicant after: Beijing Tianma Zhikong Technology Co.,Ltd. Applicant after: China Coal Huajin Group Co.,Ltd. Address before: 101320 No.27, Linhe Avenue, Shunyi District, Beijing (Science and technology innovation function zone) Applicant before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Applicant before: China Coal Huajin Group Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |