CN113653525A - Correction method and device for top coal caving control and electronic equipment - Google Patents
Correction method and device for top coal caving control and electronic equipment Download PDFInfo
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Abstract
The invention provides a correction method, a device and electronic equipment for controlling caving coal, comprising the following steps: when the top coal caving support performs the current top coal caving operation, acquiring a theoretical value and a current actual measured value of a top coal caving operation parameter; correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the top coal caving operation parameter; and based on the corrected theoretical value, executing next top coal caving operation. The method can ensure that the caving coal support carries out caving coal according to the theoretical value of the operation parameter of the caving coal in the actual process of caving coal, namely the caving coal support can really reach the ideal operation parameter of the caving coal (namely the theoretical value of the operation parameter of the caving coal), has high precision, improves the accuracy and the efficiency of the caving coal, and relieves the technical problems of poor accuracy and low efficiency of the caving coal caused by the poor precision of the existing control method of the caving coal.
Description
Technical Field
The invention relates to the technical field of industrial control, in particular to a correction method and device for controlling top coal caving and electronic equipment.
Background
At present, the mode of fully mechanized coal mining is that the flashboard is opened manually to carry out the coal caving, whether the coal caving is finished is indirectly judged through the gangue inclusion amount in the coal caving process observed by human eyes, and the gate is closed to stop the coal caving after the gangue inclusion amount reaches a certain degree, so that the coal caving process of a single flashboard is finished. However, with the continuous improvement of the coal mining intelligence level, the manual fully-mechanized coal mining and coal caving operation is being replaced by the intelligent control technology, the coal seam parameters are measured by devices such as images, distance sensors, radars and the like, so that the calculation of the top coal caving operation parameters (for example, the opening and closing angle of a gate and the telescopic distance of a plugboard can be calculated) can be usually realized, and then the operation of top coal caving is executed according to the calculated operation parameters of the top coal caving, but due to the influences of coal bed weight, equipment precision and the like, in the actual process of caving the top coal, when the caving coal bracket carries out the top coal caving according to the operation parameters of the top coal caving, the ideal operation parameters of the top coal caving can not be achieved (namely the actual opening and closing angle of the gate and the actual telescopic distance of the flashboard do not reach the calculated values), or the optimal operational parameters of the top coal caving cannot be always maintained, thereby causing errors in the top coal caving process.
In conclusion, the existing control method for caving the top coal has poor precision, so that the accuracy of caving the top coal is poor and the efficiency is low.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, an apparatus and an electronic device for controlling caving coal, so as to solve the technical problems of poor accuracy and low efficiency of caving coal caused by poor accuracy of the existing method for controlling caving coal.
In a first aspect, an embodiment of the present invention provides a method for correcting a caving coal control, including:
when the top coal caving support performs the current top coal caving operation, acquiring a theoretical value and a current actual measured value of a top coal caving operation parameter;
correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the top coal caving operation parameter;
and executing next top coal caving operation based on the corrected theoretical value.
Further, based on the theoretical value and the current actual measurement value, correcting the theoretical value by using a pre-trained PID control model, including:
and inputting the theoretical value into the PID control model, inputting the current actual measurement value serving as a feedback signal into the PID control model, and outputting to obtain the correction theoretical value.
Further, the theoretical values include: the theoretical value of the opening and closing angle of the flashboard of the caving coal support and the theoretical value of the telescopic distance of the flashboard of the caving coal support; the current actual measurement values include: the current actual measurement value of the flashboard opening and closing angle and the current actual measurement value of the flashboard stretching distance.
Further, obtaining theoretical values and current actual measured values of the caving coal operating parameters comprises:
acquiring the theoretical value calculated by the caving coal parameter calculation unit;
and acquiring the current actual measurement value of the flashboard opening and closing angle obtained by detecting an angle sensor on the caving coal support, and acquiring the current actual measurement value of the inserting plate telescopic distance obtained by detecting a distance sensor on the caving coal support.
Furthermore, angle sensor install in the crossing point position of flashboard and back timber of caving the top coal support, distance sensor install in the flashboard of caving the top coal support, and with the picture peg sets up relatively.
Further, the PID control model includes: proportional unit, integral unit and differentiation unit.
In a second aspect, an embodiment of the present invention further provides a leveling device for controlling caving coal, including:
the device comprises an acquisition module, a data processing module and a control module, wherein the acquisition module is used for acquiring theoretical values and current actual measurement values of caving coal operation parameters when the caving coal support performs current caving coal operation;
the correction module is used for correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the caving coal operation parameter;
and the execution module is used for executing next top coal caving operation based on the corrected theoretical value.
Further, the corrective module is further configured to:
and inputting the theoretical value into the PID control model, inputting the current actual measurement value serving as a feedback signal into the PID control model, and outputting to obtain the correction theoretical value.
In a third aspect, an embodiment of 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, where the processor implements the steps of the method according to any one of the above first aspects when executing the computer program.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing machine executable instructions, which when invoked and executed by a processor, cause the processor to perform the method of any of the first aspect.
In an embodiment of the present invention, a method for correcting a caving coal control is provided, including: when the top coal caving support performs the current top coal caving operation, acquiring a theoretical value and a current actual measured value of a top coal caving operation parameter; correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the top coal caving operation parameter; and based on the corrected theoretical value, executing next top coal caving operation. It can be known from the above description that in the correction method for controlling caving coal, the theoretical value of the operation parameter of the caving coal can be corrected through the pre-trained PID control model, so as to obtain the corrected theoretical value of the operation parameter of the caving coal, thus, when the corrected theoretical value based on the operation parameter of the caving coal controls the bracket of the caving coal to execute the next caving coal operation, the actual measurement value of the operation parameter of the caving coal approaches to the theoretical value of the operation parameter of the caving coal, that is, the method of the present invention can make the bracket of the caving coal perform caving coal according to the theoretical value of the operation parameter of the caving coal in the process of actual caving coal, that is, the bracket of the caving coal can really reach the ideal operation parameter of the caving coal (that is, the theoretical value of the operation parameter of the caving coal), the accuracy is high, the accuracy and the efficiency of the caving coal are improved, and the accuracy difference, caused by the poor accuracy of the existing control method of the caving coal is relieved, The efficiency is low.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for controlling the leveling of a caving coal according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a dual conveyor low-position spile type caving coal support provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a PID control model according to an embodiment of the invention;
FIG. 4 is a schematic view of a leveling device for controlling caving coal provided in accordance with an embodiment of the present invention;
fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, during intelligent control of top coal caving, a top coal caving bracket is directly controlled to execute top coal caving operation according to a top coal caving operation parameter (namely a theoretical value of the top coal caving operation parameter) obtained through calculation, but due to influences of coal bed weight, equipment precision and the like, in an actual top coal caving process, the top coal caving bracket often cannot reach the ideal top coal caving operation parameter or cannot always keep the optimal top coal caving operation parameter when top coal caving is carried out according to the top coal caving operation parameter.
Based on this, this embodiment provides a correction method for controlling caving coal, and in the actual process of caving coal, the method performs caving coal according to the theoretical value of the operation parameter of caving coal, that is, the bracket of caving coal can indeed reach the ideal operation parameter of caving coal (that is, reach the theoretical value of the operation parameter of caving coal), the precision is high, and the accuracy and efficiency of caving coal are improved.
Embodiments of the present invention are further described below with reference to the accompanying drawings.
The first embodiment is as follows:
in accordance with an embodiment of the present invention, there is provided an embodiment of a method of leveling for caving coal control, it being noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
FIG. 1 is a flow chart of a method for controlling the leveling of a caving coal according to an embodiment of the present invention, as shown in FIG. 1, the method comprising the steps of:
step S102, when the caving coal support performs the current caving coal operation, acquiring a theoretical value and a current actual measurement value of a caving coal operation parameter;
in the embodiment of the invention, the caving coal support can be a double-conveyor low-position insertion plate type caving coal support, and the specific structure is shown in figure 2.
The theoretical values of the above-mentioned caving coal operating parameters include: the theoretical value of the opening and closing angle of the flashboard of the caving coal support and the theoretical value of the telescopic distance of the flashboard of the caving coal support; the current actual measured values of the caving coal operating parameters include: the current actual measurement value of the flashboard opening and closing angle and the current actual measurement value of the flashboard stretching distance.
In an alternative embodiment of the present invention, obtaining theoretical and current actual measured values of the caving coal operating parameters comprises: acquiring a theoretical value calculated by a caving coal parameter calculating unit; the method comprises the steps of obtaining a current actual measurement value of a flashboard opening and closing angle detected by an angle sensor 1 installed on a caving coal support, and obtaining a current actual measurement value of a flashboard stretching distance detected by a distance sensor 2 installed on the caving coal support.
In the embodiment of the invention, the top coal caving parameter calculation unit can calculate the theoretical value of the top coal caving operation parameter according to the thickness of the coal bed, the breaking degree of the coal quality, the material loading amount of the conveyor and the like, and the specific calculation process is patented and is not repeated herein.
In addition, the current actual measurement value of the opening and closing angle of the flashboard is obtained by real-time detection of an angle sensor 1 installed on the top coal caving support, the current actual measurement value of the extension distance of the flashboard is obtained by real-time detection of a distance sensor 2 installed on the top coal caving support, specifically, referring to fig. 2, the angle sensor 1 is installed at the intersection point position of a flashboard 3 and a top beam 4 of the top coal caving support, and the distance sensor 2 is installed in the flashboard 3 of the top coal caving support and is arranged opposite to the flashboard 5.
S104, correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the caving coal operation parameter;
the correction theoretical values of the caving coal operation parameters comprise: the gate plate opening and closing angle correction theoretical value and the inserting plate stretching distance correction theoretical value are matched together to realize the control of the coal discharge amount.
And step S106, based on the corrected theoretical value, executing next top coal caving operation.
Specifically, when the caving coal support is controlled to execute next caving coal operation according to the corrected theoretical value, the actual value of the caving coal operation parameter approaches to the theoretical value of the caving coal operation parameter, and the accuracy is high.
In an embodiment of the present invention, a method for correcting a caving coal control is provided, including: when the top coal caving support performs the current top coal caving operation, acquiring a theoretical value and a current actual measured value of a top coal caving operation parameter; correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the top coal caving operation parameter; and based on the corrected theoretical value, executing next top coal caving operation. It can be known from the above description that in the correction method for controlling caving coal, the theoretical value of the operation parameter of the caving coal can be corrected through the pre-trained PID control model, so as to obtain the corrected theoretical value of the operation parameter of the caving coal, thus, when the corrected theoretical value based on the operation parameter of the caving coal controls the bracket of the caving coal to execute the next caving coal operation, the actual measurement value of the operation parameter of the caving coal approaches to the theoretical value of the operation parameter of the caving coal, that is, the method of the present invention can make the bracket of the caving coal perform caving coal according to the theoretical value of the operation parameter of the caving coal in the process of actual caving coal, that is, the bracket of the caving coal can really reach the ideal operation parameter of the caving coal (that is, the theoretical value of the operation parameter of the caving coal), the accuracy is high, the accuracy and the efficiency of the caving coal are improved, and the accuracy difference, caused by the poor accuracy of the existing control method of the caving coal is relieved, The efficiency is low.
In an optional embodiment of the present invention, in step S104, based on the theoretical value and the current actual measurement value, the correcting the theoretical value by using a pre-trained PID control model specifically includes: and inputting the theoretical value into the PID control model, inputting the current actual measurement value into the PID control model as a feedback signal, and outputting to obtain a corrected theoretical value.
Specifically, referring to fig. 3, the PID control model includes: proportional unit, integral unit and differentiation unit.
During implementation, the actual measurement values of the operation parameters of the top coal caving when the top coal caving bracket executes top coal caving operation under different fully mechanized mining scenes (such as different top coal caving thicknesses, different coal block crushing degrees and different material carrying amounts of a conveyor) are collected, meanwhile, the theoretical values of the operation parameters of the top coal caving obtained by the calculation of the top coal caving parameter calculation unit are obtained, the PID control model can calculate the coal caving error according to the theoretical values and the actual measurement values, the response of the system is corrected by adopting the coal caving error, and the PID parameters of the PID control model are adjusted. When the PID control model adjusts the parameters of the PID control model, the method comprises the following steps: when the output does not oscillate, the proportional gain P is increased; when the output does not oscillate, the integral time constant Ti is reduced; when the output does not oscillate, the differential time constant Td is increased, and after the PID parameters are adjusted, the training of the PID control model is completed, so that the PID control model can be applied subsequently.
In the embodiment of the invention, when the caving coal support is controlled to execute the next caving coal operation according to the correction theoretical value, the angle sensor and the distance sensor are still in real-time detection, and the actual measurement value of the opening and closing angle of the gate and the actual measurement value of the extension and retraction distance of the inserting plate obtained by detection are used as feedback signals to be transmitted to the PID control model for the next correction, namely the method is a real-time continuous correction process.
The correction method for controlling the top coal caving can accurately control the opening and closing angle of the flashboard and the telescopic distance of the flashboard, thereby improving the top coal caving precision and the top coal caving efficiency, namely realizing accurate coal caving through the accurate control, really realizing the coal caving quantity when people want to put the coal, reducing the number of the top coal caving times, being beneficial to system integration and providing the precision guarantee for automatically controlling the top coal caving process in the future.
Example two:
the embodiment of the invention also provides a leveling device for controlling the top coal caving, which is mainly used for executing the leveling method for controlling the top coal caving provided by the first embodiment of the invention, and the leveling device for controlling the top coal caving provided by the embodiment of the invention is specifically described below.
FIG. 4 is a schematic view of a topping coal controlling orthotic device according to an embodiment of the present invention, as shown in FIG. 4, the device consisting essentially of: an acquisition module 10, a remediation module 20, and an execution module 30, wherein:
the acquiring module 10 is used for acquiring theoretical values and current actual measured values of the caving coal operation parameters when the caving coal support performs the current caving coal operation;
the correcting module 20 is used for correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the caving coal operation parameter;
and the execution module 30 is used for executing the next top coal caving operation based on the corrected theoretical value.
In an embodiment of the present invention, there is provided a topping coal controlled orthotic device, comprising: when the top coal caving support performs the current top coal caving operation, acquiring a theoretical value and a current actual measured value of a top coal caving operation parameter; correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the top coal caving operation parameter; and based on the corrected theoretical value, executing next top coal caving operation. It can be known from the above description that the correcting device for controlling the caving coal of the invention can correct the theoretical value of the operation parameter of the caving coal through the pre-trained PID control model, so as to obtain the corrected theoretical value of the operation parameter of the caving coal, thus when the correcting theoretical value based on the operation parameter of the caving coal controls the bracket of the caving coal to execute the next caving coal operation, the actual measurement value of the operation parameter of the caving coal approaches to the theoretical value of the operation parameter of the caving coal, that is, the device of the invention can make the bracket of the caving coal perform the caving coal according to the theoretical value of the operation parameter of the caving coal in the process of the actual caving coal, that is, the bracket of the caving coal can really reach the ideal operation parameter of the caving coal (that is, the theoretical value of the operation parameter of the caving coal), the accuracy is high, the accuracy and the efficiency of the caving coal are improved, and the accuracy difference, caused by the poor accuracy of the existing control method of the caving coal is relieved, The efficiency is low.
Optionally, the orthotic module is further configured to: and inputting the theoretical value into the PID control model, inputting the current actual measurement value into the PID control model as a feedback signal, and outputting to obtain a corrected theoretical value.
Optionally, the theoretical values include: the theoretical value of the opening and closing angle of the flashboard of the caving coal support and the theoretical value of the telescopic distance of the flashboard of the caving coal support; the current actual measurements include: the current actual measurement value of the flashboard opening and closing angle and the current actual measurement value of the flashboard stretching distance.
Optionally, the obtaining module is further configured to: acquiring a theoretical value calculated by a caving coal parameter calculating unit; the method comprises the steps of obtaining a current actual measurement value of a flashboard opening and closing angle obtained by detecting an angle sensor arranged on a caving coal support, and obtaining a current actual measurement value of a flashboard stretching distance obtained by detecting a distance sensor arranged on the caving coal support.
Optionally, the angle sensor is installed at an intersection point of a gate plate and a top beam of the top coal caving support, and the distance sensor is installed in the gate plate of the top coal caving support and is arranged opposite to the insertion plate.
Optionally, the PID control model comprises: proportional unit, integral unit and differentiation unit.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
As shown in fig. 5, an electronic device 600 provided in an embodiment of the present application includes: a processor 601, a memory 602 and a bus, wherein the memory 602 stores machine-readable instructions executable by the processor 601, the processor 601 and the memory 602 communicate via the bus when the electronic device is running, and the processor 601 executes the machine-readable instructions to perform the steps of the leveling method as described above for the caving coal control.
Specifically, the memory 602 and the processor 601 can be general-purpose memory and processor, and are not limited to specific embodiments, and the leveling method of the top coal caving control can be executed when the processor 601 runs a computer program stored in the memory 602.
The processor 601 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 601. The Processor 601 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602 and completes the steps of the method in combination with the hardware thereof.
Corresponding to the leveling method for caving coal control, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores machine executable instructions, and when the computer executable instructions are called and executed by a processor, the computer executable instructions cause the processor to execute the steps of the leveling method for caving coal control.
The leveling device for controlling the top coal caving provided by the embodiment of the application can be specific hardware on the equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
For another example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing an electronic device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the vehicle marking method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the scope of the embodiments of the present application. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of leveling a caving coal control, comprising:
when the top coal caving support performs the current top coal caving operation, acquiring a theoretical value and a current actual measured value of a top coal caving operation parameter;
correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the top coal caving operation parameter;
and executing next top coal caving operation based on the corrected theoretical value.
2. The method of claim 1, wherein correcting the theoretical value based on the theoretical value and the current actual measurement value using a pre-trained PID control model comprises:
and inputting the theoretical value into the PID control model, inputting the current actual measurement value serving as a feedback signal into the PID control model, and outputting to obtain the correction theoretical value.
3. The method of claim 1, wherein the theoretical values comprise: the theoretical value of the opening and closing angle of the flashboard of the caving coal support and the theoretical value of the telescopic distance of the flashboard of the caving coal support; the current actual measurement values include: the current actual measurement value of the flashboard opening and closing angle and the current actual measurement value of the flashboard stretching distance.
4. The method of claim 3, wherein obtaining theoretical and current actual measured values of the caving coal operating parameters comprises:
acquiring the theoretical value calculated by the caving coal parameter calculation unit;
and acquiring the current actual measurement value of the flashboard opening and closing angle obtained by detecting an angle sensor on the caving coal support, and acquiring the current actual measurement value of the inserting plate telescopic distance obtained by detecting a distance sensor on the caving coal support.
5. The method of claim 4, wherein the angle sensor is mounted at an intersection of a gate plate and a top beam of the caving coal support, and the distance sensor is mounted in the gate plate of the caving coal support and is disposed opposite the insert plate.
6. The method of claim 1, wherein the PID control model comprises: proportional unit, integral unit and differentiation unit.
7. A topping coal controlled orthotic device, comprising:
the device comprises an acquisition module, a data processing module and a control module, wherein the acquisition module is used for acquiring theoretical values and current actual measurement values of caving coal operation parameters when the caving coal support performs current caving coal operation;
the correction module is used for correcting the theoretical value by utilizing a pre-trained PID control model based on the theoretical value and the current actual measured value to obtain a corrected theoretical value of the caving coal operation parameter;
and the execution module is used for executing next top coal caving operation based on the corrected theoretical value.
8. The apparatus of claim 7, wherein the remediation module is further configured to:
and inputting the theoretical value into the PID control model, inputting the current actual measurement value serving as a feedback signal into the PID control model, and outputting to obtain the correction theoretical value.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 6 are implemented when the computer program is executed by the processor.
10. A computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the method of any of claims 1 to 6.
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