CN114263486A - Posture self-adaptive control system and method for hydraulic support - Google Patents
Posture self-adaptive control system and method for hydraulic support Download PDFInfo
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Abstract
The application provides a posture self-adaptive control system and a posture self-adaptive control method for a hydraulic support, wherein the system comprises: the hydraulic support is arranged on the posture adjusting jack; the hydraulic support supporting device comprises a supporting state monitoring device, a supporting state monitoring device and a supporting state monitoring device, wherein the supporting state monitoring device is arranged on a hydraulic support, and when the hydraulic support is in a bearing state, the supporting state monitoring device collects attitude information of the hydraulic support in real time; the calculation device is in communication connection with the support state monitoring device, determines the support posture of the hydraulic support according to the posture information, and generates a regulation and control strategy of the posture regulation and control jack according to the support posture; and the electro-hydraulic controller is arranged on the hydraulic support, is respectively connected with the attitude regulating jack and the computing device, and controls the extending length of the attitude regulating jack according to a regulating strategy so as to regulate the hydraulic support to a preset attitude. Therefore, when the hydraulic support is in a bearing state, the support posture of the hydraulic support can be adjusted in a self-adaptive mode, and the hydraulic support is guaranteed to be in a better stress state.
Description
Technical Field
The application relates to the technical field of working attitude control of a hydraulic support of a fully mechanized coal mining face, in particular to an attitude self-adaptive control system and method of the hydraulic support.
Background
The hydraulic support is one of main equipment of fully mechanized mining face, and provides a safe operation space for normal production of the working face. Meanwhile, the hydraulic support is matched with equipment such as a coal mining machine and a scraper conveyor in the extraction process, so that continuous propulsion and efficient production of a working face are realized. The hydraulic support is mainly used for supporting a working face top plate and bearing the mine pressure of the working face, and the stress state of the hydraulic support is determined by the working posture in the operation process.
At present, a two-column shield type hydraulic support structure is mostly adopted for a hydraulic support, a balance jack and a four-bar stabilizing mechanism are generally used for adjusting the working posture of the hydraulic support before the hydraulic support is connected to the top, and under the condition that the hydraulic support is in a normal bearing state, if the posture is abnormal, due to the fact that the diameter of a cylinder of the balance jack is too small, the hydraulic support can only be regulated and controlled in the next pushing and connecting process of the hydraulic support. Therefore, the posture of the hydraulic support in the bearing state is difficult to regulate, and the support is easy to damage due to the poor stress state of the hydraulic support.
Disclosure of Invention
The application provides a posture self-adaptive control system and method of a hydraulic support, and aims to at least solve the technical problems that in the related art, the posture control difficulty of the hydraulic support in a bearing state is high, and the support is easily damaged due to the poor stress state of the hydraulic support.
An embodiment of a first aspect of the present application provides a posture adaptive control system for a hydraulic support, including: the hydraulic support is arranged on the attitude adjusting jack; the hydraulic support is arranged on the hydraulic support, and the hydraulic support is used for supporting the hydraulic support; the calculation device is in communication connection with the support state monitoring device and is used for determining the support posture of the hydraulic support according to the posture information and generating a regulation strategy of the posture regulation jack according to the support posture; and the electro-hydraulic controller is arranged on the hydraulic support, is respectively connected with the attitude regulating jack and the computing device, and is used for controlling the extending length of the attitude regulating jack according to the regulating strategy so as to regulate the hydraulic support to a preset attitude.
The posture self-adaptive control system of the hydraulic support provided by the embodiment of the application is characterized in that a posture control jack, a support state monitoring device and an electro-hydraulic controller are arranged on the hydraulic support, a computing device in communication connection with the support state monitoring device is arranged, when the hydraulic support is in a bearing state, the support state monitoring device acquires pose information of the hydraulic support in real time, the calculating device determines the support state of the hydraulic support according to the position information, and generates a regulation and control strategy for regulating and controlling the posture of the jack according to the state of the bracket, and the electro-hydraulic controller generates a control strategy for regulating and controlling the posture of the jack according to the regulation and control strategy, the extension length of the posture control jack is controlled to adjust the hydraulic support to the preset posture, so that when the hydraulic support is in a bearing state, the support posture of the hydraulic support is adaptively adjusted, so that the hydraulic support is in a better stress state.
An embodiment of a second aspect of the present application provides an attitude adaptive control method for a hydraulic support, where an attitude control jack is provided on the hydraulic support, and the method includes: when the hydraulic support is in a bearing state, acquiring pose information of the hydraulic support in real time; determining the support posture of the hydraulic support according to the posture information; and generating a regulation and control strategy of the posture regulation and control jack according to the posture of the support, and controlling the extending length of the posture regulation and control jack according to the regulation and control strategy so as to regulate the hydraulic support to a preset posture.
According to the posture self-adaptive control method of the hydraulic support, when the hydraulic support is in a bearing state, posture information of the hydraulic support is collected in real time, the support state of the hydraulic support is determined according to the posture information, a regulation and control strategy of the posture regulation and control jack is generated according to the support state, the extending length of the posture regulation and control jack is controlled according to the regulation and control strategy, the hydraulic support is adjusted to a preset posture, self-adaptive adjustment of the support posture of the hydraulic support is achieved when the hydraulic support is in the bearing state, and therefore the hydraulic support is guaranteed to be in a better stress state.
Additional aspects and advantages of the present application 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 present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application 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 schematic structural diagram of an attitude adaptive control system of a hydraulic bracket according to an embodiment of the present application;
fig. 2 is a schematic installation diagram of a complete machine of an attitude adaptive control system of a hydraulic bracket according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of an electro-hydraulic controller provided according to an embodiment of the present application;
fig. 4 is a schematic flowchart of an attitude adaptive control method of a hydraulic mount according to an embodiment of the present application;
fig. 5 is a schematic flowchart of an attitude adaptive control method of a hydraulic mount according to another embodiment of the present application.
Description of reference numerals:
hydraulic support-100; a posture adjusting jack-200; a support state monitoring device-300;
a computing device-400; electro-hydraulic controller-500; a base-110;
a shield beam-120; a top beam-130; balance jack-140;
column jack-150; a displacement sensor-210; a first tilt sensor-310;
a second tilt sensor-320; a third tilt sensor-330; a first pressure sensor-340;
a second pressure sensor-350.
Detailed Description
Reference will now be made in detail to embodiments of the present application, 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 exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
An attitude adaptive control system and an attitude adaptive control method of a hydraulic bracket according to an embodiment of the present application are described below with reference to the drawings.
First, an attitude adaptive control system of a hydraulic mount according to an embodiment of the present application will be described with reference to fig. 1.
As shown in fig. 1, the posture adaptive control system of the hydraulic bracket, hereinafter referred to as a control system, includes:
a hydraulic support 100, a posture control jack 200 provided on the hydraulic support 100;
the supporting state monitoring device 300 is arranged on the hydraulic support 100 and is used for acquiring pose information of the hydraulic support 100 in real time when the hydraulic support 100 is in a bearing state;
the computing device 400 is in communication connection with the support state monitoring device 300 and is used for determining the support posture of the hydraulic support 100 according to the posture information and generating a regulation strategy of the posture regulation jack 200 according to the support posture;
the electro-hydraulic controller 500 disposed on the hydraulic support 100 is connected to the posture control jack 200 and the computing device 400, respectively, and is configured to control the extending length of the posture control jack 200 according to a control strategy, so as to adjust the hydraulic support 100 to a preset posture.
The posture control jack 200 is a jack capable of adjusting the posture of the support of the hydraulic support 100.
The posture information may include any information capable of determining the posture of the hydraulic mount 100. For example, the hydraulic support 100 may include a top beam, a shield beam, a base, a column jack, and the like, and the pose information may include a pitch angle of the top beam, a pitch angle of the shield beam, a pitch angle of the base, a pressure of the column jack, and the like.
The supporting state monitoring device 300 is any device capable of collecting pose information of the hydraulic support 100, and may include various types of sensors such as an inclination sensor and a pressure sensor, and the application does not limit the types and the number of the sensors.
The hydraulic support 100 is in a bearing state, which refers to a normal supporting state after the lifting column of the hydraulic support 100 is connected to the top.
The computing device 400 is any device having a communication function and a data processing function, for example, the computing device 400 may be an electronic device such as a mobile phone, a wearable device, or a computer. It should be noted that the computing device 400 may be disposed on the hydraulic bracket 100, or may be disposed separately from the hydraulic bracket 100, which is not limited in this application. The drawings of the present application illustrate the computing device 400 as being provided separately from the hydraulic mount 100.
The communication mode between the computing device 400 and the supporting status monitoring device 300 may be any Wireless communication mode such as WiFi (Wireless Fidelity), Lora (Long Range, a spread spectrum modulation technique), ZigBee, and the like, which is not limited in this application. The ZigBee is a low-power consumption local area network protocol based on the IEEE802.15.4 standard, and the ZigBee technology is a short-distance and low-power consumption wireless communication technology. The connection between the computing device 400 and the electrohydraulic controller 500 may be the above-described wireless connection, which is not limited in the present application.
The cradle posture may include a first posture (also referred to as a "head-up" posture), a second posture (also referred to as a "head-down" posture), a third posture (also referred to as a normal posture), and the like of the hydraulic cradle 100. In the first posture, the height of the front end of the top beam of the hydraulic support 100 is greater than the height of the rear end, and the top beam is not parallel to the direction of the working surface; in the second posture, the height of the front end of the top beam of the hydraulic support 100 is smaller than that of the rear end, and the top beam is not parallel to the moving direction of the working surface; under the normal posture, the front end height of the top beam of the hydraulic support 100 is equal to the rear end height, namely the hydraulic support 100 is not in the 'head raising' posture or the 'head lowering' posture, and the top beam is parallel to the direction of the working surface. The front end of the top beam refers to the end of the top beam far away from the shield beam, and the height of the front end refers to the height of the front end on the basis of the plane of the base of the hydraulic support 100; the rear end of the top beam refers to the height of the rear end of the top beam close to the shield beam, and refers to the height of the rear end of the top beam based on the plane of the base of the hydraulic support 100.
The control strategy refers to a strategy for controlling the extension length of the posture control jack 200, and may specifically include whether the piston rod of the posture control jack 200 is extended or retracted, and a target adjustment amount of the extension length of the posture control jack 200.
The electro-hydraulic controller 500, which is a core component of the electro-hydraulic control system of the hydraulic bracket 100, may control the extension length of the posture-adjusting jack 200 to be increased or decreased, and the working states of the balance jack of the hydraulic bracket 100, the posture-adjusting jack 200, and the like. The working state may include a follow-up state, a locking state, and the like. Taking the attitude control jack 200 as an example, the attitude control jack 200 is in a follow-up state, which means that when the balance jack is controlled, the attitude control jack 200 is in a state of automatically adjusting the extending length in a follow-up manner; the posture-regulating jack 200 is in a locked state, which means that the posture-regulating jack 200 maintains the extended length unchanged.
The preset posture may refer to a normal posture of the hydraulic mount 100.
In this embodiment, the posture control jack 200, the support state monitoring device 300, and the electro-hydraulic controller 500 may be disposed on the hydraulic support 100, the posture control jack 200 is connected to the electro-hydraulic controller 500, and the computing device 400 connected to the support state monitoring device 300 and the electro-hydraulic controller 500 is disposed, and the support state monitoring device 300 may collect the pose information of the hydraulic support 100 in real time and send the pose information to the computing device 400 when the hydraulic support 100 is in the bearing state.
After the pose information of hydraulic bracket 100 is acquired by computing device 400, it may be determined whether the bracket pose of hydraulic bracket 100 is a "low head" pose or a "head up" pose, based on the pose information. If the support posture of the hydraulic support 100 is the normal posture, the support posture of the hydraulic support 100 may not be regulated. If hydraulic support 100 is in a "low head" posture or a "head up" posture, computing device 400 may generate a regulation strategy for posture regulation jack 200 according to the support posture, and send the regulation strategy to electro-hydraulic controller 500.
After receiving the regulation strategy, the electro-hydraulic controller 500 may control the extension length of the posture regulation jack 200 according to the regulation strategy, so as to regulate the hydraulic support 100 to the normal posture.
The regulation and control system provided by the embodiment of the application is characterized in that the posture regulation and control jack, the support state monitoring device and the electro-hydraulic controller are arranged on the hydraulic support, the computing device which is in communication connection with the support state monitoring device is arranged, when the hydraulic support is in a bearing state, the support state monitoring device acquires pose information of the hydraulic support in real time, the calculating device determines the support state of the hydraulic support according to the position information, and generates a regulation and control strategy for regulating and controlling the posture of the jack according to the state of the bracket, and the electro-hydraulic controller generates a control strategy for regulating and controlling the posture of the jack according to the regulation and control strategy, the extension length of the posture control jack is controlled to adjust the hydraulic support to the preset posture, so that when the hydraulic support is in a bearing state, the support posture of the hydraulic support is adjusted in a self-adaptive mode, so that the resultant force action point of the hydraulic support is adjusted, and the hydraulic support is guaranteed to be in a better stress state.
In an exemplary embodiment, referring to fig. 2, the hydraulic support 100 may include a base 110, a shield beam 120, and a roof beam 130. One end of the posture-control jack 200 may be connected to the base 110 by a pin, and the other end may be connected to the shield beam 120 by a pin. If the extension length of the posture control jack 200 is increased, a thrust can be provided for the shield beam 120, so that the shield beam 120 moves in a direction away from the base 110, and the rear end of the top beam 130 is driven to rotate upwards; if the extension length of the posture control jack 200 is reduced, a pulling force may be provided to the shield beam 120, so that the shield beam 120 moves toward the base 110, and the rear end of the top beam 130 is driven to rotate downward.
Accordingly, in the embodiment of the present application, if the support posture of the hydraulic support 100 is the first posture, that is, the "head-up" posture, the regulation and control strategy generated by the computing device 400 may be: extending the piston rod of the posture control jack 200 to control the extension length of the posture control jack 200 to be increased until the hydraulic bracket 100 is adjusted to a preset posture. According to the regulation strategy, the electro-hydraulic controller 500 can control the piston rod of the attitude regulation jack 200 to extend out, so as to provide a thrust for the shield beam 120, so that the shield beam 120 moves in a direction away from the base 110, the rear end of the top beam 130 is driven to rotate upwards, until the heights of the rear end and the front end of the top beam 130 are the same, and the hydraulic support 100 is regulated to a preset attitude.
If the support posture of the hydraulic support 100 is the second posture, i.e. the "head-down" posture, the control strategy generated by the computing device 400 may be: the piston rod of the posture-regulating jack 200 is contracted to control the extension length of the posture-regulating jack 200 to be reduced until the hydraulic bracket 100 is regulated to the preset posture. According to the control strategy, the electro-hydraulic controller 500 can control the piston rod of the attitude control jack 200 to contract, so as to provide a pulling force for the shield beam 120, so that the shield beam 120 moves towards the direction close to the base 110, the rear end of the top beam 130 is driven to rotate downwards until the heights of the rear end and the front end of the top beam 130 are the same, and the hydraulic support 100 is adjusted to a preset attitude.
It should be noted that, if the difference between the front end height and the rear end height of the top beam 130 of the hydraulic support 100 is large, and the load of the hydraulic support 100 is large, it may not be possible to adjust the top beam 130 of the hydraulic support 100 to the front end height and the rear end height the same at one time by adjusting the extending length of the posture adjustment jack 200 in one coal cutting work cycle. Specifically, the computing device 400 may generate the control strategy of the attitude control jack 200 for each coal cutting cycle in multiple coal cutting cycles according to the support attitude of the hydraulic support 100, so that the extension length of the attitude control jack 200 is controlled according to the corresponding control strategy in each coal cutting cycle until the top beam of the hydraulic support 100 is adjusted to have the same height at the front end and the rear end.
In an exemplary embodiment, referring to fig. 2, the hydraulic support 100 may further include a balance jack 140, and one end of the balance jack 140 is connected to the roof beam 130 and the other end is connected to the shield beam 120, so that support posture adjustment of the hydraulic support 100 is performed by cooperation of the balance jack 140 and the posture adjustment jack 200.
Specifically, in the process of supporting the pushing, sliding and pulling frame and the lifting column of the hydraulic support 100, the posture adjusting and controlling jack 200 may be set in a follow-up state, the posture information of the hydraulic support is collected in real time through the supporting state monitoring device 300, the computing device 400 may determine the support posture of the hydraulic support 100 according to the posture information, when the support posture of the hydraulic support 100 is a "head-down" posture or a "head-up" posture, an adjusting and controlling strategy of the balance jack 140 may be generated, and the extension length of the balance jack 140 may be controlled according to the adjusting and controlling strategy, so as to adjust the hydraulic support 100 to a normal posture. Thereby, the bracket posture of the hydraulic bracket 100 is adjusted by the balance jack 140.
After the hydraulic support 100 is pushed and pulled, and the lifting column is connected, when the hydraulic support 100 is in the bearing state, the hydraulic support 100 may have a "head lowering" state or a "head raising" posture again, then, when the hydraulic support 100 is in the bearing state, the support state monitoring device 300 may acquire pose information of the hydraulic support 100 in real time, the computing device 400 may determine the support posture of the hydraulic support 100 according to the pose information, when the support posture of the hydraulic support is the "head lowering" posture or the "head raising" posture, a regulation and control strategy of the posture regulation and control jack 200 may be generated, the balance jack 140 may be set in a follow-up state, and the extension length of the posture regulation and control jack 200 may be controlled according to the regulation and control strategy, so as to regulate the hydraulic support 100 to a normal posture. Thereby, the support posture of the hydraulic support 100 is adjusted by the posture adjustment jack 200.
After the hydraulic support 100 is adjusted to the normal posture, the posture adjusting jack 200 can be controlled to be in a locking state so as to support the working face top plate by using the hydraulic support 100, and at the moment, the posture adjusting jack 200 can have a certain supporting effect on the shield beam 120, so that the bearing adaptability of the hydraulic support 100 is improved, and the damage to key components of the hydraulic support 100 caused by the overlarge stress of the shield beam 120 is avoided.
In an exemplary embodiment, referring to fig. 2, the timbering condition monitoring device 300 may include a first inclination sensor 310 disposed on the base 110, and a second inclination sensor 320 disposed on the cap 130, the first inclination sensor 310 being for acquiring a first pitch angle of the base 110 in real time, and the second inclination sensor 320 being for acquiring a second pitch angle of the cap 130 in real time. Accordingly, the computing device 400 may determine the support attitude of the hydraulic support 100 according to the first pitch angle and the second pitch angle, and generate the regulation strategy according to the support attitude.
In an exemplary embodiment, referring to fig. 2, the support condition monitoring apparatus 300 may further include a third inclination sensor 330 provided on the shield beam 120 to acquire a third pitch angle of the shield beam 120. Accordingly, the calculating device 400 may determine the support posture of the hydraulic support 100 according to the first pitch angle, the second pitch angle, and the third pitch angle, and generate the regulation and control strategy according to the support posture.
The first tilt sensor 310, the second tilt sensor 320, and the third tilt sensor 330 may be any type of tilt sensor, such as a single-axis tilt sensor, a dual-axis tilt sensor, and the like, which is not limited in this application.
In an exemplary embodiment, referring to fig. 2, the hydraulic support 100 may further include a column jack 150, a supporting state monitoring device 300, a first pressure sensor 340 installed in a hydraulic circuit of the column jack 150, and a second pressure sensor 350 installed in a hydraulic circuit of the posture control jack 200. The first pressure sensor 340 is configured to collect pressure of the column jack 150, and the second pressure sensor 350 is configured to collect pressure of the posture control jack 200.
Correspondingly, the calculating device 400 may further determine the support posture of the hydraulic support 100 according to the first pitch angle, the second pitch angle, and the third pitch angle, determine the stress state of the hydraulic support 100 according to the pressure of the column jack 150 and the pressure of the posture regulating jack 200, and generate the regulating strategy according to the support posture and the stress state.
In an exemplary embodiment, referring to fig. 2, a displacement sensor 210 may be disposed in the posture-control jack 200 for acquiring the extension length of the posture-control jack 200 in real time, and the displacement sensor 210 may be in communication with the computing device 400, so as to transmit the extension length of the posture-control jack 200 to the computing device 400 through a digital or analog quantity, so that the computing device 400 can acquire the extension length of the posture-control jack 200 in real time to determine the current extension length of the posture-control jack 200, whether the posture-control jack is adjusted in place, and the like.
The displacement sensor 210 may be any type of displacement sensor, such as a pull string displacement sensor or a magnetostrictive displacement sensor, which is not limited in this application.
In an exemplary embodiment, referring to FIG. 3, the electro-hydraulic controller 500 may include a main controller 510, an electro-hydraulic directional valve 520 coupled to the main controller 510. One end of the electro-hydraulic directional valve 520 is connected to the main pipeline of the hydraulic support 100, and the other end is connected to the posture control jack 200, and is configured to control the extending length of the posture control jack 200 according to a first control signal sent by the main controller 510.
In addition, referring to fig. 3, the electro-hydraulic controller 500 further includes: and the electro-hydraulic check valve 530 is connected with the main controller 510, wherein the electro-hydraulic check valve 530 is arranged in a hydraulic circuit of the posture control jack 200 and is used for controlling the working state of the posture control jack 200 according to a second control signal sent by the main controller 510. The posture control jack 200 may include a rod cavity and a rodless cavity, the internal hydraulic circuits are all provided with the electro-hydraulic check valves 530, and the main controller 510 controls the working state of the posture control jack 200 by controlling the opening and closing of the electro-hydraulic check valves 530.
Specifically, in the process of pushing, pulling and lifting the hydraulic support 100, the main controller 510 may send a second control signal to the electro-hydraulic check valve 520 to control the electro-hydraulic check valve 520 to open, so as to control the posture-regulating jack 200 to be in a follow-up state; when the hydraulic support 100 is in a bearing state after being jacked up, the main controller 510 may send a first control signal to the electro-hydraulic directional valve 520 to control the extension length of the attitude control jack 200 according to a control strategy generated by the computing device 400, and after the hydraulic support 100 is adjusted to a preset attitude, the main controller 510 may send a second control signal to the electro-hydraulic one-way valve 520 to control the electro-hydraulic one-way valve 520 to be closed, so as to control the attitude control jack 200 to be in a locking state, so that the attitude of the hydraulic support 100 is maintained in a controlled state.
Therefore, the extension length of the posture control jack 200 and the working state of the posture control jack 200 are controlled through the electro-hydraulic controller 400.
To sum up, the regulation and control system that this application embodiment provided can carry out self-adaptation adjustment to the support gesture of hydraulic support when hydraulic support is in the state of bearing to key parameter such as adjustment hydraulic support's resultant force action point guarantees that hydraulic support is in better stress state, and the gesture regulation and control jack can have certain supporting role to the shield beam, thereby improves hydraulic support's the adaptability that bears, avoids the too big key part damage that causes hydraulic support of shield beam atress.
Based on the attitude self-adaptive control system of the hydraulic support provided by the embodiment, the embodiment of the application further provides an attitude self-adaptive control method of the hydraulic support. The method for adaptively controlling the posture of the hydraulic bracket according to the embodiment of the present application is described below with reference to fig. 4 to 5.
Fig. 4 is a schematic flowchart of an attitude adaptive control method of a hydraulic mount according to an embodiment of the present application. Wherein, it should be noted that the hydraulic support is provided with a posture control jack, and the hydraulic support comprises a base, a shield beam, a top beam, an upright post jack and the like. The attitude adaptive control method of the hydraulic support provided by the embodiment of the application can be executed by the computing device in the embodiment.
As shown in fig. 4, the attitude adaptive control method for a hydraulic mount provided in the embodiment of the present application includes the following steps:
The pose information may include a first pitch angle of the base and a second pitch angle of the top beam, or the first pitch angle of the base, the second pitch angle of the top beam, and a third pitch angle of the shield beam, or the first pitch angle of the base, the second pitch angle of the top beam, and the third pitch angle of the shield beam, and the pressure of the upright column jack and the pressure of the attitude control jack.
And 402, determining the support posture of the hydraulic support according to the posture information.
The support posture may include a first posture (also referred to as a "head-up" posture), a second posture (also referred to as a "head-down" posture), a third posture (also referred to as a normal posture), and the like of the hydraulic support.
In an exemplary embodiment, the calculation device may acquire pose information of the hydraulic support in real time when the hydraulic support is in a bearing state, and determine a support pose of the hydraulic support according to the pose information.
Taking the pose information including the first pitch angle of the base, the second pitch angle of the top beam and the third pitch angle of the shield beam as an example, the process of determining the support pose of the hydraulic support according to the pose information may be as follows: determining position coordinates of the front end and the rear end of a top beam of the hydraulic support according to the pose information; determining the height of the front end and the height of the rear end of the top beam according to the position coordinates of the front end and the rear end of the top beam, and comparing the height of the front end with the height of the rear end; if the height of the front end is greater than that of the rear end, the support posture of the hydraulic support can be determined to be a first posture; if the height of the front end is smaller than that of the rear end, the support posture of the hydraulic support can be determined to be a second posture; if the front end height is equal to the rear end height, the support posture of the hydraulic support can be determined to be a third posture. The process of determining the position coordinates of the front end and the rear end of the top beam of the hydraulic support according to the pose information may refer to related technologies, and details are not described here.
And 403, generating a regulation and control strategy of the posture regulation and control jack according to the posture of the support, and controlling the extending length of the posture regulation and control jack according to the regulation and control strategy so as to regulate the hydraulic support to the preset posture.
The control strategy refers to a strategy for controlling the extension length of the posture control jack, and specifically may include whether the piston rod of the posture control jack extends or retracts, and a target adjustment amount of the extension length of the posture control jack.
In an exemplary embodiment, according to the posture of the support, the process of generating the regulation strategy of the posture regulation jack may be:
if the support posture is the first posture, determining that the regulation strategy of the posture regulation jack is as follows: extending a piston rod of the posture control jack to control the extension length of the posture control jack to be increased until the hydraulic support is adjusted to a preset posture; if the support posture is the second posture, determining that the regulation strategy of the posture regulation jack is as follows: and contracting the piston rod of the attitude control jack to control the extension length of the attitude control jack to be reduced until the hydraulic support is adjusted to the preset attitude.
The target adjustment amount when the extension length of the posture control jack is controlled to be increased or decreased can be determined in the following mode: determining the corresponding relation between the adjustment quantity of the extending length of the posture control jack and the adjustment angle of the top beam according to the connection relation among all the components of the hydraulic support; determining a target angle required to be adjusted by the top beam when the current support posture is adjusted to the preset posture according to the difference value between the front end height and the rear end height of the top beam and the difference value between the front end height and the rear end height of the top beam in the preset posture; and determining a target adjustment amount corresponding to the target angle according to the determined corresponding relation, wherein the target adjustment amount is a target increase amount or a target decrease amount of the extending length of the posture control jack when the hydraulic support is adjusted to the preset posture.
In an exemplary embodiment, the calculation means may determine whether to extend or retract the piston rod of the posture-regulating jack in the above-described manner according to the posture of the hydraulic bracket to control the extension length of the posture-regulating jack to be increased or decreased, and determine the target adjustment amount of the extension length of the posture-regulating jack, so that the extension length of the posture-regulating jack may be controlled by the hydraulic controller to adjust the hydraulic bracket to the preset posture.
According to the posture self-adaptive control method of the hydraulic support, when the hydraulic support is in a bearing state, posture information of the hydraulic support is collected in real time, the support state of the hydraulic support is determined according to the posture information, a regulation and control strategy of the posture regulation and control jack is generated according to the support state, the extending length of the posture regulation and control jack is controlled according to the regulation and control strategy, the hydraulic support is adjusted to a preset posture, self-adaptive adjustment of the support posture of the hydraulic support is achieved when the hydraulic support is in the bearing state, and therefore the hydraulic support is guaranteed to be in a better stress state.
The attitude adaptive control method of the hydraulic bracket provided by the embodiment of the present application is further described below with reference to fig. 5.
As shown in fig. 5, in a coal cutting cycle, when the hydraulic support lifting column is used for supporting, the posture adjusting jack can be set to be in a follow-up state, the support posture of the hydraulic support is determined according to the posture information of the hydraulic support, which is acquired by the supporting state monitoring device in real time, the adjusting strategy of the balance jack is generated according to the support posture, and the balance jack is adjusted according to the adjusting strategy, so that the top beam of the hydraulic support is parallel to the direction of the working surface, and the lifting column is used for supporting.
When the hydraulic support is in a bearing state after the lifting columns of the hydraulic support are abutted (step 501), the support posture of the hydraulic support can be determined according to pose information of the hydraulic support, which is acquired by a supporting state monitoring device in real time, whether the top beam of the hydraulic support is parallel to the trend of a working face or not is judged according to the support posture (step 502), if the top beam of the hydraulic support is parallel to the trend of the working face, the hydraulic support can be continuously used for supporting (step 503), the hydraulic support is pushed, slid, lowered, pulled and the like after the coal mining machine cuts coal (step 504), whether the mining of the working face is finished or not is judged (step 505), and if the mining of the working face is not finished, the steps can be repeatedly executed until the mining of the working face is finished.
When the hydraulic support is in a bearing state after the lifting columns of the hydraulic support are connected (step 501), if the top beam of the hydraulic support is determined to be not parallel to the trend of the working surface according to the pose information of the hydraulic support, namely when the support pose of the hydraulic support is in a 'head-down' pose or a 'head-up' pose, a regulation and control strategy of the pose regulation and control jack can be generated according to the support pose (step 506), the extending length of the pose regulation and control jack is controlled according to the regulation and control strategy (step 507), and whether the top beam of the hydraulic support is parallel to the trend of the working surface or not is judged again.
When the hydraulic support is in a head raising posture, the regulating and controlling strategy comprises extending a piston rod of the posture regulating and controlling jack so as to control the extending length of the posture regulating and controlling jack to be increased, and the regulating and controlling strategy comprises the extending length increasing amount of the posture regulating and controlling jack; when the hydraulic support is in a 'head-down' posture, the regulation and control strategy comprises the step of contracting a piston rod of the posture regulation and control jack so as to control the extension length of the posture regulation and control jack to be reduced, and the regulation and control strategy comprises the reduction amount of the extension length of the posture regulation and control jack.
It can be understood that when the amplitude of the 'head lowering' or the 'head warping' of the hydraulic support is small, namely the difference between the front end height and the rear end height of the top beam is small, the hydraulic support can be adjusted to be parallel to the direction of the working surface at one time by controlling the extension length of the posture adjusting jack to be increased or reduced in one-time coal cutting working cycle. And when the range of the 'head lowering' or the 'head warping' of the hydraulic support is large, namely the difference value of the front end height and the rear end height of the top beam is large, the hydraulic support is difficult to adjust to the state that the top beam is parallel to the working surface direction at one time due to the large bearing capacity of the hydraulic support, and therefore under the condition, the hydraulic support can be adjusted to the state that the top beam is parallel to the working surface direction through multiple times of adjustment and control of the attitude adjusting and controlling jack in multiple coal cutting working cycles.
Specifically, in one coal cutting working cycle, if the difference between the front end height and the rear end height of the top beam of the hydraulic support is large, the adjusting and controlling times of the attitude adjusting and controlling jack can be determined firstly, for example, 2 times or 3 times, when a regulation strategy is generated, the target regulation quantity of the extending length of the posture regulation jack in the coal cutting working cycle can be calculated firstly, and then the balance jack is set to be in a follow-up state, according to the target regulating quantity of the extending length of the posture regulating jack in the coal cutting working cycle, the extension length of the posture control jack is controlled, and in the next coal cutting working cycle, the steps in the figure 5 can be repeated, therefore, the extension length of the posture control jack is controlled through multiple iterations, the posture control jack is adjusted to be parallel to the direction of the top beam and the working surface, and the hydraulic support is guaranteed to be in a better working state.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. 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.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. The posture self-adaptive control system of the hydraulic support is characterized by comprising:
the hydraulic support is arranged on the attitude adjusting jack;
the hydraulic support is arranged on the hydraulic support, and the hydraulic support is used for supporting the hydraulic support;
the calculation device is in communication connection with the support state monitoring device and is used for determining the support posture of the hydraulic support according to the posture information and generating a regulation strategy of the posture regulation jack according to the support posture;
and the electro-hydraulic controller is arranged on the hydraulic support, is respectively connected with the attitude regulating jack and the computing device, and is used for controlling the extending length of the attitude regulating jack according to the regulating strategy so as to regulate the hydraulic support to a preset attitude.
2. The system of claim 1, wherein the hydraulic support comprises a base and a shield beam;
one end of the posture control jack is connected with the base through a pin shaft, and the other end of the posture control jack is connected with the shield beam through a pin shaft.
3. The system of claim 2, wherein the hydraulic support comprises a top beam;
when the posture of the bracket is a first posture, the regulation strategy is as follows: extending a piston rod of the attitude control jack to control the extension length of the attitude control jack to be increased until the hydraulic support is adjusted to the preset attitude; wherein the height of the front end of the top beam is greater than the height of the rear end in the first posture;
when the posture of the bracket is the second posture, the regulation and control strategy is as follows: retracting a piston rod of the posture control jack to control the extension length of the posture control jack to be reduced until the hydraulic support is adjusted to the preset posture; and the height of the front end of the top beam is smaller than that of the rear end of the top beam in the second posture.
4. The system of claim 3, wherein the timbering condition monitoring device comprises: the first inclination angle sensor is arranged on the base, the second inclination angle sensor is arranged on the top beam, and the first inclination angle sensor and the second inclination angle sensor are respectively used for acquiring a first pitch angle of the base and a second pitch angle of the top beam in real time;
and the calculating device is used for determining the support posture of the hydraulic support according to the first pitch angle and the second pitch angle and generating the regulation and control strategy according to the support posture.
5. The system of claim 4, wherein the timbering condition monitoring device further comprises: the third inclination angle sensor is arranged on the shield beam and used for acquiring a third pitch angle of the shield beam;
and the calculating device is used for determining the support posture of the hydraulic support according to the first pitch angle, the second pitch angle and the third pitch angle and generating the regulation and control strategy according to the support posture.
6. The system of claim 1, wherein a displacement sensor is arranged in the posture control jack and is used for acquiring the extending length of the posture control jack in real time.
7. The system of claim 1, wherein the electro-hydraulic controller comprises: the main controller is an electro-hydraulic reversing valve connected with the main controller;
one end of the electro-hydraulic reversing valve is connected with a main pipeline of the hydraulic support, and the other end of the electro-hydraulic reversing valve is connected with the posture control jack and used for controlling the extending length of the posture control jack according to a first control signal sent by the main controller.
8. The system of claim 7, wherein the electro-hydraulic controller further comprises: the electro-hydraulic one-way valve is connected with the main controller;
the electro-hydraulic one-way valve is arranged in a hydraulic loop of the attitude control jack and used for controlling the working state of the attitude control jack according to a second control signal sent by the main controller.
9. The self-adaptive attitude control method of the hydraulic support is characterized in that an attitude control jack is arranged on the hydraulic support, and the method comprises the following steps:
when the hydraulic support is in a bearing state, acquiring pose information of the hydraulic support in real time;
determining the support posture of the hydraulic support according to the posture information;
and generating a regulation and control strategy of the posture regulation and control jack according to the posture of the support, and controlling the extending length of the posture regulation and control jack according to the regulation and control strategy so as to regulate the hydraulic support to a preset posture.
10. The method of claim 9, wherein the hydraulic support comprises a base, a shield beam, and a roof beam;
the pose information comprises a first pitch angle of the base, a second pitch angle of the top beam and a third pitch angle of the shield beam.
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