CN205876371U - Two column type hydraulic support position appearance detection and control system - Google Patents

Abstract

The utility model relates to a two column type hydraulic support position appearance detection and control system, this system include controller, data acquisition device, an acceleration sensor, the 2nd acceleration sensor, stroke sensor, laser range finder, an electromagnetic proportional valve and the 2nd electromagnetic proportional valve, utilize acceleration sensor, stroke sensor, laser range finder measuring data transmission to give the controller, adopt PID control rule to carry out in real time attitude control entirely to hydraulic support position appearance, through controller control electromagnetic proportional valve's switch and flow dimension to this adjust to realize that hydraulic support rises the quick level liter of frame process, the top is pasted to the intelligence when falling frame and operation face roof slope, promoted hydraulic support the liter, move a speed and with the machine speed degree, this system possesses an appearance detection and control system simultaneously, and the function is more, and the performance is better, has the advantage that can not compare.

Description

A kind of two column type hydraulic support pose measurement and control systems

Technical field

This utility model relates to a kind of two column type hydraulic support pose measurement and control systems, belongs to hydraulic support technology neck Territory.

Background technology

At fully-mechanized mining working in order to prevent roof inbreak, it is ensured that the safety of staff and being normally carried out of production, Top board must be carried out supporting, hydraulic support is the support apparatus that coal mine fully-mechanized mining working is indispensable.China's many collieries are all set up Combine automated production face of adopting, and be equipped with to combine and adopt equipment remote monitoring function.Hydraulic support is carried out the most reliable, vivid straight The long-range monitoring seen, not only can grasp the accurate running status of hydraulic support in time, it is also possible to prediction hydraulic support stand matter Amount, and face timbering stability can be improved according to the operational factor of inspection result adjusting pole.

The typical cycle of operation of hydraulic support includes setting prop, supports, drops post three phases, in the support setting prop stage, we Wish hydraulic support can the rising of quick level automatically, thus contact top board enters driving phase rapidly, reduces support and moves the frame phase Between sedimentation；Driving phase, it is intended that hydraulic support can adapt to automatically, work surface inclined roof panels of fitting, thus ensures support Good with top plate contact, strengthen the support control power to top board, prevent support from occurring bowing, the supporting unstable phenomenon such as antiaircraft gun； The fall post stage it is desirable that support can the fall post of quick level, thus realize quick pushing and sliding, try to stop people from fighting each other, quickening support with machine speed Degree.Pose currently for hydraulic support detects and adjusts, and numerous domestic scholar expands different research.

Such as, Chinese patent literature CN103899338A discloses the work of a kind of hydraulic support based on space coordinate transformation Attitude determination method, the inclination value that the method is changed by real-time measurement bracket component, thus obtain double leval jib hydraulic support Operating attitude, and measure the base of hydraulic support, connecting rod and the back timber angle of inclination relative to parameter coordinate system in real time, in utilization State three angle values and the physical dimension of support itself, use the method setting up reference frame and relative coordinate system to calculate The position of the current each component of support, angle, and drive the length of oil cylinder.

The Chinese patent of Publication No. CN103968856A discloses the real-time detection method of a kind of hydraulic support pose.Should Method uses 3-axis acceleration sensor and the position of three-axis gyroscope real-time measurement bracket back timber, the variable quantity at inclination angle, passes through The mode of integration obtains the pose of hydraulic support any time.

Chinese patent literature is that the Chinese patent of CN103899344B discloses a kind of hydraulic support top beam self adaptation leveling Method, the method utilizes exploration mode of acting blindly to be adjusted set cap state by sensor detection back timber inclination angle, and this is special Profit started to control from the stage of supportting at the beginning of support, had certain limitation, and the heuristic of acting blindly that the program uses not only sounds out ratio Relatively process takes a substantial amount of time, and easily occurs that the support step pitch that is in course of adjustment is improper and cause support persistent oscillation position Appearance, reduces the stability of bracket support work, and degree of regulation is poor.

Although the detection method currently for hydraulic support pose has a variety of, but how these methods only address only Obtaining hydraulic support pose data, and detection data are more, relatively big by such environmental effects, accuracy of detection is poor；In controlling party In method, existing support posture control method often uses heuristic method of acting blindly to be controlled the pose of support, controls process Loaded down with trivial details and precision is low, support pose is prone to vibration occur when adjusting, it is impossible to fast and accurate realize hydraulic support setting prop, Support, the regulation of the pose in fall post stage, therefore, it is necessary to design a kind of high efficiency, the intelligence control system of precision regulation.

Utility model content

For the deficiencies in the prior art, this utility model provides a kind of two column type hydraulic support pose Detection & Controling systems System.

The technical solution of the utility model is as follows:

A kind of two column type hydraulic support pose measurement and control systems, including controller, data acquisition unit, the first acceleration Degree sensor, the second acceleration transducer, stroke sensor, laser range finder, the first electromagnetic proportional valve and the second solenoid-operated proportional Valve；Described first acceleration transducer is arranged on the base of hydraulic support, and the second acceleration transducer is arranged on hydraulic support Back link on, stroke sensor is arranged on inside the balance jack of hydraulic support, and laser range finder is arranged on hydraulic support Column on, the first electromagnetic proportional valve is arranged on hydraulic support balance jack hydraulic control circuit, the second electromagnetic proportional valve Being arranged on hydraulic support column hydraulic control circuit, described first acceleration transducer, the second acceleration transducer, stroke pass Sensor, laser range finder are all connected with data acquisition unit, and data acquisition unit is connected with controller, and controller is also connected with first Electromagnetic proportional valve and the second electromagnetic proportional valve.

Preferably, described pose measurement and control system also includes input equipment, and input equipment is connected with controller, described Display and keyboard are selected in input equipment, or select touch screen to show/input module.

Preferably, MSP430F5438A single-chip microcomputer selected by described controller.

Preferably, described first acceleration transducer, the second acceleration transducer all select Freescale MMA7361LC to add Velocity sensor.

Preferably, described stroke sensor selects the rice bright MIRAN built-in magnetostrictive displacement of MTL3-2000mm oil cylinder to pass Sensor.

Preferably, described laser range finder selects Kang Li China KLH-01T-20hz laser range finder.

Preferably, described touch screen shows/input module selection enlightening literary composition DMT80480T070_06WT+ touch screen.

Preferably, described first electromagnetic proportional valve selects model to be 4WRZe32W9-520-7X/6EG24N9ETK4F1/M's 3-position 4-way proportional reversing valve.

Preferably, described second electromagnetic proportional valve selects model to be 4WRZe52W9-1000-7X/6EG24N9ETK4F1/M 3-position 4-way proportional reversing valve.

The using method of a kind of two column type hydraulic support pose measurement and control systems, comprises the following steps,

(1) signals collecting: base acceleration, the second acceleration transducer measured by the first acceleration transducer are measured The strut length that balance jack length that back link acceleration, stroke sensor measure, laser range finder measure is transferred to number According to harvester, data acquisition unit obtains acceleration, length initial data to the signal received after being filtered processing, and will Acceleration, length original data transmissions are to controller；

(2) data process: controller, according to the acceleration received, length initial data, calculates hydraulic support foundation Real-time inclination angle, the angle of back link and base and hydraulic support real-time behavior pose, and the real-time row of output hydraulic pressure support For pose；Then, controller, according to hydraulic support operator's action command and face roof inclination angle, calculates hydraulic support Final pose to be reached, and contrast hydraulic support current behavior pose and draw displacement difference, further according to optimum action rules table, , fluid volume the fastest with hydraulic support speed of action most saves principle intelligent decision and goes out hydraulic support optimum action scheme, controller root According to the stepping number of times of displacement difference and setting, calculate hydraulic support stage step value, and stage step value is set as controller Phase targets parameter value；

(3) pid control computation: controller is by phase targets parameter value and stroke sensor and the real-time inspection of laser range finder Survey Data Comparison, obtain the difference of phase targets parameter value and real-time detector data；

(4) instruction output: controller, according to the difference described in step (3), exports the first electromagnetic proportional valve, the second electromagnetism ratio The control signal of example valve, it is big that control signal controls the first electromagnetic proportional valve, the direction of motion of the second electromagnetic proportional valve and opening degree Little to change turnover balance jack and the flow of column, thus change the length of balance jack and column, it is achieved hydraulic pressure props up The position and attitude error feedback control of frame, makes hydraulic support progressively arrive final pose.

Preferably, in step (1), described Filtering Processing refers to that data acquisition unit uses median filtering method to accelerate first The data being transferred to data acquisition unit are entered by degree sensor, the second acceleration transducer, stroke sensor and laser range finder Row Filtering Processing, its detailed process includes: the N number of data of continuous sampling, then carries out, by heap sequence method principle, the N number of data gathered Sequence, finds out the maximum in N number of data and minima, removes maximum and minima, then calculate remaining N-2 data Arithmetic mean of instantaneous value, N is taken as 3-14.

Preferably, in step (2), controller calculates hydraulic support real-time behavior pose, specifically includes procedure below:

A () reads the α of hydraulic support back link the second acceleration transducer output_hAnd base the first acceleration transducer is defeated The α gone out_d, convert and draw the absolute tilt β of hydraulic support back link and the absolute tilt α of base:

$\mathrm{\β}={\arcsin }^{a_h}/g,\mathrm{\α}={\arcsin }^{a_d}/g$

The inclination angle of hydraulic support back link respect thereto: θ₀=β+α (I)；

B () calculates the inclination angle theta of hydraulic support back link respect thereto when step (a)₀After, put down by reading hydraulic support Weighing apparatus jack and the length of column, bring the real-time behavior position and posture side of hydraulic support into by the length of balance jack and column Journey (II), can draw the real-time pose parameter of hydraulic support, and the current position and posture of output hydraulic pressure support, complete the most over the display Become hydraulic support real-time pose status monitoring；

$\left[\begin{array}{c}\mathrm{\ϵ}\\ {\mathrm{\θ}}_0\\ {\mathrm{\θ}}_1\\ {\mathrm{\θ}}_2\\ {\mathrm{\θ}}_3\\ {\mathrm{\θ}}_4\\ {\mathrm{\θ}}_5\\ {\mathrm{\θ}}_6\\ {\mathrm{\θ}}_7\\ {\mathrm{\θ}}_9\\ {\mathrm{\θ}}_{10}\\ {\mathrm{sin\θ}}_{11}\end{array}\right]=\left(\begin{array}{ccccccccccc}-1& 0& 0& 1& 1& 1& 0& 0& 1& 1& 1\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ -1& 0& -1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0\\ -1& 0& 0& 1& 1& 1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 1\\ \frac{l_1}{l_z}& 0& 0& 0& 0& 0& \frac{l_5}{l_z}& 0& 0& 0& 0\end{array}\right)\left[\begin{array}{c}{\mathrm{\θ}}_0\\ {\mathrm{\θ}}_1\\ {\mathrm{\θ}}_2\\ {\mathrm{\θ}}_3\\ {\mathrm{\θ}}_4\\ {\mathrm{\θ}}_5\\ {\mathrm{\θ}}_6\\ {\mathrm{\θ}}_7\\ {\mathrm{\θ}}_8\\ {\mathrm{\θ}}_9\\ {\mathrm{\θ}}_{10}\end{array}\right]+\left[\begin{array}{c}-\frac{3}{2}\mathrm{\π}\\ \mathrm{\β}+\mathrm{\α}\\ \mathrm{\π}\\ 0\\ \arccos \frac{l_1^2+z^2-l_2^2}{2l_1\·z}\\ \arccos \frac{l_4^2+z^2-l_3^2}{2l_4\·z}\\ 0\\ 0\\ 0\\ \arccos \frac{l_6^2+l_7^2-l_q^2}{2l_6\·l_7}\\ 0\\ \frac{z_2}{l_z}\end{array}\right]---\left(II\right)$

Whereinz₂=h₁-h₃+h₄cosε-h₆cosε+l₈Sin ε, ε are that hydraulic support top beam is relative The inclination angle of base, θ₆For the relative inclination of hydraulic support shield beam Yu base, θ₉For hydraulic support balance jack and back timber, cover The subtended angle that guard beam pin joint is formed, θ₁₁For column inclination angle；

Preferably, in step (2), the determination process of described optimum action scheme is as follows:

(x) with face roof inclination angle η, hydraulic support operator are to the actual control instruction of hydraulic support and solve Based on hydraulic support real-time pose parameter, change based on balance jack length, strut length and hydraulic support working depth The shape equation of comptability (III) and the Coordinate deformation equation of balance jack length, strut length and hydraulic support top beam pose angle ε (IV) hydraulic support target location pose parameter is solved；

$\left\{\begin{array}{c}{l}_{z~H}=\frac{l_5\cos \arcsin \[(H-h_1-h_4-l_1{\mathrm{sin\θ}}_0)/l_5\]+l_8-l_1{\mathrm{cos\θ}}_0-l_9}{\cos \arcsin \[(H-h_6-h_3)/l_z\]}\\ l_{q~H}={\[l_6^2-{l_7}^2-2l_6\·l_7\·\cos (\frac{3}{2}\mathrm{\π}-\arcsin \[(H-h_1-h_4-l_1{\mathrm{sin\θ}}_0)/l_5\]-{\mathrm{\θ}}_8-{\mathrm{\θ}}_{10})\]}^{1/2}\end{array}\right.---\left(III\right)$

$\left\{\begin{array}{c}{l}_{z~\mathrm{\ϵ}}={(z_3^2+z_4^2)}^{1/2}\\ l_{q~\mathrm{\ϵ}}={\[l_6^2+{l_7}^2-2l_6\·l_{7}cos(\mathrm{\ϵ}+{\mathrm{\θ}}_0-{\mathrm{\θ}}_3-{\mathrm{\θ}}_4-{\mathrm{\θ}}_5-{\mathrm{\θ}}_8-{\mathrm{\θ}}_{10}+\frac{3}{2}\mathrm{\π})\]}^{1/2}\end{array}\right.---\left(IV\right)$

Wherein,

$z_3=h_1+l_1{\mathrm{sin\θ}}_0+l_{5}sin\[\mathrm{\ϵ}-({\mathrm{\θ}}_8+{\mathrm{\θ}}_{10}+\arccos \frac{l_6^2+l_7^2-l_q^2}{2\·l_6\·l_7}-\frac{3}{2}\mathrm{\π})\]+h_{4}cos\mathrm{\ϵ}+l_8\sin \mathrm{\ϵ}-h_3-h_{6}cos\mathrm{\ϵ},$

$z_4=l_{5}cos\[\mathrm{\ϵ}-({\mathrm{\θ}}_8+{\mathrm{\θ}}_{10}+\arccos \frac{l_6^2+l_7^2-l_q^2}{2\·l_6\·l_7}-\frac{3}{2}\mathrm{\π})\]-h_4\sin \mathrm{\ϵ}+l_{8}cos\mathrm{\ϵ}+h_{6}sin\mathrm{\ϵ}-l_1{\mathrm{cos\θ}}_0-l_9.$

Y hydraulic support target location pose parameter that () will solve in (x), pose parameter current with hydraulic support compares, Save as principle intelligent decision from hydraulic support optimum action rules table most with regulate the speed the fastest, fluid volume of hydraulic support pose Go out the optimum action scheme of balance jack and column；Hydraulic support optimum action rules table is as shown in Table 1:

Table one: hydraulic support optimum action rules table

Wherein

Preferably, in step (4), the signal l of the final pose of comparison controller output_q0And l_z0And hydraulic support is real Time monitoring signal l_qAnd l_z, the phase targets rated value l ' of PID controlled quentity controlled variable is determined according to hydraulic support optimum action scheme_q0With l′_z0, and pass data to controller, by comparison phase target rated value l '_q0With l '_z0Letter is monitored in real time with hydraulic support Number l_qAnd l_z, draw the difference of object pose parameter and current pose parameter；Controller according to difference, control balance jack and The direction of motion and the opening degree size of the electromagnetic proportional valve that column connects pass in and out column and the flow of balance jack to change, from And change the length of hydraulic support column and balance jack, changing hydraulic support column and the length process of balance jack In, the concrete action of column and balance jack as shown in Table 2,

Table two: column and the concrete action schedule of balance jack

Preferably, described using method also includes inputting presetting parameter and presetting parameter processing process, props up at hydraulic pressure Before frame is gone into the well, carry out hydraulic support Initial parameter sets by keyboard and display, including hydraulic support back link length l₁With Location dimension height h₁, length l of hydraulic support front rod₃With location dimension height h₂, base and connecting rod hinge point distance l₂And Its connecting line and the angle theta of base₂, needling location dimension h under column₃And l₉And upper needling location dimension h₆And l₈, caving shield with Distance l of connecting rod hinge point line₄And its angle theta with caving shield₅, caving shield length l₅And upper location dimension h₅, balance thousand Lower location dimension l in jin top₆、θ₈And upper location dimension l₇And θ₁₀, distance h of caving shield and back timber pin joint to back timber the top₄。

The beneficial effects of the utility model are:

1. this utility model hydraulic support pose detecting system and detection method, by detection base inclination angle, hydraulic support Back link acceleration, actuator column and auxiliary 4 parameters of pose balance jack, it is achieved that working surface hydraulic support real-time Pose detects, and the Coordinate deformation equation that the method utilizes hydraulic support intrinsic solves, and solving result is accurate.

2. this utility model hydraulic support Pose Control system and method, uses PID to control rule to hydraulic support pose Carry out the most full gesture stability, it is achieved the quick horizontal ascending, descending frame of hydraulic support crane process and face roof tilt Time intelligent plaster top, improve the liter of hydraulic support, advancing velocity and with motor speed；And system model is depended on by PID control system Rely few, strong adaptability, there is stronger robustness.

3. this utility model hydraulic support pose inspection and control system, easy to install, portable strong, can be used for The supports such as two column protected type, two post Sub-Level Cavings, and effect is substantially, effect is notable, has good economic benefit and social benefit.

Accompanying drawing explanation

Fig. 1 is this utility model pose measurement and control system mounting structure figure on hydraulic support；

Fig. 2 is the annexation figure of this utility model each ingredient of pose measurement and control system；

Fig. 3 is the mechanical relationship figure I of hydraulic support in embodiment 3；

Fig. 4 is the mechanical relationship figure II of hydraulic support in embodiment 3；

Fig. 5 is the mechanical relationship figure III of hydraulic support in embodiment 3；

Fig. 6 is the workflow diagram of this utility model pose measurement and control system；

Wherein: 1, the first acceleration transducer；2, laser range finder；3, base；4, the second acceleration transducer；5, front company Bar；6, caving shield；7, the first electromagnetic proportional valve；8, stroke sensor；9, balance jack；10, column；11, back timber；12, Two electromagnetic proportional valves；13, controller；14, host computer；15, display；16, keyboard；17, back link.

α_d: base transverse acceleration (parallel plinth direction)；

α_h: back link transverse acceleration (parallel back link direction)；

G: acceleration of gravity.

l₁: hydraulic support back link length；

l₂: base and connecting rod hinge point distance；

l₃: the length of hydraulic support front rod；

l₄: caving shield and the distance of connecting rod hinge point line；

l₅: caving shield length；

l₆: location dimension under balance jack；

l₇: location dimension in balance jack；

l₈: needling location dimension on column；

l₉: needling location dimension under column；

h₁: hydraulic support back link location dimension height；

h₂: hydraulic support front rod location dimension height；

h₃: needling location dimension (h under column₃And l₉It is all the location dimension of lower needling, one length of a short transverse Direction)；

h₄: the distance of caving shield and back timber pin joint to back timber the top；

h₅: location dimension on caving shield；

h₆: upper needling location dimension；

H: hydraulic support top beam is to the height of base.

θ₀: the inclination angle of hydraulic support back link respect thereto；

θ₁: hydraulic support back link and hinge line angle under front-rear linkage；

θ₂: base and connecting rod hinge point connecting line and the angle of base；

θ₃: hinge and hinge line on back link and back link angle under front rod；

θ₄: hinge and hinge line on back link and hinge line angle on front-rear linkage under front rod；

θ₅: hinge line and caving shield angle on front-rear linkage；

θ₆: hydraulic support shield beam and the relative inclination of base；

θ₇: caving shield dorsal horn；

θ₈: orientation angle under balance jack；

θ₉: the subtended angle that hydraulic support balance jack is formed with back timber, caving shield pin joint；

θ₁₀: orientation angle in balance jack；

θ₁₁: column inclination angle；

ε: the inclination angle of hydraulic support top beam respect thereto.

Detailed description of the invention

Below by embodiment and combine accompanying drawing this utility model is described further, but it is not limited to this.

Embodiment 1:

As shown in Figure 1 and Figure 2, a kind of two column type hydraulic support pose measurement and control systems, including controller, data acquisition Acquisition means, the first acceleration transducer, the second acceleration transducer, stroke sensor, laser range finder, the first electromagnetic proportional valve With the second electromagnetic proportional valve；Wherein, the first acceleration transducer is arranged on the base of hydraulic support, the second acceleration transducer Being arranged on the back link of hydraulic support, stroke sensor is arranged on inside the balance jack of hydraulic support, laser range finder Being arranged on the column of hydraulic support, the first electromagnetic proportional valve is connected on hydraulic support balance jack hydraulic control circuit, Second electromagnetic proportional valve is connected on hydraulic support column hydraulic control circuit, and the first acceleration transducer, the second acceleration pass Sensor, stroke sensor, laser range finder are all connected with data acquisition unit, and data acquisition unit is connected with controller, control Device also controls to connect the first electromagnetic proportional valve and the second electromagnetic proportional valve.

This pose measurement and control system also includes input equipment, and input equipment is connected with controller, described input equipment Display and keyboard, i.e. display and keyboard is selected to be connected with controller.

The concrete model of controller selects MSP430F5438a single-chip microcomputer, and data acquisition unit is built in single-chip microcomputer.First Freescale MMA7361LC acceleration transducer all selected by acceleration transducer, the second acceleration transducer.Stroke sensor selects With the rice bright MIRAN built-in magnetostrictive displacement sensor of MTL3-2000mm oil cylinder.Laser range finder selects Kang Li China KLH- 01T-20hz laser range finder.First electromagnetic proportional valve, the second electromagnetic proportional valve all select the 3-position 4-way ratio of BOSCH-REXROTH to change To valve, wherein, the model of the first electromagnetic proportional valve is the 3-position 4-way ratio of 4WRZe32W9-520-7X/6EG24N9ETK4F1/M Example reversal valve, the model of the second electromagnetic proportional valve is the 3-position 4-way ratio of 4WRZe52W9-1000-7X/6EG24N9ETK4F1/M Example reversal valve.

The technical scheme of the present embodiment, by controller, data acquisition unit, acceleration transducer, stroke sensor, laser Diastimeter and the measurement and control system of electromagnetic proportional valve composition hydraulic support, this system can be advantageously mounted at hydraulic pressure and prop up On frame, this system is by the data of detection and according to optimum action rules table, and uses the PID of the interior write of controller to control rule Then program carries out the most full attitude detection and control to hydraulic support pose, can realize the rapid water of hydraulic support crane process Intelligent plaster top when flat ascending, descending frame and face roof tilt, avoids column during hydraulic support crane, flat simultaneously The process of weighing apparatus jack perseveration, improves the liter of hydraulic support, advancing velocity and with motor speed；And PID control system pair System model relies on few, and strong adaptability has stronger robustness.

Embodiment 2:

A kind of two column type hydraulic support pose measurement and control systems, each ingredient and annexation thereof such as embodiment 1 Described, its difference is: input equipment selects touch screen to show/input module, touch screen shows/and input module and control Device connects, and touch screen can omit keyboard, simultaneously more convenient operation, more directly perceived.

Controller can be with external host computer, and host computer need to be by external data acquisition unit and the first acceleration sensing Device, the second acceleration transducer, stroke sensor and laser range finder connection carry out data acquisition, and wherein host computer is PC, Data acquisition unit is for grinding China's PCI-1711U data collecting card, and host computer is connected with grinding China's PCI-1711U data collecting card, grinds China's PCI-1711U data collecting card and the first acceleration transducer, the second acceleration transducer, stroke sensor, laser ranging Instrument connects, and grinds China's PCI-1711U data collecting card and will receive data and be transferred to PC, and ground handling operator can pass through PC and exist Ground manipulates.

Embodiment 3:

As shown in Figures 3 to 6, the present embodiment provides a kind of two column type hydraulic support pose detections as described in Example 1 With the using method of control system, comprise the following steps,

(1) signals collecting: base acceleration, the second acceleration transducer measured by the first acceleration transducer are measured The column that the length of hydraulic support balance jack that back link acceleration, stroke sensor measure, laser range finder measure Length transmission is to data acquisition unit, and data acquisition unit is filtered process to the signal received, and to obtain acceleration, length former Beginning data, and by acceleration, length original data transmissions to MSP430F5438a single-chip microcomputer；

Wherein Filtering Processing refers to, the N number of data of data acquisition unit continuous sampling, then by heap sequence method principle to collection N number of data are ranked up, and find out the maximum in N number of data and minima, remove maximum and minima, then calculate residue The arithmetic mean of instantaneous value of N-2 data, N is taken as 3-14.

It addition, write the program about optimum action rules table and the program of PID control rule in advance in single-chip microcomputer, make This single-chip microcomputer has the function of PID controller.

(2) data process: single-chip microcomputer, according to the acceleration received, length initial data, calculates hydraulic support foundation Real-time inclination angle, the real-time inclination angle of back link, the angle of back link and base and hydraulic support real-time behavior pose, and aobvious Show the real-time behavior pose of output hydraulic pressure support on device, reach the purpose that hydraulic support pose detects in real time；Then, single-chip microcomputer root According to hydraulic support operator's action command (by the action command of input through keyboard) and face roof inclination angle, calculate hydraulic pressure The final pose that support is to be reached, and contrast hydraulic support current behavior pose and draw displacement difference, further according to optimum action rule Then table, fluid volume the fastest with hydraulic support speed of action most saves principle intelligent decision and goes out hydraulic support optimum action scheme, monolithic The stepping number of times that machine sets according to displacement difference and operator, calculates (displacement difference/the stepping time of hydraulic support stage step value Number), and stage step value is set as the phase targets parameter value of single-chip microcomputer；

Wherein, the detailed process of single-chip microcomputer calculating hydraulic support real-time behavior pose is as follows:

A () reads the α of hydraulic support back link the second acceleration transducer output_hAnd base the first acceleration transducer is defeated The α gone out_d, convert and draw the angle of inclination beta of hydraulic support back link and the inclination alpha of base:

$\mathrm{\β}={\arcsin }^{a_h}/g,\mathrm{\α}={\arcsin }^{a_d}/g$

The inclination angle of hydraulic support back link respect thereto: θ₀=β+α (I)；

B () calculates the inclination angle theta of hydraulic support back link respect thereto when step (a)₀After, put down by reading hydraulic support Weighing apparatus jack and the length of column, bring hydraulic support real-time behavior position and posture equation into by the length of balance jack and column (II) (institute calculating equation (II) left side is angled, i.e. hydraulic support, can to draw the real-time pose parameter of hydraulic support Pose parameter), show that the current position and posture of hydraulic support (demonstrates hydraulic support position the most over the display the most over the display The institute of appearance parameter is angled), complete the real-time pose status monitoring of hydraulic support；

$\left[\begin{array}{c}\mathrm{\ϵ}\\ {\mathrm{\θ}}_0\\ {\mathrm{\θ}}_1\\ {\mathrm{\θ}}_2\\ {\mathrm{\θ}}_3\\ {\mathrm{\θ}}_4\\ {\mathrm{\θ}}_5\\ {\mathrm{\θ}}_6\\ {\mathrm{\θ}}_7\\ {\mathrm{\θ}}_9\\ {\mathrm{\θ}}_{10}\\ {\mathrm{sin\θ}}_{11}\end{array}\right]=\left(\begin{array}{ccccccccccc}-1& 0& 0& 1& 1& 1& 0& 0& 1& 1& 1\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ -1& 0& -1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0\\ -1& 0& 0& 1& 1& 1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 1\\ \frac{l_1}{l_z}& 0& 0& 0& 0& 0& \frac{l_5}{l_z}& 0& 0& 0& 0\end{array}\right)\left[\begin{array}{c}{\mathrm{\θ}}_0\\ {\mathrm{\θ}}_1\\ {\mathrm{\θ}}_2\\ {\mathrm{\θ}}_3\\ {\mathrm{\θ}}_4\\ {\mathrm{\θ}}_5\\ {\mathrm{\θ}}_6\\ {\mathrm{\θ}}_7\\ {\mathrm{\θ}}_8\\ {\mathrm{\θ}}_9\\ {\mathrm{\θ}}_{10}\end{array}\right]+\left[\begin{array}{c}-\frac{3}{2}\mathrm{\π}\\ \mathrm{\β}+\mathrm{\α}\\ \mathrm{\π}\\ 0\\ \arccos \frac{l_1^2+z^2-l_2^2}{2l_1\·z}\\ \arccos \frac{l_4^2+z^2-l_3^2}{2l_4\·z}\\ 0\\ 0\\ 0\\ \arccos \frac{l_6^2+l_7^2-l_q^2}{2l_6\·l_7}\\ 0\\ \frac{z_2}{l_z}\end{array}\right]---\left(II\right)$

Whereinz₂=h₁-h₃+h₄cosε-h₆cosε+l₈Sin ε, ε are that hydraulic support top beam is relative The inclination angle of base, θ₆For the relative inclination of hydraulic support shield beam Yu base, θ₉For hydraulic support balance jack and back timber, cover The subtended angle that guard beam pin joint is formed, θ₁₁For column inclination angle；

The determination process of described optimum action scheme is as follows:

X the actual control instruction of hydraulic support (is passed through key with face roof inclination angle η, hydraulic support operator by () Dish inputs, such as, rise frame instruction) and the hydraulic support real-time pose parameter that solves based on, based on balance jack length, vertical Column length props up with hydraulic pressure with Coordinate deformation equation (III) and balance jack length, the strut length of hydraulic support working depth The Coordinate deformation equation (IV) of frame back timber pose angle ε solves hydraulic support target location pose parameter；

$\left\{\begin{array}{c}{l}_{z~H}=\frac{l_5\cos \arcsin \[(H-h_1-h_4-l_1{\mathrm{sin\θ}}_0)/l_5\]+l_8-l_1{\mathrm{cos\θ}}_0-l_9}{\cos \arcsin \[(H-h_6-h_3)/l_z\]}\\ l_{q~H}={\[l_6^2-{l_7}^2-2l_6\·l_7\·\cos (\frac{3}{2}\mathrm{\π}-\arcsin \[(H-h_1-h_4-l_1{\mathrm{sin\θ}}_0)/l_5\]-{\mathrm{\θ}}_8-{\mathrm{\θ}}_{10})\]}^{1/2}\end{array}\right.---\left(III\right)$

$\left\{\begin{array}{c}{l}_{z~\mathrm{\ϵ}}={(z_3^2+z_4^2)}^{1/2}\\ l_{q~\mathrm{\ϵ}}={\[l_6^2+{l_7}^2-2l_6\·l_{7}cos(\mathrm{\ϵ}+{\mathrm{\θ}}_0-{\mathrm{\θ}}_3-{\mathrm{\θ}}_4-{\mathrm{\θ}}_5-{\mathrm{\θ}}_8-{\mathrm{\θ}}_{10}+\frac{3}{2}\mathrm{\π})\]}^{1/2}\end{array}\right.---\left(IV\right)$

Wherein,

$z_3=h_1+l_1{\mathrm{sin\θ}}_0+l_{5}sin\[\mathrm{\ϵ}-({\mathrm{\θ}}_8+{\mathrm{\θ}}_{10}+\arccos \frac{l_6^2+l_7^2-l_q^2}{2\·l_6\·l_7}-\frac{3}{2}\mathrm{\π})\]+h_{4}cos\mathrm{\ϵ}+l_8\sin \mathrm{\ϵ}-h_3-h_{6}cos\mathrm{\ϵ},$

$z_4=l_{5}cos\[\mathrm{\ϵ}-({\mathrm{\θ}}_8+{\mathrm{\θ}}_{10}+\arccos \frac{l_6^2+l_7^2-l_q^2}{2\·l_6\·l_7}-\frac{3}{2}\mathrm{\π})\]-h_4\sin \mathrm{\ϵ}+l_{8}cos\mathrm{\ϵ}+h_{6}sin\mathrm{\ϵ}-l_1{\mathrm{cos\θ}}_0-l_9.$

Y hydraulic support target location pose parameter that () will solve in (x), pose parameter current with hydraulic support compares, Save as principle intelligent decision from hydraulic support optimum action rules table most with regulate the speed the fastest, fluid volume of hydraulic support pose Go out the optimum action scheme of balance jack and column；Hydraulic support optimum action rules table is as shown in Table 1:

Table one: hydraulic support optimum action rules table

Wherein

(3) pid control computation: single-chip microcomputer is by phase targets parameter value and stroke sensor and the real-time inspection of laser range finder Surveying Data Comparison, obtain the difference of real-time detector data and phase targets parameter value, single-chip microcomputer carries out PID and controls fortune this difference Calculate；

(4) instruction output: single-chip microcomputer is according to the difference described in step (3), according to fixed optimum action scheme, output First electromagnetic proportional valve, the control signal of the second electromagnetic proportional valve, control signal controls the first electromagnetic proportional valve, the second electromagnetism ratio The direction of motion of example valve and opening degree size are to change turnover balance jack and the flow of column, thus change balance jack And the length of column, it is achieved the position and attitude error feedback control of hydraulic support, make hydraulic support follow optimum action scheme and progressively arrive Reach final pose.

Specifically, single-chip microcomputer compares the final pose signal l of output_q0(balance jack) and l_z0(column) and hydraulic pressure Signal l monitored in real time by support_qAnd l_z, the phase targets rated value of PID controlled quentity controlled variable is determined according to hydraulic support optimum action scheme l′_q0With l '_z0, by comparison phase target rated value l '_q0With l '_z0Signal l is monitored in real time with hydraulic support_qAnd l_z, draw target Pose parameter and the difference of current pose parameter；Single-chip microcomputer, according to difference, controls balance jack and the electromagnetism ratio of column connection The direction of motion of example valve and opening degree size are to change turnover column and the flow of balance jack, thus change hydraulic support and stand Post and the length of balance jack, during changing the length of hydraulic support column and balance jack, column and balance thousand Jin top concrete action as shown in Table 2,

Table two: column and the concrete action schedule of balance jack

Embodiment 4:

The using method of a kind of two column type hydraulic support pose measurement and control systems as described in Example 1, step is such as Described in embodiment 3, its difference is: the using method of this system also includes inputting at presetting parameter and presetting parameter Reason process, before hydraulic support is gone into the well, carries out hydraulic support Initial parameter sets (with back link and the end by keyboard and display Point on the basis of seat is hinged), including hydraulic support back link length l₁With location dimension height h₁, the length of hydraulic support front rod l₃With location dimension height h₂, base and connecting rod hinge point distance l₂And the angle theta of connecting line and base₂, under column, needling is fixed Position size h₃And l₉And upper needling location dimension h₆And l₈, caving shield and distance l of connecting rod hinge point line₄And itself and caving shield Angle theta₅, caving shield length l₅And upper location dimension h₅, location dimension l under balance jack₆、θ₈And upper location dimension l₇With θ₁₀, distance h of caving shield and back timber pin joint to back timber the top₄。

Claims (8)

1. a column type hydraulic support pose measurement and control system, it is characterised in that include controller, data acquisition packaging Put, the first acceleration transducer, the second acceleration transducer, stroke sensor, laser range finder, the first electromagnetic proportional valve and Two electromagnetic proportional valves；Described first acceleration transducer is arranged on the base of hydraulic support, and the second acceleration transducer is arranged On the back link of hydraulic support, stroke sensor is arranged on inside the balance jack of hydraulic support, and laser range finder is arranged On the column of hydraulic support, the first electromagnetic proportional valve is arranged on hydraulic support balance jack hydraulic control circuit, and second Electromagnetic proportional valve is arranged on hydraulic support column hydraulic control circuit, and described first acceleration transducer, the second acceleration pass Sensor, stroke sensor, laser range finder are all connected with data acquisition unit, and data acquisition unit is connected with controller, control Device is also connected with the first electromagnetic proportional valve and the second electromagnetic proportional valve.

Two column type hydraulic support pose measurement and control systems the most as claimed in claim 1, it is characterised in that described pose is examined Surveying and also include input equipment with control system, input equipment is connected with controller, and display and keyboard are selected in described input equipment, Or select touch screen to show/input module.

Two column type hydraulic support pose measurement and control systems the most as claimed in claim 1, it is characterised in that described controller Select MSP430F5438A single-chip microcomputer.

Two column type hydraulic support pose measurement and control systems the most as claimed in claim 1, it is characterised in that described first adds Freescale MMA7361LC acceleration transducer all selected by velocity sensor, the second acceleration transducer.

Two column type hydraulic support pose measurement and control systems the most as claimed in claim 1, it is characterised in that described stroke passes Sensor selects the rice bright MIRAN built-in magnetostrictive displacement sensor of MTL3-2000mm oil cylinder.

Two column type hydraulic support pose measurement and control systems the most as claimed in claim 1, it is characterised in that described Laser Measuring Distance meter selects Kang Li China KLH-01T-20hz laser range finder.

Two column type hydraulic support pose measurement and control systems the most as claimed in claim 2, it is characterised in that described touch screen Display/input module selects enlightening literary composition DMT80480T070_06WT+ touch screen.

Two column type hydraulic support pose measurement and control systems the most as claimed in claim 1, it is characterised in that described first electricity The 3-position 4-way proportional reversing valve that magnetic proportioning valve selects model to be 4WRZe32W9-520-7X/6EG24N9ETK4F1/M；Described The 3-position 4-way proportional reversing valve that two electromagnetic proportional valves select model to be 4WRZe52W9-1000-7X/6EG24N9ETK4F1/M.