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

Two-column type hydraulic support pose detection and control system

Technical Field

The utility model relates to a two column type hydraulic support position appearance detect and control system belongs to hydraulic support technical field.

Background

In order to prevent the roof of the coal seam from falling off and ensure the safety of workers and the normal production of the coal seam roof on the fully mechanized mining face, the roof must be supported, and the hydraulic support is necessary supporting equipment for the fully mechanized mining face of the coal mine. In China, a plurality of coal mines establish fully mechanized automatic production surfaces and are provided with a fully mechanized equipment remote monitoring function. The hydraulic support is remotely monitored in real time, reliably and visually, the accurate running state of the hydraulic support can be timely mastered, the support quality of the hydraulic support can be predicted, the running parameters of the support can be adjusted according to the inspection result, and the support stability of a working face is improved.

The typical work cycle of the hydraulic support comprises three stages of column lifting, supporting and column lowering, and in the column lifting stage of the support, the hydraulic support is expected to automatically and rapidly ascend horizontally, so that a top plate is rapidly contacted to enter the supporting stage, and the settlement of the support during moving is reduced; in the supporting stage, the hydraulic support is expected to be capable of automatically adapting to and attaching to the inclined top plate of the working face, so that the support is ensured to be in good contact with the top plate, the control force of the support on the top plate is enhanced, and the support is prevented from being unstable in support, such as head lowering, antiaircraft gun and the like; in the column descending stage, the support is expected to be capable of quickly and horizontally descending the column, so that the support can be quickly pushed, slid and pulled, and the machine following speed of the support is increased. At present, various domestic scholars develop different researches aiming at the pose detection and adjustment of the hydraulic support.

For example, chinese patent document CN103899338A discloses a method for determining the working attitude of a hydraulic support based on spatial coordinate transformation, which obtains the working attitude of a four-bar hydraulic support by measuring the changing inclination angle values of support components in real time, measures the inclination angles of the base, the connecting bars and the top beam of the hydraulic support relative to a parameter coordinate system in real time, and calculates the current position and angle of each component of the support and the length of a driving cylinder by establishing a reference coordinate system and a relative coordinate system using the three angle values and the geometric dimensions of the support itself.

Chinese patent publication No. CN103968856A discloses a real-time detection method for the pose of a hydraulic bracket. The method uses a three-axis acceleration sensor and a three-axis gyroscope to measure the variation of the position and the inclination angle of the top beam of the support in real time, and obtains the pose of the hydraulic support at any moment in an integral mode.

The Chinese patent with the Chinese patent document CN103899344B discloses a hydraulic support top beam self-adaptive leveling method, which utilizes a blind motion probing mode to adjust the state of a support top beam by detecting the inclination angle of the top beam through a sensor, and the method is controlled from the initial support stage and has certain limitation.

Although there are many detection methods for the pose of the hydraulic support at present, the methods only solve the problem of how to acquire the pose data of the hydraulic support, and have more detection data, great influence by environmental factors and poor detection precision; in terms of a control method, the existing support pose control method usually adopts a blind motion probing method to control the pose of the support, the control process is complicated and low in precision, oscillation is easy to occur during support pose adjustment, and pose adjustment of the hydraulic support in the post lifting, supporting and post lowering stages cannot be quickly and accurately realized, so that an intelligent control system with high efficiency and precision adjustment is needed to be designed.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a two column type hydraulic support position appearance detect and control system.

The technical scheme of the utility model as follows:

a two-column hydraulic support pose detection and control system comprises a controller, a data acquisition device, a first acceleration sensor, a second acceleration sensor, a stroke sensor, a laser range finder, a first electromagnetic proportional valve and a second electromagnetic proportional valve; the hydraulic support is characterized in that the first acceleration sensor is arranged on a base of the hydraulic support, the second acceleration sensor is arranged on a rear connecting rod of the hydraulic support, the stroke sensor is arranged inside a balance jack of the hydraulic support, the laser range finder is arranged on a stand column of the hydraulic support, the first electromagnetic proportional valve is arranged on a hydraulic control loop of the balance jack of the hydraulic support, the second electromagnetic proportional valve is arranged on the hydraulic control loop of the stand column of the hydraulic support, the first acceleration sensor, the second acceleration sensor, the stroke sensor and the laser range finder are all connected with the data acquisition device, the data acquisition device is connected with the controller, and the controller is further connected with the first electromagnetic proportional valve and the second electromagnetic proportional valve.

Preferably, the pose detection and control system further comprises an input device, the input device is connected with the controller, and the input device is a display and a keyboard or a touch screen display/input module.

Preferably, the controller is an MSP430F5438A single-chip microcomputer.

Preferably, the first acceleration sensor and the second acceleration sensor are both a ciscarl MMA7361LC acceleration sensor.

Preferably, the stroke sensor is a built-in magnetostrictive displacement sensor of a Miran MTL3-2000mm oil cylinder.

Preferably, the laser range finder is a Kaplan KLH-01T-20hz laser range finder.

Preferably, the touch screen display/input module is a diwen DMT80480T070_06WT + touch screen.

Preferably, the first electromagnetic proportional valve is a three-position four-way proportional reversing valve with the model number of 4WRZe32W9-520-7X/6EG24N9ETK4F 1/M.

Preferably, the second electromagnetic proportional valve is a three-position four-way proportional reversing valve with the model number of 4WRZe52W9-1000-7X/6EG24N9ETK4F 1/M.

A use method of a pose detection and control system of a two-column hydraulic support comprises the following steps,

(1) signal acquisition: the method comprises the steps that base acceleration measured by a first acceleration sensor, rear connecting rod acceleration measured by a second acceleration sensor, the length of a balance jack measured by a stroke sensor and the length of an upright post measured by a laser range finder are transmitted to a data acquisition device, the data acquisition device performs filtering processing on received signals to obtain acceleration and length original data, and the acceleration and length original data are transmitted to a controller;

(2) data processing: the controller calculates a real-time inclination angle of the base of the hydraulic support, an included angle between the rear connecting rod and the base and a real-time behavior pose of the hydraulic support according to the received acceleration and length original data, and outputs the real-time behavior pose of the hydraulic support; then, the controller calculates the final pose to be reached by the hydraulic support according to the action instruction of an operator of the hydraulic support and the inclination angle of the top plate of the working surface, compares the current behavior pose of the hydraulic support to obtain a displacement difference, and intelligently judges the optimal action scheme of the hydraulic support according to an optimal action rule table according to the principle that the action speed of the hydraulic support is fastest and the liquid consumption is least, the controller calculates the step value of the hydraulic support according to the displacement difference and the set step times, and sets the step value as the stage target parameter value of the controller;

(3) and PID control operation: the controller compares the stage target parameter value with real-time detection data of the stroke sensor and the laser range finder to obtain a difference value between the stage target parameter value and the real-time detection data;

(4) and (3) instruction output: and (4) outputting control signals of the first electromagnetic proportional valve and the second electromagnetic proportional valve by the controller according to the difference value in the step (3), wherein the control signals control the movement direction and the opening degree of the first electromagnetic proportional valve and the second electromagnetic proportional valve so as to change the flow rate of the balance jack and the upright column, so that the lengths of the balance jack and the upright column are changed, the pose error feedback control of the hydraulic support is realized, and the hydraulic support gradually reaches the final pose.

Preferably, in the step (1), the filtering process means that the data acquisition device performs filtering process on the data transmitted to the data acquisition device by using a median filtering method to the first acceleration sensor, the second acceleration sensor, the travel sensor and the laser range finder, and the specific process includes: continuously sampling N data, sequencing the acquired N data by using a stacking sequence method principle, finding out the maximum value and the minimum value in the N data, removing the maximum value and the minimum value, and calculating the arithmetic mean value of the remaining N-2 data, wherein N is taken as 3-14.

Preferably, in the step (2), the controller calculates the real-time behavior pose of the hydraulic support, and the method specifically comprises the following steps:

(a) α for reading output of second acceleration sensor of rear connecting rod of hydraulic support_hAnd α output by the first acceleration sensor of the base_dThe absolute inclination angle β of the rear connecting rod of the hydraulic support and the absolute inclination angle of the base are obtained through conversionInclination angle α:

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

inclination angle of the hydraulic support rear connecting rod relative to the base: theta₀＝β+α(I)；

(b) When the step (a) calculates the inclination angle theta of the rear connecting rod of the hydraulic support relative to the base₀Then, the lengths of the balance jacks and the upright posts of the hydraulic support are read and are brought into a real-time behavior pose state equation (II) of the hydraulic support, so that real-time pose parameters of the hydraulic support can be obtained, and finally, the current pose state of the hydraulic support is output on a display to finish the monitoring of the real-time pose state of the 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+h₄cos-h₆cos+l₈sin, of hydraulic support top beam relative to baseAngle of inclination, theta₆For the relative inclination angle, theta, of the shield beam and the base of the hydraulic support₉The opening angle theta formed by the hinge point of the hydraulic support balance jack and the top beam and the shield beam₁₁The inclination angle of the upright post is set;

preferably, in step (2), the determination process of the optimal action scheme is as follows:

(x) Solving the pose parameter of the target position of the hydraulic support based on the deformation coordination equation (III) of the length of a balance jack, the length of an upright post and the working height of the hydraulic support and the deformation coordination equation (IV) of the length of the balance jack, the length of the upright post and the pose angle of a top beam of the hydraulic support on the basis of the inclination angle eta of a top plate of a working surface, the actual control instruction of an operator of the hydraulic support to the hydraulic support and the solved real-time pose parameter of the hydraulic support;

$\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) comparing the position and pose parameters of the hydraulic support target position solved in the step (x) with the current position and pose parameters of the hydraulic support, and intelligently deciding an optimal action scheme of the balance jack and the upright column from the optimal action rule table of the hydraulic support according to the principle that the position and pose of the hydraulic support is adjusted at the highest speed and the liquid consumption is most saved; the optimal action rule table of the hydraulic support is shown as table one:

table one: hydraulic support optimal action rule table

Wherein

Preferably, in the step (4), the signal l of the final pose output by the controller is compared_q0And l_z0And hydraulic support real-time monitoring signal l_qAnd l_zDetermining a stage target rated value l 'of the PID control quantity according to the optimal action scheme of the hydraulic support'_q0And l'_z0And passes the data to the controller by comparing the stage target rating l'_q0And l'_z0With the hydraulic support real-time monitoring signal l_qAnd l_zObtaining a difference value between the target pose parameter and the current pose parameter; the controller controls the movement direction and the opening degree of the electromagnetic proportional valve connected with the balance jack and the upright column according to the difference value so as to change the flow rate of the inlet and the outlet of the upright column and the balance jack, thereby changing the lengths of the upright column and the balance jack of the hydraulic support, and the concrete actions of the upright column and the balance jack are shown in the table II in the process of changing the lengths of the upright column and the balance jack of the hydraulic support,

table two: concrete action meter of stand column and balance jack

Preferably, the using method further comprises the steps of inputting preset parameters and a preset parameter processing process, and setting initial parameters of the hydraulic support, including the length l of the rear connecting rod of the hydraulic support, before the hydraulic support is lowered into the well through a keyboard and a display₁And a positioning dimension height h₁Length l of front link of hydraulic support₃And a positioning dimension height h₂The hinge point distance l between the base and the connecting rod₂And the included angle theta between the connecting line and the base₂Positioning size h of lower column nest of upright column₃And l₉And the positioning size h of the upper column socket₆And l₈Distance l between hinge point connecting line of shield beam and connecting rod₄And the angle theta between the shield beam and the shield beam₅Length l of the shield beam₅And abovePositioning dimension h₅Lower positioning dimension l of balance jack₆、θ₈And an upper positioning dimension l₇And theta₁₀The distance h between the hinged point of the shield beam and the top of the top beam₄。

The beneficial effects of the utility model reside in that:

1. the utility model discloses hydraulic support position appearance detecting system and detection method through 4 parameters of connecting rod acceleration, driving piece stand and the balanced jack of supplementary position appearance behind detection base inclination, the hydraulic support, has realized working face hydraulic support's real-time position appearance and has detected, and this method utilizes the inherent deformation coordination equation of hydraulic support to solve, and the solution result is accurate.

2. The hydraulic support pose control system and the hydraulic support pose control method adopt the PID control rule to carry out real-time full-pose control on the hydraulic support pose, realize the quick horizontal lifting and descending of the hydraulic support lifting frame process and the intelligent roof attaching during the inclination of the working face roof, and improve the lifting, moving and following speeds of the hydraulic support; and the PID control system has less dependence on a system model, strong adaptability and stronger robustness.

3. The utility model discloses hydraulic support position appearance detects and control system, installation convenient to use, transportability is strong, can be used to two posts to cover supports such as formula, two posts caving coal, and the effect is obvious, and the effect is showing, has good economic benefits and social.

Drawings

FIG. 1 is a structural diagram of the installation of the pose detection and control system on the hydraulic support of the present invention;

FIG. 2 is a connection diagram of the components of the pose detection and control system of the present invention;

FIG. 3 is a mechanical relationship diagram I of the hydraulic support in example 3;

FIG. 4 is a mechanical relationship diagram II of the hydraulic mount in example 3;

FIG. 5 is a mechanical diagram III of the hydraulic mount according to example 3;

FIG. 6 is a flow chart of the pose detection and control system of the present invention;

wherein: 1. a first acceleration sensor; 2. a laser range finder; 3. a base; 4. a second acceleration sensor; 5. a front link; 6. covering the beam; 7. a first electromagnetic proportional valve; 8. a travel sensor; 9. a balance jack; 10. a column; 11. a top beam; 12. a second electromagnetic proportional valve; 13. a controller; 14. an upper computer; 15. a display; 16. a keyboard; 17. a rear link.

α_d: base lateral acceleration (parallel to base direction);

α_h: rear link lateral acceleration (parallel rear link direction);

g is the gravity acceleration.

l₁: the length of the hydraulic support rear connecting rod;

l₂: the distance between the base and the hinge point of the connecting rod;

l₃: the length of the front connecting rod of the hydraulic support;

l₄: the distance between the connection lines of the hinge points of the shield beam and the connecting rod;

l₅: shield beam length;

l₆: balancing the lower positioning size of the jack;

l₇: the positioning size on the balance jack;

l₈: positioning size of a column nest on the column;

l₉: positioning size of a lower column nest of the stand column;

h₁: positioning the rear connecting rod of the hydraulic support to a size and a height;

h₂: the front connecting rod of the hydraulic support is positioned in size and height;

h₃: column lower nest positioning size (h)₃And l₉All are the positioning size of the lower column socket, and one height direction and one length direction);

h₄: the distance between the hinged point of the shield beam and the top of the top beam;

h₅: positioning size on the shield beam;

h₆: positioning size of the upper column nest;

h: the height from the top beam of the hydraulic support to the base.

θ₀: the inclination angle of the rear connecting rod of the hydraulic support relative to the base;

θ₁: the rear connecting rod of the hydraulic support and the lower hinge point of the front and rear connecting rods form an included angle;

θ₂: the base and the connecting rod are hinged to each other to form an included angle;

θ₃: the connecting line of the lower hinge point of the front connecting rod and the upper hinge point of the rear connecting rod forms an included angle with the rear connecting rod;

θ₄: the connecting line of the lower hinge point of the front connecting rod and the upper hinge point of the rear connecting rod forms an included angle with the connecting line of the upper hinge points of the front connecting rod and the rear connecting rod;

θ₅: the connecting line of the hinged points on the front and the rear connecting rods forms an included angle with the shield beam;

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

θ₇: covering the back corner of the beam;

θ₈: balancing the lower positioning angle of the jack;

θ₉: the hydraulic support balance jack forms an opening angle with the hinged point of the top beam and the shield beam;

θ₁₀: balancing the positioning angle on the jack;

θ₁₁: the inclination angle of the upright post;

: the inclination angle of the top beam of the hydraulic support relative to the base.

Detailed Description

The present invention will be further described, but not limited to, by the following examples in conjunction with the accompanying drawings.

Example 1:

as shown in fig. 1 and 2, a two-column hydraulic support pose detection and control system comprises a controller, a data acquisition device, a first acceleration sensor, a second acceleration sensor, a stroke sensor, a laser range finder, a first electromagnetic proportional valve and a second electromagnetic proportional valve; the hydraulic support comprises a base, a first acceleration sensor, a second acceleration sensor, a stroke sensor, a laser range finder, a first electromagnetic proportional valve, a second electromagnetic proportional valve, a controller and a data acquisition device, wherein the first acceleration sensor is installed on the base of a hydraulic support, the second acceleration sensor is installed on a rear connecting rod of the hydraulic support, the stroke sensor is installed inside a balance jack of the hydraulic support, the laser range finder is installed on a stand column of the hydraulic support, the first electromagnetic proportional valve is connected on a hydraulic control loop of the balance jack of the hydraulic support, the second electromagnetic proportional valve is connected on a hydraulic control loop of the stand column of the hydraulic support, the first acceleration sensor, the second acceleration sensor, the stroke sensor, the laser range finder is connected with the data acquisition device, the data acquisition.

The pose detection and control system further comprises an input device, wherein the input device is connected with the controller, and the input device selects a display and a keyboard, namely the display and the keyboard are connected with the controller.

The specific model of the controller is an MSP430F5438a single chip microcomputer, and the data acquisition device is arranged in the single chip microcomputer. The first acceleration sensor and the second acceleration sensor are both selected from a Freescale MMA7361LC acceleration sensor. The stroke sensor is a built-in magnetostrictive displacement sensor of a Miran MTL3-2000mm oil cylinder. The laser range finder is Kanglihua KLH-01T-20hz laser range finder. The first electromagnetic proportional valve and the second electromagnetic proportional valve are three-position four-way proportional reversing valves of Lishile, wherein the first electromagnetic proportional valve is a three-position four-way proportional reversing valve with the model number of 4WRZe32W9-520-7X/6EG24N9ETK4F1/M, and the second electromagnetic proportional valve is a three-position four-way proportional reversing valve with the model number of 4WRZe52W9-1000-7X/6EG24N9ETK4F 1/M.

According to the technical scheme of the embodiment, a detection and control system of the hydraulic support is composed of a controller, a data acquisition device, an acceleration sensor, a stroke sensor, a laser range finder and an electromagnetic proportional valve, and can be conveniently installed on the hydraulic support; and the PID control system has less dependence on a system model, strong adaptability and stronger robustness.

Example 2:

the two-column hydraulic support pose detection and control system is characterized in that the components and the connection relationship are as described in embodiment 1, and the difference is that: the input device adopts a touch screen display/input module which is connected with the controller, and the touch screen can omit a keyboard and is more convenient and visual to operate.

The controller can also be externally connected with an upper computer, the upper computer is connected with the first acceleration sensor, the second acceleration sensor, the stroke sensor and the laser range finder through an external data acquisition device for data acquisition, wherein the upper computer is a PC (personal computer), the data acquisition device is a porphyry PCI-1711U data acquisition card, the upper computer is connected with the porphyry PCI-1711U data acquisition card, the porphyry PCI-1711U data acquisition card is connected with the first acceleration sensor, the second acceleration sensor, the stroke sensor and the laser range finder, the porphyry PCI-1711U data acquisition card transmits received data to the PC, and a ground operator can control the ground through the PC.

Example 3:

as shown in fig. 3 to 6, the present embodiment provides a method for using a two-column hydraulic bracket pose detection and control system according to embodiment 1, including the following steps,

(1) signal acquisition: the method comprises the steps that base acceleration measured by a first acceleration sensor, rear connecting rod acceleration measured by a second acceleration sensor, the length of a hydraulic support balance jack measured by a stroke sensor and the length of an upright post measured by a laser range finder are transmitted to a data acquisition device, the data acquisition device carries out filtering processing on received signals to obtain acceleration and length original data, and the acceleration and length original data are transmitted to an MSP430F54 5438a single chip microcomputer;

the filtering processing means that the data acquisition device continuously samples N data, then sequences the acquired N data by using a stacking sequence method principle, finds out a maximum value and a minimum value in the N data, removes the maximum value and the minimum value, and then calculates an arithmetic mean value of the remaining N-2 data, wherein N is 3-14.

In addition, a program related to the optimal operation rule table and a program related to the PID control rule are written in advance in the single chip microcomputer, so that the single chip microcomputer has the function of the PID controller.

(2) Data processing: the single chip microcomputer calculates a real-time inclination angle of a hydraulic support base, a real-time inclination angle of a rear connecting rod, an included angle between the rear connecting rod and the base and a real-time behavior pose of the hydraulic support according to the received acceleration and length original data, and outputs the real-time behavior pose of the hydraulic support on a display to achieve the purpose of real-time detection of the pose of the hydraulic support; then, the singlechip calculates the final pose to be reached by the hydraulic support according to the action instruction (action instruction input by a keyboard) of an operator of the hydraulic support and the inclination angle of a top plate of a working surface, compares the current action pose of the hydraulic support to obtain a displacement difference, and intelligently judges the optimal action scheme of the hydraulic support according to an optimal action rule table and the principle of fastest action speed and most economical liquid consumption of the hydraulic support, and the singlechip calculates the step value (displacement difference/step number) of the hydraulic support according to the displacement difference and the step number set by the operator and sets the step value as the step target parameter value of the singlechip;

the specific process of calculating the real-time behavior pose of the hydraulic support by the single chip microcomputer is as follows:

(a) α for reading output of second acceleration sensor of rear connecting rod of hydraulic support_hAnd α output by the first acceleration sensor of the base_dAnd the inclination angle β of the rear connecting rod of the hydraulic support and the inclination angle α of the base are obtained through conversion:

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

inclination angle of the hydraulic support rear connecting rod relative to the base: theta₀＝β+α (I)；

(b) When the step (a) calculates the inclination angle theta of the rear connecting rod of the hydraulic support relative to the base₀Then, the lengths of the balance jack and the upright post of the hydraulic support are read and are brought into a state equation (II) of the real-time behavior pose of the hydraulic support, and the length of the balance jack and the upright post of the hydraulic support is obtainedThe real-time pose parameters of the hydraulic support (all angles on the left side of the equation (II), namely the pose parameters of the hydraulic support, are calculated), and finally the current pose state of the hydraulic support is displayed on a display (all angles of the pose parameters of the hydraulic support are displayed on the display), so that the real-time pose state monitoring of the hydraulic support is completed;

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

whereinz₂＝h₁-h₃+h₄cos-h₆cos+l₈sin is the inclination angle of the top beam relative to the base of the hydraulic support, theta₆For the relative inclination angle, theta, of the shield beam and the base of the hydraulic support₉The opening angle theta formed by the hinge point of the hydraulic support balance jack and the top beam and the shield beam₁₁The inclination angle of the upright post is set;

the determination process of the optimal action scheme is as follows:

(x) Solving the pose parameter of the target position of the hydraulic support based on the deformation coordination equation (III) of the length of a balance jack, the length of an upright post and the working height of the hydraulic support and the deformation coordination equation (IV) of the length of the balance jack, the length of the upright post and the pose angle of a top beam of the hydraulic support on the basis of the inclination angle eta of a top plate of a working surface, an actual control instruction (input through a keyboard, such as a lifting instruction) of an operator of the hydraulic support and the solved real-time pose parameter of the hydraulic support;

$\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) comparing the position and pose parameters of the hydraulic support target position solved in the step (x) with the current position and pose parameters of the hydraulic support, and intelligently deciding an optimal action scheme of the balance jack and the upright column from the optimal action rule table of the hydraulic support according to the principle that the position and pose of the hydraulic support is adjusted at the highest speed and the liquid consumption is most saved; the optimal action rule table of the hydraulic support is shown as table one:

table one: hydraulic support optimal action rule table

Wherein

(3) And PID control operation: the single chip microcomputer compares the stage target parameter value with real-time detection data of the stroke sensor and the laser range finder to obtain a difference value between the real-time detection data and the stage target parameter value, and the single chip microcomputer performs PID control operation on the difference value;

(4) and (3) instruction output: and (4) outputting control signals of the first electromagnetic proportional valve and the second electromagnetic proportional valve by the singlechip according to the difference value in the step (3) and the determined optimal action scheme, wherein the control signals control the movement direction and the opening degree of the first electromagnetic proportional valve and the second electromagnetic proportional valve to change the flow rate of the balance jack and the upright column, so that the lengths of the balance jack and the upright column are changed, the position error feedback control of the hydraulic support is realized, and the hydraulic support gradually reaches the final position following the optimal action scheme.

Specifically, the singlechip compares the output final pose signal l_q0(balance jacks) and_z0(upright column) and hydraulic support real-time monitoring signal l_qAnd l_zDetermining a stage target rated value l 'of the PID control quantity according to the optimal action scheme of the hydraulic support'_q0And l'_z0By comparing stage target rating l'_q0And l'_z0With the hydraulic support real-time monitoring signal l_qAnd l_zObtaining a difference value between the target pose parameter and the current pose parameter; the singlechip controls the movement direction and the opening degree of an electromagnetic proportional valve connected with the balance jack and the upright column according to the difference value so as to change the flow rate of the inlet and outlet upright column and the balance jack, thereby changing the lengths of the upright column and the balance jack of the hydraulic support, and the concrete actions of the upright column and the balance jack are shown in the table II in the process of changing the lengths of the upright column and the balance jack of the hydraulic support,

table two: concrete action meter of stand column and balance jack

Example 4:

a method for using a two-column hydraulic support pose detection and control system according to embodiment 1, the steps are as described in embodiment 3, and the difference is that: the application method of the system also comprises the steps of inputting preset parameters and processing the preset parameters, and setting the initial parameters of the hydraulic support through a keyboard and a display before the hydraulic support is put into the well (the rear connecting rod is hinged with the base)Connected as a reference point) including the hydraulic mount rear link length l₁And a positioning dimension height h₁Length l of front link of hydraulic support₃And a positioning dimension height h₂The hinge point distance l between the base and the connecting rod₂And the included angle theta between the connecting line and the base₂Positioning size h of lower column nest of upright column₃And l₉And the positioning size h of the upper column socket₆And l₈Distance l between hinge point connecting line of shield beam and connecting rod₄And the angle theta between the shield beam and the shield beam₅Length l of the shield beam₅And an upper positioning dimension h₅Lower positioning dimension l of balance jack₆、θ₈And an upper positioning dimension l₇And theta₁₀The distance h between the hinged point of the shield beam and the top of the top beam₄。

Claims (8)

1. A posture detection and control system for a two-column hydraulic support is characterized by comprising a controller, a data acquisition device, a first acceleration sensor, a second acceleration sensor, a stroke sensor, a laser range finder, a first electromagnetic proportional valve and a second electromagnetic proportional valve; the hydraulic support is characterized in that the first acceleration sensor is arranged on a base of the hydraulic support, the second acceleration sensor is arranged on a rear connecting rod of the hydraulic support, the stroke sensor is arranged inside a balance jack of the hydraulic support, the laser range finder is arranged on a stand column of the hydraulic support, the first electromagnetic proportional valve is arranged on a hydraulic control loop of the balance jack of the hydraulic support, the second electromagnetic proportional valve is arranged on the hydraulic control loop of the stand column of the hydraulic support, the first acceleration sensor, the second acceleration sensor, the stroke sensor and the laser range finder are all connected with the data acquisition device, the data acquisition device is connected with the controller, and the controller is further connected with the first electromagnetic proportional valve and the second electromagnetic proportional valve.

2. The two-column hydraulic support pose detection and control system according to claim 1, further comprising an input device, wherein the input device is connected to the controller, and the input device is selected from a display and a keyboard, or a touch screen display/input module.

3. The two-column hydraulic support pose detection and control system of claim 1, wherein the controller is an MSP430F5438A single chip microcomputer.

4. The two-column hydraulic support pose detection and control system according to claim 1, wherein the first acceleration sensor and the second acceleration sensor are both a Freescale MMA7361LC acceleration sensor.

5. The two-column hydraulic support pose detection and control system of claim 1, wherein the travel sensor is a built-in magnetostrictive displacement sensor with a milran MTL3-2000mm cylinder.

6. The two-column hydraulic support pose detection and control system according to claim 1, wherein the laser range finder is a conway KLH-01T-20hz laser range finder.

7. The two-column hydraulic support pose detection and control system of claim 2, wherein the touch screen display/input module is selected from a diwen DMT80480T070 — 06WT + touch screen.

8. The two-column hydraulic support pose detection and control system of claim 1, wherein the first electromagnetic proportional valve is a three-position four-way proportional reversing valve with model number 4WRZe32W9-520-7X/6EG24N9ETK4F 1/M; the second electromagnetic proportional valve is a three-position four-way proportional reversing valve with the model number of 4WRZe52W9-1000-7X/6EG24N9ETK4F 1/M.