WO2023087619A1 - 一种支撑式液压支架支护姿态监测及控制方法 - Google Patents

一种支撑式液压支架支护姿态监测及控制方法 Download PDF

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WO2023087619A1
WO2023087619A1 PCT/CN2022/088885 CN2022088885W WO2023087619A1 WO 2023087619 A1 WO2023087619 A1 WO 2023087619A1 CN 2022088885 W CN2022088885 W CN 2022088885W WO 2023087619 A1 WO2023087619 A1 WO 2023087619A1
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support
hydraulic support
monitoring
supporting
attitude
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PCT/CN2022/088885
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English (en)
French (fr)
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谢云跃
张绍琦
宋维康
田茂霖
肖洪天
孟昭胜
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山东科技大学
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Priority to AU2022389225A priority Critical patent/AU2022389225A1/en
Priority to US18/260,388 priority patent/US11860650B1/en
Publication of WO2023087619A1 publication Critical patent/WO2023087619A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
    • E21D15/14—Telescopic props
    • E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

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  • the invention relates to the technical field of intelligent mining equipment, in particular to a support attitude monitoring and control method of a supporting hydraulic support.
  • the hydraulic support is the key supporting equipment, which is responsible for supporting the roof and ensuring the safe working space for coal mine pedestrians.
  • the problems existing in the attitude monitoring of the hydraulic support include: after the cutting action, the support did not rise quickly to support the roof of the working surface, resulting in a long exposure time of the roof, which is not conducive to the control of the roof; the working attitude of the hydraulic support, There is a lack of real-time monitoring and feedback methods, especially the low head and anti-aircraft gun bearing attitude of the front end of the roof beam and the rear end of the roof beam at a single point; there is no corresponding relationship between the attitude of the hydraulic support and the support parameters, and it is difficult for the ground control center to realize the current support status. Visual control and remote intervention.
  • the method for determining the working posture of the cover-type hydraulic support and the calculation method for obtaining the reasonable support resistance of the support and its support position after determining the support posture can realize remote control of the operating posture and support status of the cover-type hydraulic support. monitor.
  • the on-line monitoring method of the operating posture of the support-shielded hydraulic support is to obtain the force characteristics of the support during the support process and the monitoring of the support attitude by arranging angle sensors on the top beam and connecting rod of the support, and arranging pressure sensors on the column.
  • the existing monitoring schemes are mostly aimed at the monitoring of the supporting attitude of the hydraulic support, but cannot effectively control the future attitude of the hydraulic support accurately.
  • the present invention provides a supporting attitude monitoring and control method of the hydraulic support, and a specific technical solution as follows.
  • a support attitude monitoring and control method of a supporting hydraulic support comprising:
  • the interpolation algorithm includes genetic algorithm and particle swarm algorithm.
  • the raised edge of the roof is determined using the contour data using a Canny operator method.
  • a nine-axis inclination sensor is arranged on the base of the hydraulic support, an explosion-proof liquid level sensor is arranged on the front column and the rear column, and an area array laser distance measuring sensor is arranged on the two sides of the top beam.
  • the base of the hydraulic support determines the space attitude angle, and determines the support coordinate system; the length of the front column and the rear column is monitored and determined in real time.
  • the nine-axis inclination sensor, the explosion-proof liquid level sensor, and the area array laser ranging sensor transmit the monitoring data to the control panel; the basic parameters of the hydraulic support are also stored in the control panel.
  • the basic parameters of the hydraulic support include the reference positioning height of the rear connecting rod, the reference length of the rear connecting rod, the distance between the upper hinge point of the front and rear connecting rods, the distance between the upper hinge point of the front connecting rod and the hinge point of the top beam-shield beam, and the distance between the rear upright column
  • the distance from the upper hinge point to the top beam-cover beam hinge point, the distance from the upper hinge point of the front and rear columns, the vertical positioning distance of the front column, the vertical positioning distance of the rear column, the vertical positioning distance of the lower hinge point of the front connecting rod, and the vertical positioning distance of the rear connecting rod The positioning distance, the length of the front connecting rod, the lateral positioning distance of the lower hinge point of the rear column, the lateral positioning distance of the lower hinge point of the front and rear columns, and the horizontal swing angle of the front and rear columns.
  • variable attitude parameters of the hydraulic support include the angle between the rear link and the horizontal direction, the angle between the rear link and the base, the angle between the rear link and the shield beam, the angle between the shield beam and the vertical direction The included angle, the length of the front column, the length of the rear column, the distance between the connection end of the rear link and the cover beam and the connection end of the front link and the base.
  • control panel calculates the support attitude of the hydraulic support and the roof profile data parameters, outputs a proportional control signal to control the opening and closing of the proportional electromagnetic reversing valve, and adjusts the attitude of the support.
  • the comparison threshold set by the control panel when the comparison difference is greater than the threshold, the controller outputs the Max control signal to realize the rapid lifting of the bracket; when the comparison difference is less than the threshold, the proportional control The controller outputs a Medium control signal to reduce the impact effect on the roof when the top beam of the support is attached to the roof; the amplitudes of the Max signal and the Medium signal are determined according to the maximum input signal of the selected proportional reversing valve, the Max signal is equal to the maximum input signal, and the Medium signal half of the maximum input signal.
  • the present invention provides a support posture monitoring and control method for hydraulic supports, which establishes different mathematical models to determine the parameters of the hydraulic support, thereby determining the working posture of the hydraulic support. According to the monitoring and calculation of the support environment, Determine the target support parameters of the hydraulic support, and adjust according to the parameters to control the attitude of the hydraulic support. Using this monitoring and control method can also realize remote visual control and remote intervention of hydraulic supports, which provides convenience for the construction of intelligent mines.
  • Fig. 1 is a flow chart of a supporting attitude monitoring and control method of a supporting hydraulic support
  • Fig. 2 is a structural schematic diagram of hydraulic direct
  • Fig. 3 is a schematic diagram of support attitude length parameters
  • Fig. 4 is a schematic diagram of support attitude angle parameters
  • Fig. 5 is a schematic diagram of the control and adjustment of the top plate and the support
  • Fig. 6 is a schematic diagram of support control adjustment
  • FIGS. 1 to 6 With reference to FIGS. 1 to 6 , the specific implementation of a method for monitoring and controlling the supporting attitude of a supporting hydraulic support provided by the present invention will be described.
  • a supporting attitude monitoring and control method of a supporting hydraulic support as shown in Figure 1, the specific steps include:
  • the basic parameters of the hydraulic support include the reference positioning height L1 of the rear link, the reference length L2 of the rear link, the distance between the upper hinge point of the front and rear links L3, the upper hinge point of the front link and the top beam-cover Beam hinge point distance L4, distance from upper hinge point of rear column to top beam-cover beam hinge point distance L5, distance from upper hinge point of front and rear columns L6, vertical positioning distance of front column L9, vertical positioning distance of rear column L10, lower front connecting rod
  • variable attitude parameters of the hydraulic support include the angle J1 between the rear link and the horizontal direction, the angle J2 between the rear link and the base, the angle J4 between the rear link and the cover beam, and the angle J4 between the cover beam and the front link.
  • the included angle J5 between the rod and the connection end of the base, the included angle J6 between the cover beam and the vertical direction, the top angle J7, the length L8 of the front column, the length L7 of the rear column, the connection end of the rear connecting rod and the cover beam The distance L13 between the connection end of the front link and the base.
  • the controller can determine the real-time attitude of the hydraulic support according to the basic parameters of the hydraulic support and the variable attitude parameters of the hydraulic support, and correlate the changes of the parameters, so as to realize the remote visual control of the hydraulic support.
  • the interpolation algorithm uses the interpolation algorithm to solve the balance equation of the attitude monitoring mathematical model, and obtain the attitude parameters including the elevation angle, the roof angle, the front column inclination angle and the rear column inclination angle; among them, the interpolation algorithm includes genetic algorithm and particle swarm algorithm.
  • the mathematical model for calculating the height difference is specifically:
  • H' is the target height
  • H is the current height
  • ⁇ H is the height difference
  • J7' is the target angle
  • ⁇ J7 is the difference
  • L is the target length of the front and rear column systems
  • x is a natural number.
  • the target elevation angle J1' of the support can be calculated by bringing the target elevation H' of the hydraulic support into the above mathematical model.
  • the base of the hydraulic support is equipped with a nine-axis inclination sensor, the model is Witte Intelligent BWT901CL, and the front column and the rear column are equipped with explosion-proof liquid level sensors, the model is Miron MTC-3000, and the two sides of the top beam are arranged with surface Array laser ranging sensor, model HPS-3D160.
  • the base of the hydraulic support determines the space attitude angle and the coordinate system of the support; the length of the front column and the rear column is determined by real-time monitoring.
  • the nine-axis inclination sensor, explosion-proof liquid level sensor, and area array laser ranging sensor transmit the monitoring data to the control panel; the basic parameters of the hydraulic support are also stored in the control panel.
  • the control panel calculates the support posture of the hydraulic support and the data parameters of the roof profile, outputs proportional control signals to control the opening and closing of the proportional electromagnetic reversing valve, and adjusts the posture of the support.
  • the controller panel reads the roof profile data, calculates the key target attitude target height H' and the target top angle J7' of the hydraulic support, and back-calculates the target length of the front and rear column systems, and compares it with the current column length of the hydraulic support.
  • the proportional control signal is output to control the opening and closing of the proportional electromagnetic reversing valve.
  • the comparison threshold set by the control panel when the comparison difference is greater than the threshold, the controller outputs the Max control signal to realize the rapid lifting of the bracket; when the comparison difference is less than the threshold, the proportional controller outputs the Medium control signal , to reduce the impact effect on the roof when the top beam of the bracket is attached to the top; the amplitudes of the Max signal and the Medium signal are determined according to the maximum input signal of the selected proportional reversing valve, the Max signal is equal to the maximum input signal, and the Medium signal is the maximum input signal half.
  • This method determines the parameters of the hydraulic support by establishing different mathematical models to determine the working posture of the hydraulic support. According to the monitoring and calculation of the support environment, the target support parameters of the hydraulic support are determined, and adjustment and control can be carried out according to the parameters. The attitude of the hydraulic support. The monitoring and control method can also realize remote visual control and remote intervention of the hydraulic support, which provides convenience for the construction of intelligent mines.

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  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Structural Engineering (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
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Abstract

一种支撑式液压支架支护姿态监测及控制方法，涉及智能开采设备技术领域。支撑式液压支架支护姿态监测及控制方法包括：支架姿态监测过程，利用液压支架的立柱液位传感器（8）读取立柱长度（L8，L7）参数，建立姿态监测数学模型，借助插值算法求解，获取姿态参数包括挑高角（J1）、贴顶角（J7）、立柱倾角（J8，J9）等关联姿态参数；支架姿态控制过程，根据监测过程得到的当前支护姿态，先通过面阵激光传感器（10）获取支架上方顶板的轮廓线（11），并确定顶板的凸起边缘，得到支架顶梁（5）和顶板的挑高差（ΔH），计算液压支架的目标挑高（H'）和目标贴顶角（J7'）；利用姿态控制数学模型计算出支架的目标挑高角（J1'），将目标参数代入姿态监测数学模型，解算得到立柱的目标长度（L7'，L8'），控制支护姿态。可以实现对液压支架动作姿态的全时监测、控制。

Description

一种支撑式液压支架支护姿态监测及控制方法 技术领域
本发明涉及智能开采设备技术领域，尤其是一种支撑式液压支架支护姿态监测及控制方法。
背景技术
在井下开采工作面，液压支架是关键的支护装备，担负着支撑顶板，保证煤机行人安全作业空间等作用。支架的使用过程中，液压支架姿态监控工作存在的问题包括：截割动作发生后，支架没有快速升起支护工作面顶板导致顶板暴露时间过长，不利于顶板控制；液压支架的工作姿态，缺乏实时监测反馈的方式，尤其是顶梁前端、顶梁后端单点承载的低头、高射炮承载姿态；液压支架姿态和支架参数之间缺乏对应的关系，地面控制中心难以实现对当前支护状态的虚拟视控及远程干预。
现有技术中，面向掩护式液压支架的工作姿态确定方法以及确定支架姿态后获取支架合理支护阻力及其支护位置的计算方法，可实现对掩护式液压支架运行姿态及支护状态的远程监控。面向支撑掩护式液压支架的运行姿态在线监测方法，通过在支架顶梁、连杆布置角度传感器，在立柱布置压力传感器，获取支架在支护过程表现的受力特征和支护姿态监测。
现有的监测方案多针对液压支架支护姿态的监测而不能有效的对液压支架未来姿态进行精确控制。
发明内容
为了实现对液压支架动作姿态的全时监测、精准控制，进而有效的控制顶板沉降，实时评估支护质量，本发明提供了一种支撑式液压支架支护姿态监测及控制方法，具体的技术方案如下。
一种支撑式液压支架支护姿态监测及控制方法，包括：
A.支架姿态监测过程:
a1.利用液压支架的立柱液位传感器读取前立柱和后立柱的长度参数；
a2.结合支架的长度参数和角度参数关系建立姿态监测数学模型；
a3.利用插值算法求解姿态监测数学模型的平衡方程，获取姿态参数包括挑高角、贴顶角、前立柱倾角和后立柱倾角的关联姿态参数；
B.支架姿态控制过程:
b1.根据支架姿态监测过程得到的参数确定的当前的支护姿态；
b2.通过面阵激光传感器获取支架上方顶板的轮廓线，并确定顶板的凸起边缘；
b3.得到支架顶梁和顶板之间的挑高差，建立挑高差计算数学模型；
b4.利用挑高计算数学模型计算液压支架的目标挑高和目标贴顶角；
b5.建立目标挑高角计算数学模型，计算确定支架的目标挑高角；
b6.将目标挑高角、目标贴顶角参数代入姿态监测数学模型，通过插值算法实现目标前立柱长度和目标后立柱长度的解算。
优选的是，插值算法包括遗传算法和粒子群算法。
优选的是，顶板的凸起边缘利用该轮廓线数据并采用Canny算子方法确定。
优选的是，液压支架的底座布置有九轴倾角传感器，前立柱和后立柱上均布置有隔爆液位传感器，顶梁的两个侧面布置有面阵激光测距传感器。
还优选的是，液压支架的基座确定空间姿态角，并确定支架坐标系；前立柱和后立柱的长度实时监测确定。
还优选的是，九轴倾角传感器、隔爆液位传感器、面阵激光测距传感器将监测数据传输至控制面板；控制面板内还存储有液压支架的基本参数。
还优选的是，液压支架的基本参数包括后连杆基准定位高度、后连杆基准长度、前后连杆上铰点距离、前连杆上铰点与顶梁-掩护梁铰点距离、后立柱上铰点至顶梁-掩护梁铰点距离、前后立柱上铰点距离、前立柱垂向定位距离、后立柱垂向定位距离、前连杆下铰点垂向定位距离、后连杆垂向定位距离、前连杆长度、后立柱下铰点横向定位距离、前后立柱下铰点横向定位距离、前后立柱水平摆角。
还优选的是，液压支架的变量姿态参数包括后连杆与水平方向夹角、后连杆与底座之间的夹角、后连杆与掩护梁之间的夹角、掩护梁与竖直方向的夹角、前立柱的长度、后立柱的长度、后连杆和掩护梁连接端与前连杆和底座连接端之间的距离。
进一步优选的是，控制面板计算液压支架的支护姿态和顶板轮廓数据参数，输出比例控制信号控制比例电磁换向阀启闭，调整支架姿态。
进一步优选的是，控制面板设置的比对阈值，当比对差值大于所述阈值时，控制器输出Max控制信号实现支架的快速升架；当比对差值小于所述阈值时，比例控制器输出Medium控制信号，降低支架顶梁贴顶时对顶板的冲击效应；Max信号和Medium信号的幅值根据所选比例换向阀的最大输入信号确定，Max信号等于该最大输入信号，Medium信号为最大输入信号的一半。
本发明提供的一种支撑式液压支架支护姿态监测及控制方法，通过建立不同的数学模型解算确定液压支架的参数，从而确定液压支架的工作姿态，根据对支护环境的监测和计算，确定液压支架的目标支护参数，根据参数可以实施调节，控制液压支架的姿态。利用该监测 及控制方法还可以实现液压支架的远程视控，以及远程干预，为智能矿井建设提供了方便。
附图说明
图1是支撑式液压支架支护姿态监测及控制方法的流程图；
图2是液压直接的结构示意图；
图3是支架姿态长度参数示意图；
图4是支架姿态角度参数示意图；
图5是顶板与支架控制调整原理图；、
图6是支架控制调整原理图；
图中：1-底座，2-后连杆，3-前连杆，4-掩护梁，5-顶梁，6-前立柱，7-后立柱，8-液位传感器，9-倾角传感器，10-面阵激光传感器，11-顶板轮廓线，12-贴顶轨迹线。
具体实施方式
结合图1至图6所示，对本发明提供的一种支撑式液压支架支护姿态监测及控制方法的具体实施方式进行说明。
一种支撑式液压支架支护姿态监测及控制方法，如图1所示，具体步骤包括：
A.支架姿态监测过程。
a1.利用液压支架的立柱液位传感器读取前立柱和后立柱的长度参数。如图3和图4所示，液压支架的基本参数包括后连杆基准定位高度L1、后连杆基准长度L2、前后连杆上铰点距离L3、前连杆上铰点与顶梁-掩护梁铰点距离L4、后立柱上铰点至顶梁-掩护梁铰点距离L5、前后立柱上铰点距离L6、前立柱垂向定位距离L9、后立柱垂向定位距离L10、前连杆下铰点垂向定位距离L10、后连杆垂向定位距离L11、前连杆长度L12、后立柱下铰点横向定位距离L14、前后立柱下铰点横向定位距离L15、前后立柱水平摆角J3。
a2.结合支架的长度参数和角度参数关系建立姿态监测数学模型。姿态监测数学模型具体为F(J1，J7)＝f(J2,J4,J5,J6,J8,J9,L7,L8,L13)。
Figure PCTCN2022088885-appb-000001
包含J1，J2，J4，J5，J6，J8，J9，J7，L13九个未知变量及九个平衡方程，借助遗传算法、粒子群算法等插值算法可进行快速求解，即可获取支架当前关键姿态参数挑高角J1和贴顶角J7，以及立柱倾角J8，J9等全系列关联姿态参数。
液压支架的变量姿态参数包括后连杆与水平方向夹角为挑高角J1、后连杆与底座之间的夹角J2、后连杆与掩护梁之间的夹角J4、掩护梁与前连杆和底座连接端连线之间的夹角J5、掩护梁与竖直方向的夹角J6、贴顶角J7、前立柱的长度L8、后立柱的长度L7、后连杆和掩护梁连接端与前连杆和底座连接端之间的距离L13。
控制器根据液压支架的基本参数和液压支架的变量姿态参数即可确定液压支架的实时姿态，并关联参数变化，进而可以实现液压支架的远程视控。
a3.利用插值算法求解姿态监测数学模型的平衡方程，获取姿态参数包括挑高角、贴顶角、前立柱倾角和后立柱倾角的关联姿态参数；其中，插值算法包括遗传算法和粒子群算法等。
B.支架姿态控制过程:
b1.根据支架姿态监测过程得到的参数确定的当前的支护姿态。
b2.通过面阵激光传感器获取支架上方顶板的轮廓线，并确定顶板的凸起边缘；顶板的凸起边缘利用该轮廓线数据并采用Canny算子方法确定。
b3.得到支架顶梁和顶板之间的挑高差，建立挑高差计算数学模型。挑高差计算数学模型具体是：
Figure PCTCN2022088885-appb-000002
其中H′为目标挑高，H为当前挑高，ΔH为挑高差；J7′为目标贴顶角，ΔJ7贴顶差。L为前后立柱系统的目标长度，x取自然数。
b4.利用挑高计算数学模型计算液压支架的目标挑高和目标贴顶角。
b5.建立目标挑高角计算数学模型，计算确定支架的目标挑高角。目标挑高角计算数学模型具体为：
Figure PCTCN2022088885-appb-000003
将液压支架目标挑高H′带入上述数学模型即可计算出支架的目标挑高角J1′。
b6.将目标挑高角、目标贴顶角参数代入姿态监测数学模型，通过插值算法实现目标前立柱长度和目标后立柱长度的解算，其中，插值算法包括遗传算法和粒子群算法等。将目标挑高角、目标贴顶角参数代入姿态监测数学模型中，其包含了L7，L8，J2,J4,J5,J6,J8,J9和L13九个未知量(F(L7，L8)＝＝f(J1,J2,J4,J5,J6,J7,J8,J9,L13))，进而通过各种插值算法可实现对立柱目标长度L7’和L8’的解算。
液压支架的底座布置有九轴倾角传感器，型号为维特智能BWT901CL，前立柱和后立柱上均布置有隔爆液位传感器，型号为米朗MTC-3000型，顶梁的两个侧面布置有面阵激光测距传感器，型号为HPS-3D160。液压支架的基座确定空间姿态角，并确定支架坐标系；前立柱和后立柱的长度实时监测确定。
九轴倾角传感器、隔爆液位传感器、面阵激光测距传感器将监测数据传输至控制面板；控制面板内还存储有液压支架的基本参数。控制面板计算液压支架的支护姿态和顶板轮廓数据参数，输出比例控制信号控制比例电磁换向阀启闭，调整支架姿态。控制器面板读取顶板轮廓数据，计算出液压支架的关键目标姿态目标挑高H’和目标贴顶角J7’，并反算前后立柱系统的目标长度，与液压支架当前立柱长度进行比对，依据比对差值输出比例控制信号控制比例电磁换向阀启闭。控制面板设置的比对阈值，当比对差值大于所述阈值时，控制器输出Max控制信号实现支架的快速升架；当比对差值小于所述阈值时，比例控制器输出Medium控制信号，降低支架顶梁贴顶时对顶板的冲击效应；Max信号和Medium信号的幅值根据所选比例换向阀的最大输入信号确定，Max信号等于该最大输入信号，Medium信号为最大输入信号的一半。
该方法通过建立不同的数学模型解算确定液压支架的参数，从而确定液压支架的工作姿态，根据对支护环境的监测和计算，确定液压支架的目标支护参数，根据参数可以实施调节，控制液压支架的姿态。利用该监测及控制方法还可以实现液压支架的远程视控，以及远程干预，为智能矿井建设提供了方便。
当然，上述说明并非是对本发明的限制，本发明也并不仅限于上述举例，本技术领域的技术人员在本发明的实质范围内所做出的变化、改型、添加或替换，也应属于本发明的保护范围。

Claims (10)

  1. 一种支撑式液压支架支护姿态监测及控制方法，其特征在于，包括：
    A.支架姿态监测过程:
    a1.利用液压支架的立柱液位传感器读取前立柱和后立柱的长度参数；
    a2.结合支架的长度参数和角度参数关系建立姿态监测数学模型；
    a3.利用插值算法求解姿态监测数学模型的平衡方程，获取姿态参数包括挑高角、贴顶角、前立柱倾角和后立柱倾角的关联姿态参数；
    B.支架姿态控制过程:
    b1.根据支架姿态监测过程得到的参数确定的当前的支护姿态；
    b2.通过面阵激光传感器获取支架上方顶板的轮廓线，并确定顶板的凸起边缘；
    b3.得到支架顶梁和顶板之间的挑高差，建立挑高差计算数学模型；
    b4.利用挑高计算数学模型计算液压支架的目标挑高和目标贴顶角；
    b5.建立目标挑高角计算数学模型，计算确定支架的目标挑高角；
    b6.将目标挑高角、目标贴顶角参数代入姿态监测数学模型，通过插值算法实现目标前立柱长度和目标后立柱长度的解算。
  2. 根据权利要求1所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述插值算法包括遗传算法和粒子群算法。
  3. 根据权利要求1所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述顶板的凸起边缘利用该轮廓线数据并采用Canny算子方法确定。
  4. 根据权利要求1所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述液压支架的底座布置有九轴倾角传感器，前立柱和后立柱上均布置有隔爆液位传感器，顶梁的两个侧面布置有面阵激光测距传感器。
  5. 根据权利要求4所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述液压支架的基座确定空间姿态角，并确定支架坐标系；前立柱和后立柱的长度实时监测确定。
  6. 根据权利要求4所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述九轴倾角传感器、隔爆液位传感器、面阵激光测距传感器将监测数据传输至控制面板；控制面板内还存储有液压支架的基本参数。
  7. 根据权利要求6所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述液压支架的基本参数包括后连杆基准定位高度、后连杆基准长度、前后连杆上铰点距离、前连杆上铰点与顶梁-掩护梁铰点距离、后立柱上铰点至顶梁-掩护梁铰点距离、前后立柱上铰点距离、前立柱垂向定位距离、后立柱垂向定位距离、前连杆下铰点垂向定位距离、后连 杆垂向定位距离、前连杆长度、后立柱下铰点横向定位距离、前后立柱下铰点横向定位距离、前后立柱水平摆角。
  8. 根据权利要求6所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述液压支架的变量姿态参数包括后连杆与水平方向夹角、后连杆与底座之间的夹角、后连杆与掩护梁之间的夹角、掩护梁与竖直方向的夹角、前立柱的长度、后立柱的长度、后连杆和掩护梁连接端与前连杆和底座连接端之间的距离。
  9. 根据权利要求6所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述控制面板计算液压支架的支护姿态和顶板轮廓数据参数，输出比例控制信号控制比例电磁换向阀启闭，调整支架姿态。
  10. 根据权利要求9所述的一种支撑式液压支架支护姿态监测及控制方法，其特征在于，所述控制面板设置的比对阈值，当比对差值大于所述阈值时，控制器输出Max控制信号实现支架的快速升架；当比对差值小于所述阈值时，比例控制器输出Medium控制信号，降低支架顶梁贴顶时对顶板的冲击效应；Max信号和Medium信号的幅值根据所选比例换向阀的最大输入信号确定，Max信号等于该最大输入信号，Medium信号为最大输入信号的一半。
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