An intelligent control method for automatic moving of hydraulic supports used in coal mines

Abstract

Provided is an automatic support moving intelligent control method for a hydraulic support for mining. A support controller is used for completing automatic supporting moving of the hydraulic support according to the working states of sensors, the supporting moving process of the hydraulic support is divided into a column descending stage, a support moving stage and a column lifting stage, motion state sensing of the hydraulic support is conducted through the pressure sensor, the travel sensor, the angle sensor and the like, and action control over the hydraulic support is conducted through support controller programs. According to the automatic support moving intelligent control method for the hydraulic support for mining, a solidified procedure and solidified parameters of a conventional hydraulic support moving process are changed into a dynamic procedure and dynamic parameters sensed by the environment and equipment, so that the problems that a working face top plate is broken and bears large pressure, column descending time of the hydraulic support is long and action time differences are large are solved, the dynamic matching and adapting capacity of hydraulic support control programs to the working face environment, the equipment and a liquid supply system is enhanced, and the intelligence level of automatic support moving is improved.

Description

technical field [0001] The invention relates to an intelligent control method for the automatic movement of a hydraulic support for coal mines, in particular to an intelligent control method and a control system for the automatic movement of a hydraulic support. Background technique [0002] The fully mechanized mining face is formed by multiple hydraulic supports arranged in sequence on the working face to realize the support for the roof of the working face and the migration of the scraper conveyor. The hydraulic support of the working face is a floating system weakly constrained by the scraper conveyor. During the moving process of the working face, there is a gap between the hydraulic support and the scraper conveyor through pin lugs, resulting in certain errors in the moving process. Some support controller programs are solidified and the control parameters are set to be static, which cannot adapt to the changing geological conditions of the working face, the equipment ...

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Problems solved by technology

[0003] In the prior art, CN102305094A discloses a method for automatically moving hydraulic supports using manual intervention, but its automatic moving depends on manual intervention at key points, and the degree of automation is low, and it does not disclose specific sensor arrangement methods and control mechanism; CN102418541A ​​discloses a method for automatically moving a coal plow hydraulic support, but the coal plow hydraulic support is relatively simple in structure relative to the general hydraulic support in the art, and there are fewer steps in the moving procedure. The situation encountered is also relatively small. Judging from its public content, it is only controlled by travel information, and it is difficult to apply it to coal mine production with a complicated on-site environment. The automatic moving mechanism of the hydraulic support of the coal machine has not further clearly disclosed the specific layout of the original parts, the steps of moving the frame and the control sequence

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