A two-column hydraulic support position and attitude detection and control system and its application

Abstract

The invention relates to a two-column type hydraulic support pose detection and control system and application thereof. The system comprises a controller, a data acquisition unit, a first acceleration sensor, a second acceleration sensor, a stroke sensor, a laser range finder, a first electromagnetic proportion valve and a second electromagnetic proportion valve; data measured by the acceleration sensors, the stroke sensor and the laser range finder is transmitted to the controller, a proportion integration differentiation (PID) control rule is used for carrying out all-attitude control on the pose of a hydraulic support in real time, and the controller is used for controlling on and off as well as flow of the electromagnetic proportion valve, so that rapid and horizontal ascending and descending of the hydraulic support in a rising process and smart top attaching of a top plate of a working surface during inclination are adjusted and realized, and the ascending and descending speed and the machine following speed of the hydraulic support are accelerated; the system is provided with a pose detection system and a control system at the same time, thus being more in functions and better in performance, and having incomparable advantages.

Description

technical field [0001] The invention relates to a position and posture detection and control system of a two-column hydraulic support and an application thereof, belonging to the technical field of hydraulic supports. Background technique [0002] In the fully mechanized mining face, in order to prevent the coal seam roof from falling and ensure the safety of the staff and the normal production, the roof must be supported. The hydraulic support is the necessary supporting equipment for the fully mechanized mining face. Many coal mines in my country have established fully-mechanized mining automation production areas, and equipped with fully-mechanized mining equipment remote monitoring function. The real-time, reliable and intuitive remote monitoring of the hydraulic support can not only grasp the accurate operation status of the hydraulic support in time, but also predict the support quality of the hydraulic support, and adjust the operating parameters of the support accord...

AI Technical Summary

Problems solved by technology

[0006] The Chinese patent document CN103899344B discloses a method for self-adaptive leveling of the top beam of the hydraulic support. The method uses sensors to detect the inclination of the top beam and adjusts the state of the top beam of the support by means of blind motion testing. The patent starts from the stage of initial support of the support. The control has certain limitations, and the blind trial method adopted in this scheme not only consumes a lot of time in the trial and comparison process, but also easily causes the bracket to continue to oscillate due to improper step distance during the adjustment process, which reduces the support of the bracket. The stability of the maintenance work, the adjustment accuracy is poor

[0007] Although there are many detection methods for the pose of the hydraulic support, these methods only solve how to obtain the pose data of the hydraulic support, and there are many detection data, which are greatly affected by environmental factors and the detection accuracy is poor; in terms of control methods , the existing support pose control method often adopts the blind motion trial method to control the pose of the support. Posture adjustment in the support and lowering stages, therefore, it is necessary to design an intelligent control system with high efficiency and precision adjustment

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