Method for detecting and controlling position and attitude of two-column type hydraulic support

Abstract

The invention relates to a method for detecting and controlling position and attitude of a two-column type hydraulic support. The method is characterized in that data measured by acceleration sensors, a stroke sensor and a laser range finder are transmitted to a controller by virtue of an inspection control system formed by the controller, a data collection device, a first acceleration sensor, a second acceleration sensor, the stroke sensor, the laser range finder, a first electromagnetic proportional valve and a second electromagnetic proportional valve, an optimal motion scheme is preferentially selected by the controller according to an optimal motion rule list, real-time all-attitude control is carried out on the position and the attitude of the hydraulic support by adopting a PID (Proportion Integration Differentiation) control rule, and the switching on and off and the flow magnitude of the proportional electromagnetic valves are controlled according to the controller, so that quick horizontal ascending and descending of an ascending and descending process of the hydraulic support and intelligent roof adhesion when a top plate on a working surface inclines are regulated and realized, and the ascending and descending speed and the machine following speed of the hydraulic support are increased. A system has a position and attitude detection and control system at the same time. More functions are obtained, the performance is better, and incomparable advantages are obtained.

Description

Technical field [0001] The invention relates to a method for detecting and controlling the position and attitude of a two-column hydraulic support, and belongs to the technical field of hydraulic supports. Background technique [0002] In order to prevent the coal roof from falling and ensure the safety of workers and the normal production of the fully mechanized mining face, the roof must be supported. Hydraulic supports are necessary support equipment for the fully mechanized coal mining face. Many coal mines in our country have established fully-mechanized automatic production areas and equipped with remote monitoring functions of fully-mechanized mining equipment. Real-time, reliable and intuitive remote monitoring of hydraulic supports can not only grasp the accurate operating status of hydraulic supports in time, but also predict the quality of hydraulic supports, and adjust the operating parameters of supports according to the inspection results to improve the stability of...

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 stage of supporting and lowering the column, therefore, it is necessary to design a control method for adjusting the pose of the hydraulic support with high efficiency and precision

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