Control Method of Precise Pushing of Hydraulic Support
A technology of hydraulic support and control method, which is applied in the direction of mine roof support, earth square drilling, mining equipment, etc., which can solve the problems of pushing error, inability to adapt to the state of hydraulic support, and large deviation of pushing stroke, so as to achieve precise control, The effect of wide application range and simple maintenance
Active Publication Date: 2020-05-12
郑州恒达智控科技股份有限公司
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Problems solved by technology
However, the electromagnetic coil inside the electromagnetic pilot valve has an electromagnetic induction phenomenon, which leads to a delay of >300ms when the electromagnetic coil is energized or de-energized. or stop, this effect will also cause errors in pushing
[0005] 3. At present, the method of setting parameters to move is adopted, and the parameter curing cannot adapt to the state of all hydraulic supports in the fully mechanized mining face. When the sensor is faulty, it will act according to the curing time parameters, and the deviation of the pushing stroke will be greater
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[0020] The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the scope of protection of the present invention is not limited to the following Described embodiment.
[0021] Such as figure 1 , 2 As shown, the precise pushing control method of the hydraulic support in the present invention uses the Kalman filter algorithm to correct the stroke position of the hydraulic support in a single pushing process, and realizes Predict the time required for the next push position, so as to achieve precise control of the push position of the hydraulic support; the control steps are as follows:
[0022] Step a. Query the push schedule S of this time E The expected time T required by the same itinerary statistics as before E ;
[0023] S...
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The invention discloses a control method for precise pushing of a hydraulic bracket. The control method comprises the following steps of adopting a Kalman filtering algorithm for correcting the strokeposition of the hydraulic bracket in a one-time pushing process; counting the time of fixed strokes in the pushing process several times, prejudging the time required by the next pushing position, and thus precisely controlling the pushing position of the hydraulic bracket. The method has the following advantages that the pushing strokes are controlled in a Kalman filtering mode, the pushing position is corrected in real time according to the pushing speed in a movement process, and an electro-hydraulic control system can also adapt to a complex on-site liquid supply environment under the condition that a stroke sensor breaks down; by changing the control mode, precise control over the pushing position of the hydraulic bracket is realized under the condition of not changing the existing equipment; in an actual use process, an operator only needs to input the preset pushing position of the hydraulic bracket so that precise locating of the pushing position can be realized, and the technical requirements for the operator are lowered.
Description
technical field [0001] The invention relates to a control method of a hydraulic support, in particular to a control method for precise pushing and sliding of a hydraulic support. Background technique [0002] The "Coal Mine Safety Regulations" require that the coal wall of the working face, the scraper conveyor and the hydraulic support must be kept in a straight line. In the actual mining process of the fully mechanized mining face, the steady movement of the hydraulic support is the key factor affecting the straightness control of the working face. At present, most mining areas mainly use cable management, that is, to provide hydraulic support positioning standards in the fully mechanized mining face by pulling the rope or shooting an infrared beam, and manually adjust the straightness to realize the adjustment of the hydraulic support and the scraper conveyor on the working face. straight. However, the push control of the existing hydraulic support is a simple closed-lo...
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IPC IPC(8): E21D23/14
CPCE21D23/14
Inventor 崔科飞常亚军武学艺郭建京李国威杨亚威
Owner 郑州恒达智控科技股份有限公司