Hydraulic support electro-hydraulic proportional control system and control method

Abstract

The invention relates to the technical field of hydraulic control, and provides a hydraulic support electro-hydraulic proportional control system and a hydraulic support electro-hydraulic proportional control method. The hydraulic support controller is connected with the fully mechanized coal mining face control host, is also connected with an electro-hydraulic proportional control valve and a hydraulic cylinder, and is used for receiving a working instruction of a working face hydraulic support group of the fully mechanized coal mining face control host; controlling the electro-hydraulic proportional control valve and the hydraulic cylinder to execute corresponding actions according to the working instruction; the electro-hydraulic proportional control valve is connected with the hydraulic cylinder and used for receiving a flow control signal of the hydraulic support controller and adjusting the displacement and pressure of the hydraulic cylinder according to the flow control signal; the hydraulic cylinder is connected with a hydraulic support and used for controlling the action of the hydraulic support according to a flow control signal of the electro-hydraulic proportional control valve and a hydraulic cylinder action signal of the hydraulic support controller.

Description

Technical Field

[0001] The present disclosure relates to the field of hydraulic control technology, and in particular to an electro-hydraulic proportional control system and a control method for a hydraulic support. Background Art

[0002] Hydraulic supports are mainly used to support underground fully-mechanized mining working faces (hereinafter referred to as "working faces") in coal mines. A working face is generally equipped with about 100-200 hydraulic supports or more, which provide a safe working space for the working face production equipment and operators, and are responsible for the migration of the working face production equipment. The electro-hydraulic control technology of hydraulic supports is the key to realizing the automation of coal production.

[0003] The hydraulic support electro-hydraulic control system is a system that uses single-chip microcomputers, sensors and other electronic devices and hydraulic circuit control components to realize the automatic movement of the hydraulic support according to production needs. The hydraulic support electro-hydraulic control system can change the original manual operation of the hydraulic support's lowering, pulling, lifting, pushing the front conveyor, pulling the rear conveyor, retracting the side guard plate, extending the side guard plate, spraying water and top coal caving to electro-hydraulic automatic control and programmed operation, which can match with the high-efficiency coal mining machine to speed up the advancement of the working face and significantly improve the production efficiency of the coal mining working face.

[0004] The reversing valve is the flow distribution mechanism of the hydraulic support. It controls the actions of various power hydraulic cylinders by connecting or cutting off the flow channel, thereby achieving the purpose of controlling the action of the hydraulic support. The hydraulic support control system has also achieved the purpose of electro-hydraulic control of the reversing valve. At present, the electro-hydraulic controlled reversing valve is mainly composed of two parts: the electromagnetic pilot valve and the hydraulic control reversing valve. The electronic control characteristics of the electromagnetic pilot valve are used to realize the small flow of the pilot valve to control the large flow of the reversing valve. With the increase of flow and pressure, the valve core diameter and hydraulic force of the reversing valve also increase, requiring a large and strong spring to match it, resulting in the valve body becoming larger and heavier. At the same time, the increase of flow and pressure will also aggravate the wear of the seals and increase the risk of fluid leakage from the reversing valve, thereby affecting the speed and reliability of the hydraulic support frame.

[0005] As an electrically controlled switch valve, the current large-flow electro-hydraulic reversing valve will inevitably cause severe pressure shock in the system at the moment of opening and closing at large flow, which is destructive to the reversing valve itself, the support cylinder and the pipeline system. The main reason for the large pressure shock is that the outlet flow of the large-flow switch reversing valve is large, which can quickly increase to a peak state. The valve core will vibrate when it is opened, resulting in significant fluctuations in the outlet flow. Since the hydraulic support belongs to a large-flow high-pressure system, when the flow fluctuates, it will cause significant impact on different parts of the system, thereby increasing the probability of damage to the hydraulic components. When the reversing valve works in a high-pressure and large-flow system, it will quickly reach the peak pressure, and the hydraulic shock will also damage the support column. In addition, the current switch-type large-flow electro-hydraulic reversing valve is difficult to realize the position control of the hydraulic cylinder. Due to the response delay of the control system and the large flow in and out of the cylinder, the cylinder displacement deviation is caused, which further affects the straightness of the working surface support.

[0006] From the above, it can be seen that the existing large-flow reversing valve has problems such as inaccurate flow control, pressure shock and inaccurate hydraulic cylinder position control, which cannot meet the actual needs of precise control of hydraulic cylinder stroke and straightness control of scraper conveyor during continuous advancement of unmanned and intelligent comprehensive mining working faces. Summary of the invention

[0007] The purpose of the embodiments of the present disclosure is to provide a hydraulic support electro-hydraulic proportional control system and control method, so as to at least solve the technical problems in the prior art such as inaccurate flow control of large flow reversing valves, pressure shocks and misaligned hydraulic cylinder position control.

[0008] In order to solve the above technical problems, the embodiments of the present disclosure adopt the following technical solutions:

[0009] In a first aspect, an embodiment of the present disclosure provides an electro-hydraulic proportional control system for a hydraulic support, comprising:

[0010] Comprehensive mining face control host;

[0011] A hydraulic support controller is connected to the fully mechanized mining working face control host, and the hydraulic support controller is also connected to the electro-hydraulic proportional control valve and the hydraulic cylinder, and is used to receive the working instructions of the working face hydraulic support group of the fully mechanized mining working face control host, and control the electro-hydraulic proportional control valve and the hydraulic cylinder to perform corresponding actions according to the working instructions;

[0012] The electro-hydraulic proportional control valve is connected to the hydraulic cylinder and is used to receive a flow control signal from the hydraulic support controller and adjust the displacement and pressure of the hydraulic cylinder according to the flow control signal;

[0013] The hydraulic cylinder is connected to the hydraulic support and is used to control the action of the hydraulic support according to the flow control signal of the electro-hydraulic proportional control valve and the hydraulic cylinder action signal of the hydraulic support controller.

[0014] In some embodiments, the hydraulic support electro-hydraulic proportional control system also includes a sensor and / or an inertial navigation device connected to the hydraulic support controller, and the sensor and / or the inertial navigation device is used to obtain the support data of the hydraulic support and send the support data to the hydraulic support controller.

[0015] In some embodiments, the sensor and / or inertial navigation device is also used to obtain position information of the hydraulic cylinder and send the position information to the hydraulic support controller.

[0016] In some embodiments, the comprehensive mining working face control host includes a data processing module, which is used to generate a working face support information database based on the support data, and to plan the actions of the hydraulic support based on the working face support information database to determine the target stroke of the hydraulic support.

[0017] In some embodiments, the hydraulic support controller includes a human-machine interaction interface and / or a human-machine interaction interface for receiving motion control information of a local hydraulic support within the working surface.

[0018] In some embodiments, the hydraulic support electro-hydraulic proportional control system also includes a comprehensive mining working face control center, which is connected to the comprehensive mining working face control host and is used to generate a cutting plan for the working face and an action process for the hydraulic support group, and generate work instructions for the working face hydraulic support group based on the cutting plan for the working face and the action process of the hydraulic support group.

[0019] In a second aspect, an embodiment of the present disclosure provides a hydraulic support electro-hydraulic proportional control method, which is applied to a hydraulic support electro-hydraulic proportional control system, wherein the hydraulic support electro-hydraulic proportional control system includes a fully mechanized mining face control host, a hydraulic support controller, an electro-hydraulic proportional control valve, a hydraulic cylinder and a hydraulic support, and the method includes:

[0020] The hydraulic support controller receives the working instructions of the working face hydraulic support group of the fully mechanized working face control host, and controls the electro-hydraulic proportional control valve and the hydraulic cylinder to perform corresponding actions according to the working instructions;

[0021] The electro-hydraulic proportional control valve receives a flow control signal from the hydraulic support controller and adjusts the displacement and pressure of the hydraulic cylinder according to the flow control signal;

[0022] The hydraulic cylinder controls the action of the hydraulic support according to the flow control signal of the electro-hydraulic proportional control valve and the hydraulic cylinder action signal of the hydraulic support controller.

[0023] In some embodiments, the method further comprises:

[0024] The support data of the hydraulic support is acquired through a sensor and / or an inertial navigation device connected to the hydraulic support controller, and the support data is sent to the hydraulic support controller.

[0025] In some embodiments, the method further comprises:

[0026] The comprehensive mining working face control host generates a working face support information database according to the support data, and performs action planning for the hydraulic support according to the working face support information database to determine the target stroke of the hydraulic support.

[0027] In some embodiments, the fully mechanized mining working face control host performs motion planning for the hydraulic support according to the working face support information database to determine the target travel of the hydraulic support, including:

[0028] The comprehensive mining working face control host calculates the stroke difference of each hydraulic support and determines the stroke difference as the target stroke of the hydraulic support.

[0029] The embodiment of the present disclosure provides an electro-hydraulic proportional control system and a control method for a hydraulic support. A fully-mechanized mining working face control host, a hydraulic support controller, an electro-hydraulic proportional control valve, and a hydraulic cylinder are provided. The hydraulic support controller is connected to the fully-mechanized mining working face control host. The hydraulic support controller is also connected to the electro-hydraulic proportional control valve and the hydraulic cylinder to receive a working instruction of a working face hydraulic support group of the fully-mechanized mining working face control host, and the electro-hydraulic proportional control valve and the hydraulic cylinder are controlled to perform corresponding actions according to the working instruction; the electro-hydraulic proportional control valve is connected to the hydraulic cylinder, and the electro-hydraulic proportional control valve is used to receive a flow control signal of the hydraulic support controller, and adjust the displacement and pressure of the hydraulic cylinder according to the flow control signal; the hydraulic cylinder is connected to the hydraulic support, and the hydraulic cylinder is used to control the action of the hydraulic support according to the flow control signal of the electro-hydraulic proportional control valve and the hydraulic cylinder action signal of the hydraulic support controller. The flow and pressure output by the hydraulic valve can be adjusted according to the requirements of the control system to adjust the moving speed and high-precision displacement control of the hydraulic cylinder, thereby improving the control accuracy of the hydraulic support action, eliminating the influence of mechanical and sensor errors, and realizing the automation, intelligence, and precision operation of the entire working face. The present invention uses an electro-hydraulic proportional control valve with adjustable flow to replace the electro-hydraulic controlled switch valve to control the movement speed of the hydraulic cylinder, thereby realizing high-precision control of the actions of the hydraulic support such as pushing, pulling, raising columns, lowering columns, and extending guardrails, thereby realizing high-precision intelligent control of the hydraulic support and the entire working surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 It is a structural schematic diagram of an electro-hydraulic proportional control system of a hydraulic support according to an embodiment of the present disclosure;

[0032] Figure 2 It is a structural schematic diagram of the electro-hydraulic proportional control valve according to an embodiment of the present disclosure;

[0033] Figure 3 It is a schematic diagram of adjusting the straightness of the working surface according to an embodiment of the present disclosure.

[0034] Reference numerals:

[0035] 1-Fully-mechanized mining face control host; 2-Hydraulic support controller; 3-Electro-hydraulic proportional control valve; 4-Hydraulic cylinder; 5-Hydraulic support; 6-Fully-mechanized mining face control center. DETAILED DESCRIPTION

[0036] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0037] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0038] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0039] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the accompanying drawings.

[0040] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0041] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0042] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0043] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0044] The Coal Mine Safety Regulations stipulate that when comprehensive mechanized equipment is used for coal mining, the "three straights, one flat, and two smooths" must be ensured. The "three straights" include the coal wall, scraper conveyor, and hydraulic support of the working face must be straight, "one flat" refers to the flat roof, and "two smooths" refer to the smoothness of both ends of the working face. In response to the "three straights and one flat", the "Technical Conditions and Evaluation Index System for Classification and Grading of Intelligent Coal Mining Working Faces" issued by the China Coal Society clearly pointed out that the intelligent coal cutting subsystem and the intelligent support subsystem must have the functions of straightness perception and straightening. Therefore, the key to whether the "three straights and one flat" can be automatically achieved is the straightness perception and straightening technology of the working face.

[0045] At present, most mining areas mainly adopt wire management, that is, to provide hydraulic support positioning standards by pulling ropes or shooting an infrared beam on the working face, and to achieve the straightening of the working face support and scraper conveyor by manual adjustment. With the deep integration of industrialization and informationization in the coal industry, the automation and intelligence level of the fully-mechanized mining face is constantly improving. In mining areas with better conditions, the working face coal mining machine adopts automatic coal cutting technology for automatic control, and the hydraulic support follows the coal mining machine to achieve automatic position control, thus realizing the working face with less people or even unmanned during the production process. However, after multiple cycles of continuous coal mining on the working face, due to the accumulation of sensor errors and the gap between the pin ears of the hydraulic support and the scraper conveyor, the hydraulic support of the working face is not pushed evenly, and the straightness of the scraper conveyor cannot be guaranteed. Manual adjustment is required before production can continue. The problem of straightness control during the continuous advancement of the working face has become a technical bottleneck for unmanned mining of fully-mechanized mining faces.

[0046] Since the accumulation of sensor errors and clearance movement cannot be eliminated from the root, it is necessary to improve the accuracy of the cylinder stroke during the frame shifting process to offset the error and ensure that the working surface bracket has a high straightness. However, the current switch-type large-flow electro-hydraulic reversing valve is difficult to achieve cylinder position control. Due to the response delay of the control system and the large flow in and out of the cylinder, the cylinder displacement deviation is caused, which further affects the straightness of the working surface bracket.

[0047] In view of this, an embodiment of the present disclosure provides a hydraulic support electro-hydraulic proportional control system and a control method.

[0048] Embodiment 1

[0049] Figure 1 The schematic diagram of the structure of the hydraulic support electro-hydraulic proportional control system according to the embodiment of the present disclosure is shown. Figure 1 As shown, an electro-hydraulic proportional control system of a hydraulic support provided by an embodiment of the present disclosure includes:

[0050] Comprehensive mining working face control host (referred to as control host) 1;

[0051] A hydraulic support controller (referred to as support controller) 2 is connected to the fully mechanized mining face control host, and the hydraulic support controller is also connected to an electro-hydraulic proportional control valve (referred to as proportional control valve) 3 and a hydraulic cylinder 4, and is used to receive a working instruction of the working face hydraulic support group of the fully mechanized mining face control host 1, and control the electro-hydraulic proportional control valve 3 and the hydraulic cylinder 4 to perform corresponding actions according to the working instruction;

[0052] The electro-hydraulic proportional control valve 3 is connected to the hydraulic cylinder 4 and is used to receive the flow control signal of the hydraulic support controller 2 and adjust the displacement and pressure of the hydraulic cylinder according to the flow control signal;

[0053] The hydraulic cylinder 4 is connected to the hydraulic support 5 and is used to control the action of the hydraulic support 5 according to the flow control signal of the electro-hydraulic proportional control valve 3 and the hydraulic cylinder action signal of the hydraulic support controller 2 .

[0054] There are multiple hydraulic support controllers 2, each of which is connected to a corresponding electro-hydraulic proportional control valve 3 and a hydraulic cylinder 4, so as to control the action of the corresponding hydraulic support 5. The hydraulic support controller 2 is powered by a flameproof and intrinsically safe power supply.

[0055] like Figure 2 As shown, the electro-hydraulic proportional control valve 3 is a proportional control valve between ordinary hydraulic elements (switch control) and servo valves (continuous control). It is suitable for hydraulic systems that require continuous control of pressure, flow or direction, but do not require high control accuracy. It takes into account both performance and cost of use, and is suitable for the needs of the electro-hydraulic control system of the working surface hydraulic support. The command signal is power-amplified by the proportional amplifier, and the current or voltage is proportionally output to the electro-mechanical proportional conversion element to change the position of the hydraulic valve core, so that the flow rate of the liquid flow can be proportionally controlled and the direction of the liquid flow can be changed, thereby realizing the position or speed control of the hydraulic actuator. In some applications where high position or speed accuracy is required, a closed-loop control system can also be formed by detecting the displacement or speed of the hydraulic actuator. In this embodiment, the hydraulic actuator is a hydraulic cylinder 4 connected to the hydraulic support 5.

[0056] The comprehensive mining working face control host 1 can parse the working instructions of the working face hydraulic support group, and after parsing the working instructions, send the action instructions and control targets of each hydraulic support to the hydraulic support controller 2.

[0057] Among them, the working instructions of the working face hydraulic support group can be the working instructions input by the user through the comprehensive mining working face control host 1, or the working instructions generated by the comprehensive mining working face control host 1 according to the user input, or the working instructions received by the comprehensive mining working face control host 1 from other control terminals (such as remote control terminals).

[0058] The hydraulic support controller 2 is responsible for receiving the action instructions of the control host, and controls the proportional control valve and the hydraulic cylinder 4 to perform corresponding actions according to the instructions, so as to complete the movement and posture adjustment of the hydraulic support 5.

[0059] The electro-hydraulic proportional control valve 3 can dynamically adjust the flow rate output by the proportional control valve according to the signal of the support controller, thereby adjusting the displacement and pressure of the hydraulic cylinder 4, achieving precise control of the movement and posture of the hydraulic support, and ultimately achieving straightness control of the entire working surface.

[0060] The hydraulic support electro-hydraulic proportional control system provided in the embodiment of the present disclosure is provided with a fully-mechanized mining face control host 1, a hydraulic support controller 2, an electro-hydraulic proportional control valve 3, and a hydraulic cylinder 4, the hydraulic support controller 2 is connected to the fully-mechanized mining face control host 1, the hydraulic support controller is also connected to the electro-hydraulic proportional control valve 3 and the hydraulic cylinder 4, and is used to receive the working instructions of the working face hydraulic support group of the fully-mechanized mining face control host 1, and control the electro-hydraulic proportional control valve 3 and the hydraulic cylinder 4 to perform corresponding actions according to the working instructions; the electro-hydraulic proportional control valve 3 is connected to the hydraulic cylinder 4, and the electro-hydraulic proportional control valve 3 is used to receive the hydraulic The flow control signal of the support controller is received, and the displacement and pressure of the hydraulic cylinder 4 are adjusted according to the flow control signal; the hydraulic cylinder 4 is connected to the hydraulic support 5, and the hydraulic cylinder 4 is used to control the action of the hydraulic support 5 according to the flow control signal of the electro-hydraulic proportional control valve 3 and the hydraulic cylinder action signal of the hydraulic support controller 2. The flow and pressure output by the hydraulic valve can be adjusted according to the requirements of the control system to adjust the moving speed and high-precision displacement control of the hydraulic cylinder 4, thereby improving the control accuracy of the hydraulic support action, eliminating the influence of mechanical and sensor errors, and realizing the automation, intelligence and precision operation of the entire working surface.

[0061] The present invention uses an electro-hydraulic proportional control valve 3 with adjustable flow to replace the electro-hydraulic controlled switch valve to control the movement speed of the hydraulic cylinder 4, thereby realizing high-precision control of the hydraulic support's actions such as pushing, pulling, raising, lowering, and extending the guardrail, thereby realizing high-precision intelligent control of the hydraulic support and the entire working surface.

[0062] In some embodiments, the hydraulic support electro-hydraulic proportional control system further includes a sensor and / or an inertial navigation device connected to the hydraulic support controller 2, and the sensor and / or inertial navigation device is used to obtain the support data of the hydraulic support and send the support data to the hydraulic support controller 2. The hydraulic support controller 2 can upload the support data to the fully mechanized mining face control host 1. The support data can be the pressure, inclination, height and other data of the hydraulic support.

[0063] In some embodiments, the sensor and / or inertial navigation device is also used to obtain position information of the hydraulic cylinder 4 and send the position information to the hydraulic support controller 2 .

[0064] In some embodiments, the comprehensive mining working face control host 1 includes a data processing module, which is used to generate a working face support information database according to the support data, and to plan the action of the hydraulic support according to the working face support information database to determine the target stroke of the hydraulic support.

[0065] The data processing module can analyze and process the uploaded support data and the position information of the hydraulic cylinder 4 to form a working surface support information database, and send the action instructions and control targets of each hydraulic support 5 to the hydraulic support controller 2 in combination with the working surface hydraulic support group work instructions.

[0066] In some embodiments, the hydraulic support controller 2 includes a human-machine interface and / or a human-machine interface for receiving the motion control information of the local hydraulic support in the working surface. That is, the working surface operator can complete the motion control of the partial support in the working surface through the hydraulic support controller 2, and realize the overall control and local control of the hydraulic support.

[0067] In some embodiments, Figure 1 As shown, the hydraulic support electro-hydraulic proportional control system also includes a comprehensive mining working face control center 6, which is connected to the comprehensive mining working face control host 1, and is used to generate a cutting plan for the working face and an action process of the hydraulic support group, and generate work instructions for the hydraulic support group of the working face according to the cutting plan for the working face and the action process of the hydraulic support group.

[0068] The comprehensive mining face control center 6 can be a remote control terminal responsible for human-machine interaction, generating the face cutting plan and the hydraulic support group action process, thereby controlling the coordinated operation of the entire face equipment. The working face hydraulic support group work instruction is sent to the comprehensive mining face control host 1 through the comprehensive mining face control center 6, and the comprehensive mining face control host 1 receives the working face hydraulic support group work instruction, parses it, and sends it to the hydraulic support controller 2.

[0069] like Figure 1 and Figure 3 As shown, in the straightness control of the working surface hydraulic support group, the stroke difference of each hydraulic support in the next action planning can be calculated based on the working surface support information database information or the hydraulic support position information measured by the inertial navigation equipment, and the difference is sent to the support controller as the target stroke of the hydraulic support. The support controller controls the proportional valve to execute with higher precision to achieve the purpose of adjusting the straightness of the working surface.

[0070] Embodiment 2

[0071] The embodiment of the present disclosure provides a hydraulic support electro-hydraulic proportional control method, which is applied to a hydraulic support electro-hydraulic proportional control system. The hydraulic support electro-hydraulic proportional control system includes a fully mechanized mining face control host 1, a hydraulic support controller 2, an electro-hydraulic proportional control valve 3, a hydraulic cylinder 4 and a hydraulic support 5. The method includes:

[0072] S101: The hydraulic support controller receives a working instruction of the working face hydraulic support group of the fully mechanized working face control host, and controls the electro-hydraulic proportional control valve and the hydraulic cylinder to perform corresponding actions according to the working instruction;

[0073] S102: The electro-hydraulic proportional control valve receives a flow control signal from the hydraulic support controller, and adjusts the displacement and pressure of the hydraulic cylinder according to the flow control signal;

[0074] S103: The hydraulic cylinder controls the action of the hydraulic support according to the flow control signal of the electro-hydraulic proportional control valve and the hydraulic cylinder action signal of the hydraulic support controller.

[0075] In some embodiments, the method further comprises:

[0076] S201: Acquire support data of the hydraulic support through a sensor and / or an inertial navigation device connected to the hydraulic support controller, and send the support data to the hydraulic support controller.

[0077] In some embodiments, the method further comprises:

[0078] S301: The fully mechanized mining working face control host generates a working face support information database according to the support data, and performs action planning for the hydraulic support according to the working face support information database to determine the target travel of the hydraulic support.

[0079] In some embodiments, in step S301, the fully mechanized mining working face control host performs motion planning for the hydraulic support according to the working face support information database to determine the target travel of the hydraulic support, including:

[0080] The comprehensive mining working face control host calculates the stroke difference of each hydraulic support and determines the stroke difference as the target stroke of the hydraulic support.

[0081] The hydraulic support electro-hydraulic proportional control method provided in the embodiment of the present disclosure corresponds to the hydraulic support electro-hydraulic proportional control system of the above-mentioned embodiment. Any optional items in the embodiment of the hydraulic support electro-hydraulic proportional control system are also applicable to the embodiment of the hydraulic support electro-hydraulic proportional control method, which will not be repeated here.

[0082] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0083] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0084] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A hydraulic support electro-hydraulic proportional control system, characterized in that: include: Comprehensive mining face control host; A hydraulic support controller is connected to the fully mechanized mining working face control host, and the hydraulic support controller is also connected to the electro-hydraulic proportional control valve and the hydraulic cylinder, and is used to receive the working instructions of the working face hydraulic support group of the fully mechanized mining working face control host, and control the electro-hydraulic proportional control valve and the hydraulic cylinder to perform corresponding actions according to the working instructions; The electro-hydraulic proportional control valve is connected to the hydraulic cylinder and is used to receive a flow control signal from the hydraulic support controller and adjust the displacement and pressure of the hydraulic cylinder according to the flow control signal; The hydraulic cylinder is connected to the hydraulic support and is used to control the action of the hydraulic support according to the flow control signal of the electro-hydraulic proportional control valve and the hydraulic cylinder action signal of the hydraulic support controller.

2. The hydraulic support electro-hydraulic proportional control system according to claim 1 is characterized in that: The hydraulic support electro-hydraulic proportional control system also includes a sensor and / or an inertial navigation device connected to the hydraulic support controller, and the sensor and / or the inertial navigation device is used to obtain the support data of the hydraulic support and send the support data to the hydraulic support controller.

3. The hydraulic support electro-hydraulic proportional control system according to claim 2 is characterized in that: The sensor and / or inertial navigation device is also used to obtain position information of the hydraulic cylinder and send the position information to the hydraulic support controller.

4. The hydraulic support electro-hydraulic proportional control system according to claim 2 is characterized in that: The comprehensive mining working face control host includes a data processing module, which is used to generate a working face support information database according to the support data, and to plan the actions of the hydraulic support according to the working face support information database to determine the target stroke of the hydraulic support.

5. The hydraulic support electro-hydraulic proportional control system according to claim 1, characterized in that: The hydraulic support controller includes a human-machine interaction interface and / or a human-machine interaction interface, which is used to receive the motion control information of the local hydraulic support in the working surface.

6. The hydraulic support electro-hydraulic proportional control system according to claim 5, characterized in that: The hydraulic support electro-hydraulic proportional control system also includes a comprehensive mining working face control center, which is connected to the comprehensive mining working face control host and is used to generate a cutting plan for the working face and an action process for the hydraulic support group, and generate work instructions for the hydraulic support group on the working face based on the cutting plan for the working face and the action process of the hydraulic support group.

7. A method for controlling the electro-hydraulic proportionality of a hydraulic support, characterized in that: Applied to the electro-hydraulic proportional control system of a hydraulic support, the electro-hydraulic proportional control system of the hydraulic support includes a fully mechanized mining face control host, a hydraulic support controller, an electro-hydraulic proportional control valve, a hydraulic cylinder and a hydraulic support, and the method includes: The hydraulic support controller receives the working instructions of the working face hydraulic support group of the fully mechanized working face control host, and controls the electro-hydraulic proportional control valve and the hydraulic cylinder to perform corresponding actions according to the working instructions; The electro-hydraulic proportional control valve receives a flow control signal from the hydraulic support controller and adjusts the displacement and pressure of the hydraulic cylinder according to the flow control signal; The hydraulic cylinder controls the action of the hydraulic support according to the flow control signal of the electro-hydraulic proportional control valve and the hydraulic cylinder action signal of the hydraulic support controller.

8. The control method according to claim 7, characterized in that: The method further comprises: The support data of the hydraulic support is acquired through a sensor and / or an inertial navigation device connected to the hydraulic support controller, and the support data is sent to the hydraulic support controller.

9. The control method according to claim 8, characterized in that: The method further comprises: The comprehensive mining working face control host generates a working face support information database according to the support data, and performs action planning for the hydraulic support according to the working face support information database to determine the target stroke of the hydraulic support.

10. The control method according to claim 8, characterized in that: The fully mechanized mining face control host performs motion planning for the hydraulic support according to the working face support information database to determine the target travel of the hydraulic support, including: The comprehensive mining working face control host calculates the stroke difference of each hydraulic support and determines the stroke difference as the target stroke of the hydraulic support.

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