Shearer hydraulic support pushing control method, device and storage medium

Abstract

The present disclosure provides a method, a device and a storage medium for controlling the pushing of a shearer hydraulic support. The method includes: obtaining the state information during the pushing of the shearer hydraulic support, calculating a pushing control compensation according to the state information, and performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the pushing control compensation. It can compensate for the pushing of the electro-hydraulic control system according to the external state information, so as to improve the accuracy of the pushing action of the electro-hydraulic control system, thereby ensuring that the hydraulic support is in a straight line with the coal mining face and improving the coal mining work efficiency.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automated coal mining, and particularly to a control method and device for a shearer hydraulic support push, as well as a storage medium. Background Art

[0002] During automated coal mining in a fully mechanized coal face underground in a coal mine, the coal wall, scraper conveyor, and hydraulic support in the working face must be kept in a straight line. The shearer is affected by the traction devices installed at both ends of the head and tail of the scraper conveyor and reciprocates in the chute of the scraper conveyor for coal mining. The hydraulic support is responsible for the pushing action of the scraper conveyor, causing the scraper conveyor to progress along the coal mining direction of the working face, so as to realize continuous coal cutting in the working face and achieve automated control of the fully mechanized coal face. However, due to measurement errors, execution errors, and changes in floor conditions resulting in changes in the pushing resistance (load) of the hydraulic support, it is very difficult to achieve precise control of the pushing action, resulting in continuous error accumulation. Usually, after several pushes, the straightness of the scraper conveyor cannot meet the coal mining requirements and the machine stops for manual adjustment, and it will also increase the equipment failure rate, greatly reducing the production efficiency. Summary of the Invention

[0003] The present disclosure provides a control method and device for a shearer hydraulic support push, as well as a storage medium, aiming to at least solve one of the technical problems in the related art to a certain extent.

[0004] An embodiment of the first aspect of the present disclosure provides a control method for a shearer hydraulic support push, including: obtaining state information during the push of the shearer hydraulic support; calculating a push control compensation according to the state information; and performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the push control compensation.

[0005] An embodiment of the second aspect of the present disclosure provides a control device for a shearer hydraulic support push, including: a state acquisition module for obtaining state information during the push of the shearer hydraulic support; a gain calculation module for calculating a push control compensation according to the state information; and a compensation control module for performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the push control compensation.

[0006] An embodiment of the third aspect of the present disclosure provides a computer device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the control method for a shearer hydraulic support push according to the embodiments of the present disclosure.

[0007] A fourth aspect embodiment of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the shearer hydraulic support pushing control method disclosed in the embodiments of the present disclosure.

[0008] In this embodiment, by obtaining the state information during the pushing process of the shearer hydraulic support, calculating the pushing control compensation according to the state information, and performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the pushing control compensation, it is possible to compensate for the pushing of the electro-hydraulic control system according to the external state information. Therefore, the accuracy of the pushing action of the electro-hydraulic control system can be improved, so as to ensure that the hydraulic support is in a straight line with the coal mining face and improve the coal mining work efficiency.

[0009] Additional aspects and advantages of the present disclosure will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and / or additional aspects and advantages of the present disclosure will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0011] Figure 1 is a flowchart of a shearer hydraulic support pushing control method according to an embodiment of the present disclosure;

[0012] Figure 2 is a flowchart of a shearer hydraulic support pushing control method according to another embodiment of the present disclosure;

[0013] Figure 3 is a schematic diagram of the shearer hydraulic support pushing control process according to an embodiment of the present disclosure;

[0014] Figure 4 is a flowchart of a shearer hydraulic support pushing control method according to another embodiment of the present disclosure;

[0015] Figure 5 is a schematic diagram of another shearer hydraulic support pushing control process according to an embodiment of the present disclosure;

[0016] Figure 6 is a schematic diagram of a shearer hydraulic support pushing control device according to another embodiment of the present disclosure;

[0017] Figure 7 shows a block diagram of an exemplary computer device suitable for implementing the embodiments of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Embodiments of the present disclosure will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure and should not be construed as a limitation of the present disclosure. On the contrary, the embodiments of the present disclosure include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0019] Regarding the technical problem mentioned in the background art that the shearer hydraulic support is affected by state information such as measurement error, execution error, and floor conditions during the pushing process, making it difficult to achieve precise control of the pushing action, the technical solution of this embodiment provides a method for controlling the pushing of a shearer hydraulic support. This method will be described below in conjunction with specific embodiments.

[0020] It should be noted that the execution subject of the method for controlling the pushing of the shearer hydraulic support in this embodiment can be a device for controlling the pushing of the shearer hydraulic support. This device can be implemented in the form of software and / or hardware, and this device can be configured in an electronic device. The electronic device can include, but is not limited to, a terminal, a server, etc.

[0021] Figure 1 is a schematic flowchart of a method for controlling the pushing of a shearer hydraulic support according to an embodiment of the present disclosure. As Figure 1 shown, the method includes:

[0022] S101: Obtain the state information during the pushing process of the shearer hydraulic support.

[0023] As described in the background art, during the automated coal mining in the fully mechanized coal face in the coal mine, the coal wall, scraper conveyor, and hydraulic support in the working face must be kept straight, and the hydraulic support is responsible for the pushing action of the scraper conveyor. Therefore, the pushing process of the shearer hydraulic support directly determines whether the shearer and the coal face are kept straight.

[0024] To solve the above technical problems, the embodiments of the present disclosure first obtain the state information during the pushing process of the shearer hydraulic support.

[0025] Among them, the information used to describe the operating state during the pushing process of the hydraulic support can be called state information. The state information can be, for example, the on / off state of the solenoid valve group, the hydraulic strength provided by the liquid supply system, the inclination angle of the hydraulic support with respect to the mine floor, and any other possible state information, and there is no limitation thereto.

[0026] S102: Calculate the pushing control compensation according to the state information.

[0027] After determining the above state information, further calculate the pushing control compensation according to the state information.

[0028] In practical applications, the hydraulic support is controlled according to preset fixed control instructions. For example, the control system only uses PID control. However, during the actual pushing process, the hydraulic support may be affected by the actual state information, resulting in inaccurate control of the pushing by the control instructions. In this case, the embodiments of the present disclosure can calculate the influence amount of the state information on the pushing of the hydraulic support, and this influence amount can be referred to as the pushing control compensation. In some embodiments, the pushing control compensation can be the control amount of the hydraulic support. For example, the current gain for controlling the pushing of the hydraulic support.

[0029] For example, the normal pushing control is when the hydraulic support is parallel and attached to the mine floor. However, when there is an inclination between the hydraulic support and the mine floor, there is an error between the fixed pushing control instruction and the actual scenario. In this case, the embodiments of the present disclosure can calculate the feedforward compensation for the error according to the inclination between the hydraulic support and the mine floor.

[0030] Similarly, when the switch state of the solenoid valve group and the hydraulic strength provided by the liquid supply system are different from the normal state, the feedback compensation for the pushing caused by the switch state and the hydraulic strength can also be calculated, which is not specifically limited here.

[0031] S103: Based on the pushing control compensation, perform compensation control on the electro-hydraulic control system of the shearer hydraulic support.

[0032] After determining the pushing control compensation as described above, further, based on the pushing control compensation, perform compensation control on the electro-hydraulic control system of the shearer hydraulic support.

[0033] That is to say, perform compensation control on the electro-hydraulic control system of the hydraulic support according to the pushing control compensation. In some embodiments, before the fixed control, feedforward control can be performed on the electro-hydraulic control system according to the pushing control compensation, thereby compensating for the influence of the error caused by the state information on the actual control.

[0034] In this embodiment, by obtaining the state information during the pushing process of the shearer hydraulic support, calculating the pushing control compensation according to the state information, and performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the pushing control compensation, it is possible to compensate for the pushing of the electro-hydraulic control system according to the external state information. Therefore, the accuracy of the pushing action of the electro-hydraulic control system can be improved, thereby ensuring that the hydraulic support is in a straight line with the coal mining face and improving the coal mining work efficiency.

[0035] Figure 2 It is a schematic flowchart of the pushing control method for the shearer hydraulic support according to another embodiment of the present disclosure. As Figure 2 shown, the method includes:

[0036] S201: Obtain the status information during the pushing process of the shearer hydraulic support.

[0037] For the specific description of S201, reference can be made to the above embodiments, which will not be elaborated here.

[0038] S202: Establish the state space equation of the electro-hydraulic control system according to the status information.

[0039] In the operation of calculating the pushing control compensation according to the status information in the embodiments of the present disclosure, first, establish the state space equation of the electro-hydraulic control system according to the status information.

[0040] For example, the status information in this embodiment includes, for example, the solenoid valve group switch status quantity and the hydraulic intensity status quantity of the electro-hydraulic control system. The state space equation constructed by the solenoid valve group switch status quantity and the hydraulic intensity status quantity is in the form of:

[0041]

[0042] y = Cx + Du

[0043] Wherein, x is the solenoid valve group switch status quantity and the hydraulic intensity status quantity, u is the input quantity of the electro-hydraulic control system (such as input current), A, B, C, D are the function matrices of the electro-hydraulic control system (determined according to the dynamic characteristics of the electro-hydraulic control system), and y is the output quantity of the electro-hydraulic control system (such as the pushing distance).

[0044] S203: Convert the state space equation into a discrete state space representation equation.

[0045] In some embodiments, the form of the discrete state space representation equation corresponding to the above state space equation is, for example:

[0046] x(k + 1) = A k x(k) + B k u(k)

[0047] y(k) = C k x(k) + D k u(k)

[0048] Wherein, u(k) represents the input quantity of the electro-hydraulic control system during the kth pushing action, x(k) represents the state quantity of the electro-hydraulic control system during the kth pushing action, A k , B k , C k , D k represent the parameter matrix of the electro-hydraulic control system during the kth pushing action, and y(k) represents the output quantity of the electro-hydraulic control system during the kth pushing action.

[0049] S204: Based on the discrete state space representation equation, calculate the discrete residual signal of the electro-hydraulic control system through a pre-designed state observer.

[0050] Figure 3 is a schematic diagram of the control process for the shearer hydraulic support push as provided in an embodiment of the present disclosure. As Figure 3 shown, in this embodiment, a state observer can be pre-designed, and then based on the observer and the discrete state space representation equation, calculate the discrete residual signal of the electro-hydraulic control system.

[0051] Among them, the form of the state observer is, for example:

[0052]

[0053]

[0054]

[0055]

[0056] Among them, L k is the dynamic characteristic of the state observer, is the state quantity estimate of the k-th push action by the state observer, is the output quantity estimate of the k-th push action of the electro-hydraulic control system, and r(k) is the discrete residual signal.

[0057] Among them, L k can be set according to the actual control. For example: when the eigenvalues of A k - L k C k are inside the unit circle, the stability and convergence rate of the control system can be guaranteed. According to experience, we generally make the eigenvalues of A k - L k C k equal to one-fifth of the eigenvalues of A k and then solve for L k .

[0058] S205: Design an objective evaluation function for the electro-hydraulic control system and determine the feedback gain when the objective evaluation function is minimized.

[0059] Specifically, the objective evaluation function can be a function composed of the sum of the push error and the power input, and then determine the value when the objective evaluation function is minimized as the feedback gain, and the feedback gain can be represented by q.

[0060] For example, the form of the objective evaluation function is, for example:

[0061]

[0062] C(k) = e i (k)Qe i (k) + i q (k,q)Ri q (k,q)

[0063] Wherein, C(k) is a parameter for evaluating the one - step error and the input current (electrical energy input), and the one - step error is used to describe the error between the reference value and the actual value of the distance of each push in the electro - hydraulic control system, e i (k) is the integral of the one - step error, i q (k,q) is the input current of the electro - hydraulic control system, Q and R are weight parameters, and q is the feedback gain.

[0064] In this embodiment, for example, the gradient descent method can be used to calculate find the value of q when the target evaluation function is minimized as the feedback gain, and compensate it into the next push action to make the push action more accurate.

[0065] S206: Determine the push control compensation according to the feedback gain and the discrete residual signal.

[0066] After determining the feedback gain q and the discrete residual signal r(k) as described above, the push control compensation (feedback compensation) can be determined according to the feedback gain q and the discrete residual signal r(k). In some embodiments, the push control compensation is, for example, qr(k).

[0067] S207: Perform compensation control on the electro - hydraulic control system of the shearer hydraulic support based on the push control compensation.

[0068] After determining the push control compensation qr(k) as described above, further perform compensation control on the electro - hydraulic control system of the shearer hydraulic support based on the push control compensation qr(k). For example, Figure 3 as shown, if the next push input is represented by u(k + 1), then u(k + 1)=u(k)+qr(k), so that the next push can be compensated.

[0069] Thus, the embodiments of the present disclosure can perform compensation control on the electro - hydraulic control system according to the actual situation of state information such as the solenoid valve group switch and the hydraulic strength, making the next push action of the hydraulic support more accurate.

[0070] In this embodiment, by obtaining the state information during the pushing process of the shearer hydraulic support, calculating the pushing control compensation according to the state information, and performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the pushing control compensation, it is possible to compensate for the pushing of the electro-hydraulic control system according to the external state information. Therefore, the accuracy of the pushing action of the electro-hydraulic control system can be improved, so as to ensure that the hydraulic support is in a straight line with the coal mining face and improve the coal mining work efficiency. In addition, the embodiments of the present disclosure can perform compensation control on the electro-hydraulic control system according to the actual situation of state information such as the solenoid valve group switch and hydraulic strength, making the next pushing action of the hydraulic support more accurate.

[0071] Figure 4 is a schematic flowchart of a method for controlling the pushing of a shearer hydraulic support according to another embodiment of the present disclosure, as Figure 4 shown, the method includes:

[0072] S401: Obtain the state information during the pushing process of the shearer hydraulic support.

[0073] For the specific description of S401, reference can be made to the above embodiment, which will not be elaborated here.

[0074] S402: Based on the inclination angle, calculate the pushing resistance during the pushing process of the shearer hydraulic support by using the sliding friction formula, and use the pushing resistance as the pushing control compensation.

[0075] In the embodiments of the present disclosure, the state information is, for example, the inclination angle between the shearer hydraulic support and the mine ground. In the operation of calculating the pushing control compensation according to the state information, first, based on the inclination angle, calculate the pushing resistance during the pushing process of the shearer hydraulic support by using the sliding friction formula, and use the pushing resistance as the pushing control compensation (feedforward compensation).

[0076] Among them, the sliding friction formula is as follows:

[0077] F f =μm B g cosθ

[0078] F f is the pushing resistance, μ is the dynamic friction coefficient, m B is the weight of the shearer hydraulic support, and θ is the inclination angle.

[0079] Among them, in the operation of determining the inclination angle θ, with the commonly used transparent geological and geographical information system in the mine as an auxiliary detection means, the transparent geological and geographical information system can be jointly constructed by mounting a high-definition camera on the hydraulic support and a three-dimensional lidar on the shearer. Combining with the inclination sensor of the hydraulic support itself can obtain the pose relationship between the support and the mine ground, so as to determine the inclination angle θ.

[0080] S403: Based on the push control compensation, perform compensation control on the electro-hydraulic control system of the shearer hydraulic support.

[0081] Figure 5 It is a schematic diagram of another push control process of the shearer hydraulic support provided according to an embodiment of the present disclosure. As Figure 5 shown, the reference push distance is the fixed push distance of the hydraulic support each time, and the push load estimation can be understood as the corrected displacement determined according to the push resistance. In this solution, push control compensation (push resistance) can be used to perform feedforward compensation control on the push of the hydraulic support, so as to determine the actual displacement by combining the reference push distance and the push load estimation, and achieve precise control of the push of the hydraulic support.

[0082] In this embodiment, by obtaining the state information during the push process of the shearer hydraulic support, calculating the push control compensation according to the state information, and performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the push control compensation, it is possible to compensate for the push of the electro-hydraulic control system according to the external state information. Therefore, the precision of the push action of the electro-hydraulic control system can be improved, so as to ensure that the hydraulic support is in a straight line with the coal mining face and improve the coal mining work efficiency. In addition, this embodiment can determine the push control compensation according to the inclination relationship between the hydraulic support and the mine ground, so precise control of the push can also be achieved when the hydraulic support is tilted.

[0083] Figure 6 It is a schematic diagram of a push control device for a shearer hydraulic support provided according to another embodiment of the present disclosure. As Figure 6 shown, the push control device 60 for the shearer hydraulic support includes:

[0084] A state acquisition module 601, configured to acquire the state information during the push process of the shearer hydraulic support;

[0085] A gain calculation module 602, configured to calculate the push control compensation according to the state information; and

[0086] A compensation control module 603, configured to perform compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the push control compensation.

[0087] In some embodiments, the gain calculation module 602 includes: a construction sub-module for constructing a state space equation of the electro-hydraulic control system according to the state information; a transformation sub-module for transforming the state space equation into a discrete state space representation equation; a prediction sub-module for calculating a discrete residual signal of the electro-hydraulic control system through a pre-designed state observer based on the discrete state space representation equation; a calculation sub-module for designing an objective evaluation function for the electro-hydraulic control system and determining the feedback gain when the objective evaluation function is minimized; and a determination sub-module for determining the push control compensation according to the feedback gain and the discrete residual signal.

[0088] In some embodiments, the state information includes the solenoid valve group switch state quantity and the hydraulic strength state quantity of the electro-hydraulic control system, and the form of the state space equation is:

[0089]

[0090] y = Cx + Du

[0091] where x is the solenoid valve group switch state quantity and the hydraulic strength state quantity, u is the input quantity of the electro-hydraulic control system, A, B, C, D are function matrices of the electro-hydraulic control system, and y is the output quantity of the electro-hydraulic control system.

[0092] In some embodiments, the form of the discrete state space representation equation is:

[0093] x(k + 1) = A k x(k) + B k u(k)

[0094] y(k) = C k x(k) + D k u(k)

[0095] where u(k) represents the input quantity of the electro-hydraulic control system during the k-th pushing action, x(k) represents the state quantity of the electro-hydraulic control system during the k-th pushing action, A k , B k , C k , D k represent the parameter matrices of the electro-hydraulic control system during the k-th pushing action, and y(k) represents the output quantity of the electro-hydraulic control system during the k-th pushing action.

[0096] In some embodiments, the form of the state observer is:

[0097]

[0098]

[0099]

[0100]

[0101] Among them, is the state quantity estimation of the k-th pushing action by the state observer, is the output quantity estimation of the k-th pushing action of the electro-hydraulic control system, and r(k) is the discrete residual signal.

[0102] In some embodiments, the form of the target evaluation function is:

[0103]

[0104] C(k) = e i (k)Qe i (k) + i q (k,q)Ri q (k,q)

[0105] Among them, C(k) is a parameter for evaluating the pushing error and the input current. The pushing error is used to describe the error between the reference quantity and the actual quantity of the pushing distance of the electro-hydraulic control system each time. e i (k) is the integral of the pushing error, and i q (k,q) is the input current of the electro-hydraulic control system. Q and R are weight parameters, and q is the feedback gain. When the target evaluation function is minimized, the value of the feedback gain q is determined.

[0106] In some embodiments, the state information is the inclination angle between the shearer hydraulic support and the mine ground. The gain calculation module 602 is specifically configured to: based on the inclination angle, calculate the pushing resistance during the pushing process of the shearer hydraulic support by using the sliding friction formula, and use the pushing resistance as the pushing control compensation. The sliding friction formula is as follows:

[0107] F f = μm B g cosθ

[0108] F f is the pushing resistance, μ is the dynamic friction coefficient, m B is the weight of the shearer hydraulic support, and θ is the inclination angle.

[0109] In this embodiment, by obtaining the state information during the pushing process of the shearer hydraulic support, calculating the pushing control compensation according to the state information, and performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the pushing control compensation, it is possible to compensate for the pushing of the electro-hydraulic control system according to the external state information. Therefore, the accuracy of the pushing action of the electro-hydraulic control system can be improved, so as to ensure that the hydraulic support is in a straight line with the coal mining face and improve the coal mining work efficiency.

[0110] According to an embodiment of the present disclosure, the present disclosure also provides a computer device, a readable storage medium, and a computer program product.

[0111] To implement the above embodiments, the present disclosure also proposes a computer program product, which, when executed by an instruction processor in the computer program product, executes the shearer hydraulic support pushing control method proposed in the foregoing embodiments of the present disclosure.

[0112] Figure 7 A block diagram of an exemplary computer device suitable for implementing the embodiments of the present disclosure is shown. Figure 7 The shown computer device 12 is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present disclosure.

[0113] As Figure 7 shown, the computer device 12 is presented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0114] The bus 18 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the multiple bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnection (PCI) bus.

[0115] The computer device 12 typically includes a variety of computer system-readable media. These media can be any available media accessible by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0116] The memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used for reading and writing on non-removable, non-volatile magnetic media ( Figure 7 not shown, commonly referred to as a "hard disk drive").

[0117] Although Figure 7 not shown in the figure, a disk drive for reading and writing on a removable non-volatile disk (such as a "floppy disk") and an optical disk drive for reading and writing on a removable non-volatile optical disk (such as a compact disc read only memory (CD-ROM), a digital video disc read only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 through one or more data media interfaces. The memory 28 may include at least one program product having a set (such as at least one) of program modules that are configured to perform the functions of the embodiments of the present disclosure.

[0118] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. An implementation of a network environment may be included in each or some combination of these examples. The program modules 42 generally perform the functions and / or methods in the embodiments described in the present disclosure.

[0119] The computer device 12 can also communicate with one or more external devices 14 (such as keyboards, pointing devices, displays 24, etc.), and can also communicate with one or more devices that enable users to interact with the computer device 12, and / or communicate with any device that enables the computer device 12 to communicate with one or more other computing devices (such as network cards, modems, etc.). Such communication can be carried out through the input / output (I / O) interface 22. Moreover, the computer device 12 can also communicate with one or more networks (such as a Local Area Network (LAN), a Wide Area Network (WAN), and / or a public network, such as the Internet) through the network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the computer device 12 through the bus 18. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0120] The processing unit 16 executes various functional applications by running the programs stored in the system memory 28, such as implementing the shearer hydraulic support pushing control method mentioned in the foregoing embodiments.

[0121] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include well-known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0122] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

[0123] It should be noted that in the description of the present disclosure, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0124] Any process or method description depicted in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code that includes one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present disclosure includes additional implementations where functions may be executed in a manner that is not shown or discussed, including in a substantially simultaneous manner according to the involved functions or in a reverse order, which should be understood by those skilled in the art to which the embodiments of the present disclosure pertain.

[0125] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), and the like.

[0126] Those of ordinary skill in the art of the present technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0127] In addition, in each embodiment of the present disclosure, each functional unit can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0128] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, or the like.

[0129] In the description of this specification, descriptions with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0130] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for controlling the pushing of a shearer hydraulic support, characterized in that, it includes: Obtaining the state information during the pushing process of the shearer hydraulic support; Calculating the pushing control compensation according to the state information; and Based on the pushing control compensation, performing compensation control on the electro-hydraulic control system of the shearer hydraulic support; Calculating the pushing control compensation according to the state information includes: According to the state information, establishing the state space equation of the electro-hydraulic control system; Converting the state space equation into a discrete state space representation equation; Based on the discrete state space representation equation, calculating the discrete residual signal of the electro-hydraulic control system through a pre-designed state observer; Designing a target evaluation function for the electro-hydraulic control system and determining the feedback gain when the target evaluation function is minimized; wherein, the form of the target evaluation function is: Among them, is a parameter for evaluating the one-time shift error and the input current, and the shift error is used to describe the error between the reference quantity and the actual quantity of each shift distance of the electro-hydraulic control system. is the integral of the shift error. is the input current of the electro-hydraulic control system. is a weight parameter. is the feedback gain, and when the target evaluation function is minimized, the value of the feedback gain is determined. value. Determining the pushing control compensation according to the feedback gain and the discrete residual signal.

2. The method according to claim 1, characterized in that, The state information includes the solenoid valve group switch state quantity and the hydraulic intensity state quantity of the electro-hydraulic control system, and the form of the state space equation is: Among them, are the switch state quantity and hydraulic strength state quantity of the solenoid valve group, is the input quantity of the electro-hydraulic control system, and A, B, C, D are the function matrices of the electro-hydraulic control system, is the output quantity of the electro-hydraulic control system.

3. The method according to claim 2, characterized in that, The form of the discrete state space representation equation is: Among them, represents the input quantity of the electro-hydraulic control system during the k-th pushing action, represents the state quantity of the electro-hydraulic control system during the k-th pushing action, , , , represents the parameter matrix of the electro-hydraulic control system during the k-th pushing action, then represents the output quantity of the electro-hydraulic control system during the k-th pushing action.

4. The method according to claim 1, characterized in that, The form of the state observer is: Among them, is the dynamic characteristic of the state observer, is the state quantity estimation of the state observer for the k-th pushing action, is the output quantity estimation of the electro-hydraulic control system for the k-th pushing action, is the discrete residual signal.

5. The method according to claim 1, characterized in that, The state information is the inclination angle between the shearer hydraulic support and the mine ground. Calculating the pushing control compensation according to the state information includes: Based on the inclination angle, using the sliding friction formula to calculate the pushing resistance during the pushing process of the shearer hydraulic support, and taking the pushing resistance as the pushing control compensation, where the sliding friction formula is as follows: is the pushing resistance, is the coefficient of kinetic friction, m B is the weight of the shearer hydraulic support, is the inclination angle.

6. A device for controlling the pushing of a shearer hydraulic support, characterized in that, it includes: A state acquisition module for obtaining the state information during the pushing process of the shearer hydraulic support; A gain calculation module for calculating the pushing control compensation according to the state information; and A compensation control module for performing compensation control on the electro-hydraulic control system of the shearer hydraulic support based on the pushing control compensation; The gain calculation module includes: An establishment sub-module for establishing the state space equation of the electro-hydraulic control system according to the state information; A conversion sub-module for converting the state space equation into a discrete state space representation equation; A prediction sub-module for calculating the discrete residual signal of the electro-hydraulic control system through a pre-designed state observer based on the discrete state space representation equation; A calculation sub-module for designing a target evaluation function for the electro-hydraulic control system and determining the feedback gain when the target evaluation function is minimized; wherein, the form of the target evaluation function is: Among them, is a parameter for evaluating the one-time shift error and the input current, and the shift error is used to describe the error between the reference quantity and the actual quantity of the displacement distance of the electro-hydraulic control system each time. is the integral of the shift error. is the input current of the electro-hydraulic control system. is a weight parameter. is the feedback gain, and the value of the feedback gain is determined when the target evaluation function is minimized. value. A determination sub-module for determining the pushing control compensation according to the feedback gain and the discrete residual signal.

7. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are for causing the computer to execute the method according to any one of claims 1-5.

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