Method for rapidly judging, regulating and controlling supporting stability of top coal caving hydraulic support

Abstract

Relates to the technical field of hydraulic support stability regulation and control, in particular to a top coal caving hydraulic support supporting stability rapid judgment and regulation and control method which comprises the following steps that S1, pose parameters of all parts of a hydraulic support are collected; s2, judging whether the hydraulic support is in a forward tilting instability state or a backward tilting instability state or not; s3, calculating the load distribution condition of the top beam; s4, solving an equivalent concentrated load borne by the top beam and a load acting position of the equivalent concentrated load; s5, calculating an instability threshold value of the equivalent concentrated load of each point of the top beam; s6, establishing a top beam unbalance loading instability partition judgment model, and determining corresponding instability types when the equivalent concentrated loads are distributed in different partitions and are greater than an instability threshold value; and S7, establishing regulation and control methods correspondingly adopted in different instability states and instability types, and integrating a regulation and control method library. According to the comprehensive evaluation method, the support pose characteristics and the support bearing characteristics are mutually fused, the supporting stability of the top coal caving hydraulic support is guaranteed, and therefore the production safety of a fully mechanized caving face is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic support stability control, and in particular to a method for quickly distinguishing and controlling the support stability of a top coal caving hydraulic support. Background Art

[0002] As an important supporting equipment for the fully mechanized mining face, the hydraulic support for top coal caving plays an important role in supporting the roof and transferring the roof load from the top beam to the base and then to the bottom plate through the support's own structure, as well as controlling the top coal caving. The stability of its support is related to the safe and efficient production of the entire working face. In actual production, the support posture of the support changes due to the movement of the support, repeated support of the roof, and the swinging back and forth of the coal caving mechanism. The hydraulic support for top coal caving is prone to instability due to complex conditions such as the inclination and concavity of the top and bottom plates. At the same time, due to the existence of impact ground pressure and roof pressure, the support is structurally damaged due to instantaneous overload, reducing the support's support capacity and posing a serious threat to the safety of life and property underground.

[0003] The existing inventions consider the quality of the support from the perspective of the support's tilting, tipping and other postures, or perform support failure analysis based solely on the column pressure conditions. They do not integrate the two main support characteristics of the support, and do not consider or study the specific distribution of the support's top beam load, making it difficult to accurately analyze the instability of the hydraulic support. Summary of the invention

[0004] The present invention aims to solve the above problems and provides a method for quickly judging and regulating the stability of a top coal caving hydraulic support. The technical solution adopted is as follows: A method for quickly judging and regulating the stability of a top coal caving hydraulic support, comprising the following steps: S1. Collect the position parameters of the top beam, shield beam, base, tail beam and column of the hydraulic support; S2. Calculate the relative inclination angle between the top beam and the base, set the forward instability threshold and the backward instability threshold of the relative inclination angle, and judge whether the hydraulic support is in a forward instability state or a backward instability state by comparing the relative inclination angle with the forward instability threshold and the backward instability threshold; S3. Calculate the load distribution of the top beam according to the supporting force and supporting position of the column on the top beam; S4. Calculate the equivalent concentrated load on the top beam and its load action position; S5. Based on the maximum fluid supply pressure of the column, the instability threshold of the equivalent concentrated load at each point of the top beam is calculated, and a dataset of the instability threshold of the top beam eccentric load is constructed accordingly; S6. Take the four supporting points of the column and the top beam as the division base points, connect the lines according to the division base points, divide the top beam into 9 areas, establish the top beam eccentric load instability zoning judgment model, and clarify the corresponding instability type when the equivalent concentrated load is distributed in different zones and is greater than the instability threshold; S7. According to steps S2 and S6, corresponding control methods for different instability states and instability types are established, and a control method library is integrated.

[0005] On the basis of the above scheme, a top beam inclination sensor is set on the top beam to measure the absolute inclination of the top beam. ; A shield beam inclination sensor is set on the shield beam to measure the absolute inclination of the shield beam ; A tail beam inclination sensor is set on the tail beam to measure the absolute inclination of the tail beam ; A base inclination sensor is set on the base to measure the absolute inclination of the base The left front pressure sensor and the left front travel sensor are set on the left front pillar to measure the pressure in the lower cavity of the left front pillar. and length The left rear pressure sensor and the left rear travel sensor are set on the left rear pillar to measure the pressure in the lower cavity of the left rear pillar. and length The right front pressure sensor and the right front travel sensor are set on the right front pillar to measure the pressure in the lower cavity of the right front pillar. and length The right rear pressure sensor and the right rear travel sensor are set on the right rear pillar to measure the pressure in the lower cavity of the right rear pillar. and length The tail beam jack is equipped with a jack pressure sensor and a jack travel sensor to measure the pressure in the lower cavity of the tail beam jack. and tail boom jack length .

[0006] Based on the above scheme, define the relative inclination angle of the top beam , define the forward tilt instability threshold θ v1 , define the backward tilt instability threshold θ v2 ; when θ v1 When θ v2 When , it is determined that the hydraulic support is in a backward tilting and unstable state.

[0007] On the basis of the above scheme, when the hydraulic support is in a forward tilting and unstable state, the left front column and the right front column are extended, and / or the left rear column and the right rear column are shortened; When the hydraulic support is in a backward tilting and unstable state, the left rear column and the right rear column are extended, and / or the left front column and the right front column are shortened.

[0008] Preferably, the rodless cavity area S of each column is calculated to obtain the support force F1=P3S of the left front column on the top beam, the support force F2=P5S of the right front column on the top beam, the support force F3=P2S of the left rear column on the top beam, and the support force F4=P4S of the right rear column on the top beam; The top beam is simplified into a hexahedron model, and a spatial coordinate system O-XYZ fixed to the top beam is established. With one corner of the top beam as the origin of the coordinate system, the length of the top beam is defined as L0, the width as B0, and the height as H0. The force analysis of the top beam is performed; F5 is defined as the support force of the shield beam on the top beam, and F xy is the external load on the top beam at the point with coordinates (x, y, H0), L1, L2, L3, L4 and x are the force points F1, F2, F3, F4 and F respectively. xy The distance between the force point and the Y axis, B1, B2, B3, B4, B' and y are the force points F1, F2, F3, F4, F5 and F respectively. xy The distance between the force point and the X axis, , , , , are the angles between F1, F2, F3, F4 and F5 and the Z axis, is the relative inclination angle of the top beam, and , Establish the force balance equation in the Z-axis direction (1) Establish the force balance equation in the X-axis direction (2) Establish the moment balance equation about the Z axis (3) Establish the moment balance equation about the X axis (4) Establish the moment balance equation about the Y axis (5) Solve the equations (1)-(5) to obtain the force value F at any point on the top beam (1): xy .

[0009] Based on the above scheme, equations (1) to (5) are simplified to obtain (6) Solving equation group (6) can obtain the equivalent concentrated load F of the top beam: xy_c The size and coordinate position (x, y, H0) of the

[0010] On the basis of the above scheme, the rated maximum values ​​of P2, P3, P4 and P5 are taken to obtain the rated maximum support forces of F1, F2, F3 and F4. By cyclically solving equation (6), the equivalent concentrated load instability threshold F corresponding to each point on the top beam is obtained. xy_v , all the equivalent concentrated load instability thresholds F xy_v The collection constitutes the top beam eccentric load instability threshold data set.

[0011] On the basis of the above scheme, the support points of the left front column, the left rear column, the right front column and the right rear column on the top beam are used as the division base points, and lines are connected according to the division base points to divide the top beam into 9 areas, among which the three areas on the right side of the right front column and the right rear column are the right front area, the right middle area, and the right rear area from front to back, the three areas between the left front column and the right front column are the central front area, the central middle area, and the central rear area from front to back, and the three areas on the left side of the left front column and the left rear column are the left front area, the left middle area, and the left rear area from front to back; According to the location and value of the equivalent concentrated load, the following instability types are established: A. When the equivalent concentrated load F of the top beam xy_c The action points are in the left front area, the central front area and the right front area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to tilt forward and become unstable; B. When the equivalent concentrated load F of the top beam xy_c The action points are in the left rear area, the central rear area and the right rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support has a tendency to tilt backward and become unstable; C. When the equivalent concentrated load F of the top beam xy_c The action points are in the right front area, right middle area, and right rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support has a tendency to tilt to the right and become unstable; D. When the equivalent concentrated load F of the top beam xy_cThe action points are in the left front area, left middle area, and left rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to become unstable to the left; E. When the equivalent concentrated load F of the top beam xy_c The action point is in the central area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to collapse.

[0012] On the basis of the above scheme, When in instability type A, the control methods adopted include increasing the fluid supply pressure of the left front column and the right front column, extending the length of the left front column and the right front column, and shortening the length of the left rear column and the right rear column; When in instability type B, the control methods adopted include increasing the fluid supply pressure of the left rear pillar and the right rear pillar, extending the length of the left rear pillar and the right rear pillar, and shortening the length of the left front pillar and the right front pillar; When in instability type C, the control methods adopted include increasing the fluid supply pressure of the right front column and the right rear column, extending the length of the right front column and the right rear column, and shortening the length of the left front column and the left rear column; When in instability type D, the control methods adopted include increasing the fluid supply pressure of the left front column and the left rear column, shortening the length of the right front column and the right rear column, and lengthening the length of the left front column and the left rear column; When in instability type E, the control methods adopted include: when the actual pressure of the column is less than the rated fluid supply pressure of the column, increasing the fluid supply pressure of the column to enhance the support strength of the column; when the actual pressure of the column is greater than the rated fluid supply pressure of the column, opening the unloading valve of the hydraulic system to relieve pressure.

[0013] On the basis of the above scheme, one or more control methods are selected for various instability types, and the equivalent concentrated load F of the top beam is calculated in real time. xy_c The value and point of action of the equivalent concentrated load at that point is F xy_v For comparison, when the equivalent concentrated load F xy_c Less than the equivalent concentrated load instability threshold F at the corresponding point xy_v When the control is completed.

[0014] The beneficial effects of the present invention are as follows: this scheme comprehensively considers the influence of the support posture, the load borne by the support and the specific load distribution of the top beam on the support stability of the support, and proposes a comprehensive evaluation method that integrates the support posture characteristics and the support bearing characteristics. Through this method, the support stability of the hydraulic support for top coal caving is quickly judged, and control methods corresponding to various instability types are established, and an instability control method library is constructed. After the instability type of the support is determined, the corresponding control method is found in the method library to ensure the support stability of the hydraulic support for top coal caving, thereby ensuring the production safety of the fully-mechanized working face. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 : Flow chart of the method of the present invention; Figure 2 : Schematic diagram of the hydraulic support structure and sensor installation position of the present invention; Figure 3 : Schematic diagram of the hydraulic support structure and sensor installation position of the present invention from another perspective; Figure 4 : Spatial force analysis diagram of simplified model of top beam of the present invention; Figure 5 : Schematic diagram of the force position in the plane of the simplified model of the top beam of the present invention; Figure 6 : The top beam eccentric load instability partition model of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0017] In the description of the present invention, it should be understood that the terms "center", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0018] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0019] like Figures 1 to 6 As shown, a method for quickly judging and regulating the stability of a top coal caving hydraulic support includes the following steps: S1. Collect the position parameters of the hydraulic support top beam 1, the shield beam 6, the base 12, the tail beam 8 and the column; S2. Calculate the relative inclination angle between the top beam 1 and the base 12, set the forward instability threshold and the backward instability threshold of the relative inclination angle, and judge whether the hydraulic support is in a forward instability state or a backward instability state by comparing the relative inclination angle with the forward instability threshold and the backward instability threshold; S3. Calculate the load distribution of the top beam according to the support force and support position of the column on the top beam 1; S4. Calculate the equivalent concentrated load on top beam 1 and its load action position; S5. Based on the maximum fluid supply pressure of the column, the instability threshold of the equivalent concentrated load at each point of the top beam 1 is calculated, and a dataset of the instability threshold of the top beam eccentric load is constructed accordingly; S6. Take the four supporting points of the column and top beam 1 as the division base points, connect the lines according to the division base points, divide the top beam 1 into 9 areas, establish the top beam eccentric load instability zoning judgment model, and clarify the corresponding instability type when the equivalent concentrated load is distributed in different zones and is greater than the instability threshold; S7. According to steps S2 and S6, corresponding control methods for different instability states and instability types are established, and a control method library is integrated.

[0020] The posture parameters in step S1 include angle, length, pressure, etc. Specifically, Figure 2 and Figure 3 As shown, a top beam inclination sensor 3 is provided on the top beam 1 to measure the absolute inclination angle of the top beam 1 The shield beam 6 is provided with a shield beam inclination sensor 5 to measure the absolute inclination of the shield beam 6 The tail beam 8 is provided with a tail beam inclination sensor 7 to measure the absolute inclination of the tail beam 8 The base 12 is provided with a base inclination sensor 15 to measure the absolute inclination of the base 12 The left front pressure sensor 16 and the left front stroke sensor 2 are provided on the left front pillar 17 to measure the pressure in the lower cavity of the left front pillar 17 and length The left rear pressure sensor 14 and the left rear stroke sensor 4 are provided on the left rear pillar 13 to measure the pressure in the lower cavity of the left rear pillar 13 and length The right front pressure sensor 21 and the right front travel sensor 19 are provided on the right front pillar 20 to measure the pressure in the lower cavity of the right front pillar 20 and length The right rear pressure sensor 22 and the right rear stroke sensor 18 are set on the right rear pillar 23 to measure the pressure in the lower cavity of the right rear pillar 23 and length The tail beam jack 10 is provided with a jack pressure sensor 11 and a jack stroke sensor 9 to measure the pressure of the lower cavity of the tail beam jack 10 and tail boom jack 10 length .

[0021] The above step S2 specifically includes defining the relative inclination angle of the top beam 1 , define the forward tilt instability threshold θ v1 , define the backward tilt instability threshold θ v2 ;when θ v1 When θ v2When , it is determined that the hydraulic support is in a backward tilting and unstable state.

[0022] When the hydraulic support is in a forward tilting and unstable state, the left front column 17 and the right front column 20 are extended, and / or the left rear column 13 and the right rear column 23 are shortened; when the hydraulic support is in a backward tilting and unstable state, the left rear column 13 and the right rear column 23 are extended, and / or the left front column 17 and the right front column 20 are shortened.

[0023] Calculate the rodless cavity area S of each column, and obtain the support force F1=P3S of the left front column 17 on the top beam 1, the support force F2=P5S of the right front column 20 on the top beam 1, the support force F3=P2S of the left rear column 13 on the top beam 1, and the support force F4=P4S of the right rear column 23 on the top beam 1; Step S3 specifically includes: Figure 4 and Figure 5 As shown in the figure, the top beam 1 is simplified into a hexahedral model, and a spatial coordinate system O-XYZ fixed to the top beam 1 is established. With a corner point of the top beam 1 as the origin of the coordinate, the length of the top beam 1 is defined as L0, the width as B0, and the height as H0, and the force analysis of the top beam 1 is performed; F5 is defined as the supporting force of the shield beam 6 on the top beam 1, and F xy is the external load on top beam 1 at the point with coordinates (x, y, H0), L1, L2, L3, L4 and x are the force points F1, F2, F3, F4 and F respectively. xy The distance between the force point and the Y axis, B1, B2, B3, B4, B' and y are the force points F1, F2, F3, F4, F5 and F respectively. xy The distance between the force point and the X axis, , , , , are the angles between F1, F2, F3, F4 and F5 and the Z axis, is the relative inclination angle of top beam 1, and , Establish the force balance equation in the Z-axis direction (1) Establish the force balance equation in the X-axis direction (2) Establish the moment balance equation about the Z axis (3) Establish the moment balance equation about the X axis (4) Establish the moment balance equation about the Y axis (5) Solve the equations (1)-(5) to obtain the force value F at any point on top beam 1. xy , and then solve the distribution of the load on the top beam. By solving the load distribution of the top beam in real time, it is possible to monitor in real time whether the hydraulic support has an overload, as well as the specific location and size of the overload.

[0024] In order to quickly calculate whether the hydraulic support has an eccentric load, equations (1) to (5) are simplified to obtain (6) Solving equation group (6) can obtain the equivalent concentrated load F of the top beam 1: xy_c Compared with solving the load distribution of the top beam, which requires solving the load size of each point on the top beam, directly solving the equivalent concentrated load can greatly simplify the equation and thus improve the calculation speed, so as to quickly determine the size and position of the equivalent concentrated load of the support top beam, which is conducive to the rapid judgment of the support overload and support stability support.

[0025] Take the rated maximum values ​​of P2, P3, P4 and P5 to obtain the rated maximum support forces of F1, F2, F3 and F4. By repeatedly solving equation (6), the equivalent concentrated load instability threshold F corresponding to each point on the top beam 1 is obtained. xy_v , all the equivalent concentrated load instability thresholds F xy_v The collection constitutes the top beam eccentric load instability threshold data set.

[0026] like Figure 6 As shown, the support points of the left front column 17, the left rear column 13, the right front column 20 and the right rear column 23 on the top beam 1 are used as the dividing base points, and lines are connected according to the dividing base points to divide the top beam 1 into 9 areas, wherein the three areas on the right side of the right front column 20 and the right rear column 23 are respectively ① right front area, ② right middle area, ③ right rear area from front to back, the three areas between the left front column 17 and the right front column 20 are respectively ④ central front area, ⑤ central middle area, ⑥ central rear area from front to back, and the three areas on the left side of the left front column 17 and the left rear column 13 are respectively ⑦ left front area, ⑧ left middle area, ⑨ left rear area from front to back; According to the location and value of the equivalent concentrated load, the following instability types are established: A. When the equivalent concentrated load F of top beam 1 xy_c The action points are in the left front area, the central front area and the right front area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to tilt forward and become unstable; B. When the equivalent concentrated load F of top beam 1 xy_c The action points are in the left rear area, the central rear area and the right rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support has a tendency to tilt backward and become unstable; C. When the equivalent concentrated load F of top beam 1 xy_c The action points are in the right front area, right middle area, and right rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support has a tendency to tilt to the right and become unstable; D. When the equivalent concentrated load F of top beam 1 xy_c The action points are in the left front area, left middle area, and left rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to become unstable to the left; E. When the equivalent concentrated load F of top beam 1 xy_c The action point is in the central area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to collapse.

[0027] According to the above instability types, different control methods are adopted, and combined with the control method for step S2, each group of control methods is combined to form a control method library: When in instability type A, the control method adopted includes increasing the fluid supply pressure of the left front column 17 and the right front column 20, extending the length of the left front column 17 and the right front column 20, and shortening the length of the left rear column 13 and the right rear column 23; When in instability type B, the control method adopted includes increasing the fluid supply pressure of the left rear pillar 13 and the right rear pillar 23, extending the length of the left rear pillar 13 and the right rear pillar 23, and shortening the length of the left front pillar 17 and the right front pillar 20; When in instability type C, the control method adopted includes increasing the fluid supply pressure of the right front column 20 and the right rear column 23, extending the length of the right front column 20 and the right rear column 23, and shortening the length of the left front column 17 and the left rear column 13; When in instability type D, the control method adopted includes increasing the fluid supply pressure of the left front column 17 and the left rear column 13, shortening the length of the right front column 20 and the right rear column 23, and lengthening the length of the left front column 17 and the left rear column 13; When in instability type E, the control methods adopted include: when the actual pressure of the column is less than the rated fluid supply pressure of the column, increasing the fluid supply pressure of the column to enhance the support strength of the column; when the actual pressure of the column is greater than the rated fluid supply pressure of the column, opening the unloading valve of the hydraulic system to relieve pressure.

[0028] For various instability types, select one or more control methods, and calculate the equivalent concentrated load F of the top beam 1 in real time. xy_c The value and point of action of the equivalent concentrated load at that point is F xy_v For comparison, when the equivalent concentrated load F xy_c Less than the equivalent concentrated load instability threshold F at the corresponding point xy_v When the control is completed.

[0029] The present invention is described above by way of examples, but the present invention is not limited to the above specific embodiments, and any changes or modifications made based on the present invention belong to the scope of protection claimed by the present invention.

Claims

1. A method for quickly judging and regulating the stability of a top coal caving hydraulic support, characterized in that: The following steps are included: S1. Collecting the position parameters of the hydraulic support top beam (1), the shield beam (6), the base (12), the tail beam (8) and the column; S2. Calculate the relative inclination angle between the top beam (1) and the base (12), set the forward instability threshold and the backward instability threshold of the relative inclination angle, and judge whether the hydraulic support is in a forward instability state or a backward instability state by comparing the relative inclination angle with the forward instability threshold and the backward instability threshold; S3. Calculate the load distribution of the top beam according to the support force and support position of the column on the top beam (1); S4. Calculate the equivalent concentrated load on the top beam (1) and the load action position; S5. Based on the maximum fluid supply pressure of the column, the instability threshold of the equivalent concentrated load at each point of the top beam (1) is calculated, and a dataset of the instability threshold of the top beam eccentric load is constructed accordingly; S6. Taking the four supporting points of the columns and the top beam (1) as the division base points, the top beam (1) is divided into 9 areas by connecting the division base points, and a top beam eccentric load instability zoning determination model is established to clarify the instability type corresponding to the equivalent concentrated load distributed in different zones and greater than the instability threshold; S7. According to steps S2 and S6, corresponding control methods for different instability states and instability types are established, and a control method library is integrated.

2. A method for quickly judging and regulating the stability of a top coal caving hydraulic support according to claim 1, characterized in that: A top beam inclination sensor (3) is provided on the top beam (1) to measure the absolute inclination of the top beam (1) A shield beam inclination sensor (5) is provided on the shield beam (6) to measure the absolute inclination of the shield beam (6) A tail beam inclination sensor (7) is provided on the tail beam (8) to measure the absolute inclination of the tail beam (8) ; A base inclination sensor (15) is provided on the base (12) to measure the absolute inclination of the base (12). A left front pressure sensor (16) and a left front travel sensor (2) are provided on the left front pillar (17) to measure the pressure of the lower cavity of the left front pillar (17). and length A left rear pressure sensor (14) and a left rear travel sensor (4) are provided on the left rear pillar (13) to measure the pressure of the lower cavity of the left rear pillar (13). and length A right front pressure sensor (21) and a right front travel sensor (19) are provided on the right front pillar (20) to measure the pressure in the lower cavity of the right front pillar (20). and length A right rear pressure sensor (22) and a right rear travel sensor (18) are provided on the right rear pillar (23) to measure the pressure in the lower cavity of the right rear pillar (23). and length A jack pressure sensor (11) and a jack stroke sensor (9) are provided on the tail beam jack (10) to measure the pressure in the lower cavity of the tail beam jack (10) and tail boom jack (10) length .

3. A method for quickly judging and regulating the support stability of a top coal caving hydraulic support according to claim 2, characterized in that: Define the relative inclination of the top beam (1) , define the forward tilt instability threshold θ v1 , define the backward tilt instability threshold θ v2 ; when θ v1 When θ v2 When , it is determined that the hydraulic support is in a backward tilting and unstable state.

4. A method for quickly judging and regulating the stability of a top coal caving hydraulic support according to claim 3, characterized in that: When the hydraulic support is in a forward tilting and unstable state, the left front column (17) and the right front column (20) are extended, and / or the left rear column (13) and the right rear column (23) are shortened; When the hydraulic support is in a backward tilting and unstable state, the left rear column (13) and the right rear column (23) are extended, and / or the left front column (17) and the right front column (20) are shortened.

5. A method for rapid identification and control of support stability of top coal caving hydraulic support according to claim 2, characterized in that: Calculate the rodless cavity area S of each column, obtain the support force F1=P3S of the left front column (17) on the top beam (1), obtain the support force F2=P5S of the right front column (20) on the top beam (1), obtain the support force F3=P2S of the left rear column (13) on the top beam (1), and obtain the support force F4=P4S of the right rear column (23) on the top beam (1); The top beam (1) is simplified into a hexahedral model, and a spatial coordinate system O-XYZ fixed to the top beam (1) is established, and a corner point of the top beam (1) is used as the coordinate origin. The length of the top beam (1) is defined as L0, the width as B0, and the height as H0, and the force analysis of the top beam (1) is performed; F5 is defined as the support force of the shield beam (6) on the top beam (1), and F xy is the external load on the top beam (1) at the point with coordinates (x, y, H0), L1, L2, L3, L4 and x are the force points F1, F2, F3, F4 and F respectively. xy The distance between the force point and the Y axis, B1, B2, B3, B4, B' and y are the force points F1, F2, F3, F4, F5 and F respectively. xy The distance between the force point and the X axis, , , , , are the angles between F1, F2, F3, F4 and F5 and the Z axis, is the relative inclination angle of the top beam (1), and , Establish the force balance equation in the Z-axis direction （1） Establish the force balance equation in the X-axis direction （2） Establish the moment balance equation about the Z axis （3） Establish the moment balance equation about the X axis （4） Establish the moment balance equation about the Y axis （5） Solve the equations (1)-(5) to obtain the force value F at any point on the top beam (1): xy .

6. A method for quickly judging and regulating the stability of a top coal caving hydraulic support according to claim 5, characterized in that: Simplifying equations (1) to (5), we get （6） Solving equation group (6) can obtain the equivalent concentrated load F of the top beam (1): xy_c The size and coordinate position (x,y, H0).

7. A method for quickly judging and regulating the support stability of a top coal caving hydraulic support according to claim 6, characterized in that: Take the rated maximum values ​​of P2, P3, P4 and P5 to obtain the rated maximum support forces of F1, F2, F3 and F4. By repeatedly solving equation (6), the equivalent concentrated load instability threshold F corresponding to each point on the top beam (1) is obtained. xy_v , all the equivalent concentrated load instability thresholds F xy_v The collection constitutes the top beam eccentric load instability threshold data set.

8. A method for quickly judging and regulating the support stability of a top coal caving hydraulic support according to claim 7, characterized in that: The support points of the left front column (17), the left rear column (13), the right front column (20) and the right rear column (23) on the top beam (1) are used as the dividing base points, and lines are connected according to the dividing base points to divide the top beam (1) into 9 areas, wherein the three areas on the right side of the right front column (20) and the right rear column (23) are, from front to back, the right front area, the right middle area and the right rear area, respectively; the three areas between the left front column (17) and the right front column (20) are, from front to back, the central front area, the central middle area and the central rear area, respectively; and the three areas on the left side of the left front column (17) and the left rear column (13) are, from front to back, the left front area, the left middle area and the left rear area, respectively; According to the location and value of the equivalent concentrated load, the following instability types are established: A. When the equivalent concentrated load F of the top beam (1) xy_c The action points are in the left front area, the central front area and the right front area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to tilt forward and become unstable; B. When the equivalent concentrated load F of the top beam (1) xy_c The action points are in the left rear area, the central rear area and the right rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support has a tendency to tilt backward and become unstable; C. When the equivalent concentrated load F of the top beam (1) xy_c The action points are in the right front area, right middle area, and right rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support has a tendency to tilt to the right and become unstable; D. When the equivalent concentrated load F of the top beam (1) xy_c The action points are in the left front area, left middle area, and left rear area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to become unstable to the left; E. When the equivalent concentrated load F of the top beam (1) xy_c The action point is in the central area, and the equivalent concentrated load F xy_c The equivalent concentrated load instability threshold F is greater than this point. xy_v When the hydraulic support is judged to have a tendency to collapse.

9. A method for quickly judging and regulating the stability of a top coal caving hydraulic support according to claim 8, characterized in that: When in instability type A, the control method adopted includes increasing the fluid supply pressure of the left front column (17) and the right front column (20), extending the length of the left front column (17) and the right front column (20), and shortening the length of the left rear column (13) and the right rear column (23); When in instability type B, the control method adopted includes increasing the fluid supply pressure of the left rear column (13) and the right rear column (23), extending the length of the left rear column (13) and the right rear column (23), and shortening the length of the left front column (17) and the right front column (20); When in instability type C, the control method adopted includes increasing the fluid supply pressure of the right front column (20) and the right rear column (23), extending the length of the right front column (20) and the right rear column (23), and shortening the length of the left front column (17) and the left rear column (13); When in instability type D, the control method adopted includes increasing the fluid supply pressure of the left front column (17) and the left rear column (13), shortening the length of the right front column (20) and the right rear column (23), and extending the length of the left front column (17) and the left rear column (13); When in instability type E, the control methods adopted include: when the actual pressure of the column is less than the rated fluid supply pressure of the column, increasing the fluid supply pressure of the column to enhance the support strength of the column; when the actual pressure of the column is greater than the rated fluid supply pressure of the column, opening the unloading valve of the hydraulic system to relieve pressure.

10. A method for quickly judging and regulating the stability of a top coal caving hydraulic support according to claim 9, characterized in that: For each type of instability, one or more control methods are selected, and the equivalent concentrated load F of the top beam (1) is calculated in real time. xy_c The value and point of action of the equivalent concentrated load at that point is F xy_v For comparison, when the equivalent concentrated load F xy_c Less than the equivalent concentrated load instability threshold F at the corresponding point xy_v When the control is completed.

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