A rapid discrimination and control method for the support stability of a top coal caving hydraulic support

Abstract

It relates to the technical field of hydraulic support stability control, especially a method for quickly judging and controlling the support stability of a top coal caving hydraulic support, which includes the following steps: S1. Collect the pose parameters of each component of the hydraulic support; S2. Judge whether the hydraulic support is in a forward-tipping instability state or a backward-tipping instability state; S3. Calculate the load distribution of the top beam; S4. Solve the equivalent concentrated load on the top beam and its load action position; S5. Calculate the instability threshold of the equivalent concentrated load at each point of the top beam; S6. Establish a determination model for the top beam eccentric load instability zone, and clarify the corresponding instability types when the equivalent concentrated load is distributed in different zones and is greater than the instability threshold; S7. Establish the control methods corresponding to different instability states and instability types, and integrate the control method library. The present invention proposes a comprehensive evaluation method that integrates the pose characteristics and load-bearing characteristics of the support, ensuring the support stability of the top coal caving hydraulic support, and thus guaranteeing the production safety of the fully mechanized top coal caving face.

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:

[0005] A method for quickly judging and regulating the stability of a top coal caving hydraulic support, comprising the following steps:

[0006] S1. Collect the position parameters of the top beam, shield beam, base, tail beam and column of the hydraulic support;

[0007] 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;

[0008] S3. Calculate the load distribution of the top beam according to the supporting force and supporting position of the column on the top beam;

[0009] S4. Calculate the equivalent concentrated load on the top beam and its load action position;

[0010] 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;

[0011] S6. Taking the four support points of the upright post and the top beam as the division base points, connecting lines according to the division base points, dividing the top beam into 9 regions, establishing a determination model for the eccentric load instability zoning of the top beam, and clarifying the corresponding instability types when the equivalent concentrated load is distributed in different zones and is greater than the instability threshold;

[0012] S7. According to steps S2 and S6, establish the corresponding control methods for different instability states and instability types, and integrate the control method library.

[0013] On the basis of the above scheme, a top beam inclination sensor is arranged on the top beam to measure the absolute inclination of the top beam ; a canopy beam inclination sensor is arranged on the canopy beam to measure the absolute inclination of the canopy beam ; a tail beam inclination sensor is arranged on the tail beam to measure the absolute inclination of the tail beam ; a base inclination sensor is arranged on the base to measure the absolute inclination of the base ; a left front pressure sensor and a left front stroke sensor are arranged on the left front upright post to measure the pressure in the lower cavity of the left front upright post and the length ; a left rear pressure sensor and a left rear stroke sensor are arranged on the left rear upright post to measure the pressure in the lower cavity of the left rear upright post and the length ; a right front pressure sensor and a right front stroke sensor are arranged on the right front upright post to measure the pressure in the lower cavity of the right front upright post and the length ; a right rear pressure sensor and a right rear stroke sensor are arranged on the right rear upright post to measure the pressure in the lower cavity of the right rear upright post and the length ; a jack pressure sensor and a jack stroke sensor are arranged on the tail beam jack to measure the pressure in the lower cavity of the tail beam jack and the length of the tail beam jack .

[0014] On the basis of the above scheme, define the relative inclination of the top beam , define the forward inclination instability threshold θ v1 , define the backward inclination instability threshold θ v2 ;

[0015] When θ v1 , it is determined that the hydraulic support is in the forward inclination instability state. When θ v2 , it is determined that the hydraulic support is in the backward inclination instability state.

[0016] On the basis of the above solution, when the hydraulic support is in the state of forward tipping instability, extend the left front leg and the right front leg, and / or shorten the left rear leg and the right rear leg;

[0017] When the hydraulic support is in the state of backward tipping instability, extend the left rear leg and the right rear leg, and / or shorten the left front leg and the right front leg.

[0018] Preferably, calculate the area S of the rodless cavity of each leg, obtain the supporting force F1 of the left front leg on the top beam as F1 = P3S, obtain the supporting force F2 of the right front leg on the top beam as F2 = P5S, obtain the supporting force F3 of the left rear leg on the top beam as F3 = P2S, and obtain the supporting force F4 of the right rear leg on the top beam as F4 = P4S;

[0019] Simplify the top beam into a hexahedron model, establish a space coordinate system O-XYZ fixedly connected to the top beam, and use a corner point of the top beam as the coordinate origin. Define the length of the top beam as L0, the width as B0, and the height as H0, and conduct a force analysis on the top beam; define F5 as the supporting force of the shield beam on the top beam, and F xy as the external load received by the top beam at the point with coordinates (x, y, H0), and L1, L2, L3, L4, and x are the distances between the force application points of F1, F2, F3, F4, and F xy and the Y-axis respectively, and B1, B2, B3, B4, B’, and y are the distances between the force application points of F1, F2, F3, F4, F5, and F xy and the X-axis respectively, 、 、 、 、 are the angles between F1, F2, F3, F4, and F5 and the Z-axis respectively, is the relative inclination angle of the top beam, and ,

[0020] Establish the force balance equation in the Z-axis direction

[0021] (1)

[0022] Establish the force balance equation in the X-axis direction

[0023] (2)

[0024] Establish the moment balance equation about the Z-axis

[0025] (3)

[0026] Establish the moment balance equation about the X-axis

[0027] (4)

[0028] Establish the moment balance equation about the Y-axis

[0029] (5)

[0030] Solve the system of equations composed of equations (1)-(5) to obtain the force value F at any point on the top beam (1) xy .

[0031] On the basis of the above scheme, simplify equations (1)-(5) to obtain

[0032] (6)

[0033] Solve the system of equations (6) to obtain the equivalent concentrated load F of the load on the top beam xy_c and its coordinate position (x, y, H0).

[0034] On the basis of the above scheme, take the rated maximum values of P2, P3, P4 and P5 to obtain the rated maximum supporting forces of F1, F2, F3 and F4. By cyclically solving equation (6), obtain the instability threshold F of the equivalent concentrated load corresponding to each point on the top beam xy_v , and form a data set of the offset instability threshold of the top beam by collecting all the calculated instability thresholds F of the equivalent concentrated load xy_v .

[0035] On the basis of the above scheme, take the support points of the left front column, left rear column, right front column and right rear column on the top beam as the division base points, connect the lines according to the division base points, and divide the top beam into 9 regions. Among them, the three regions on the right side of the right front column and right rear column are the right front region, right middle region and right rear region from front to back in turn. The three regions between the left front column and right front column are the central front region, central middle region and central rear region from front to back respectively. The three regions on the left side of the left front column and left rear column are the left front region, left middle region and left rear region from front to back respectively;

[0036] Establish the following instability types according to the position and value of the equivalent concentrated load

[0037] A. When the acting point of the equivalent concentrated load F of the top beam xy_c is in the left front region, central front region and right front region, and the equivalent concentrated load F xy_c is greater than the instability threshold F of the equivalent concentrated load at this point xy_v , it is determined that the hydraulic support has a tendency to tip forward;

[0038] B. When the acting point of the equivalent concentrated load F of the top beam xy_c is in the left rear region, central rear region and right rear region, and the equivalent concentrated load Fxy_c When the equivalent concentrated load instability threshold F at this point is exceeded xy_v , it is determined that the hydraulic support has a tendency to tip backward;

[0039] C. When the acting point of the equivalent concentrated load F on the top beam is in the right front area, right middle area, or right rear area, and the equivalent concentrated load F xy_c exceeds the equivalent concentrated load instability threshold F xy_c at this point xy_v , it is determined that the hydraulic support has a tendency to tip to the right;

[0040] D. When the acting point of the equivalent concentrated load F on the top beam is in the left front area, left middle area, or left rear area, and the equivalent concentrated load F xy_c exceeds the equivalent concentrated load instability threshold F xy_c at this point xy_v , it is determined that the hydraulic support has a tendency to tip to the left;

[0041] E. When the acting point of the equivalent concentrated load F on the top beam is in the central middle area, and the equivalent concentrated load F xy_c exceeds the equivalent concentrated load instability threshold F xy_c at this point xy_v , it is determined that the hydraulic support has a tendency to be crushed.

[0042] Based on the above scheme

[0043] When in the instability type A, the control methods include increasing the supply pressure of the left front column and the right front column, extending the lengths of the left front column and the right front column, and shortening the lengths of the left rear column and the right rear column;

[0044] When in the instability type B, the control methods include increasing the supply pressure of the left rear column and the right rear column, extending the lengths of the left rear column and the right rear column, and shortening the lengths of the left front column and the right front column;

[0045] When in the instability type C, the control methods include increasing the supply pressure of the right front column and the right rear column, extending the lengths of the right front column and the right rear column, and shortening the lengths of the left front column and the left rear column;

[0046] When in the instability type D, the control methods include increasing the supply pressure of the left front column and the left rear column, shortening the lengths of the right front column and the right rear column, and extending the lengths of the left front column and the left rear column;

[0047] When in the instability type E, the control methods include, when the actual pressure of the column is less than the rated supply pressure of the column, increasing the column supply pressure to enhance the support strength of the column; when the actual pressure of the column is greater than the rated supply pressure of the column, opening the unloading valve of the hydraulic system for pressure relief.

[0048] Based on the above solution, for various types of instability, select one or more control methods, and during the control process, calculate the equivalent concentrated load F of the top beam in real time xy_c of the numerical value and the acting point, and compare it with the instability threshold F of the equivalent concentrated load at this point xy_v When the equivalent concentrated load F xy_c is less than the instability threshold F of the equivalent concentrated load at the corresponding point xy_v , the control is completed.

[0049] The beneficial effects of the present invention are as follows: This solution comprehensively considers the influence laws of the support pose, the load borne by the support, and the specific load distribution of the top beam on the support support stability, and proposes a comprehensive evaluation method that integrates the support pose characteristics and the support bearing characteristics. Through this method, a rapid discrimination of the support stability of the caving hydraulic support is made, and control methods corresponding to various instability types are established to construct an instability control method library. After determining the instability type of the support, find the corresponding control method in the method library to ensure the support stability of the caving hydraulic support, thereby ensuring the production safety of the fully-mechanized caving face. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 : Flowchart of the method of the present invention;

[0051] Figure 2 : Schematic diagram of the structure of the hydraulic support of the present invention and the installation position of the sensors;

[0052] Figure 3 : Another perspective schematic diagram of the structure of the hydraulic support of the present invention and the installation position of the sensors;

[0053] Figure 4 : Spatial force analysis diagram of the simplified model of the top beam of the present invention;

[0054] Figure 5 : Schematic diagram of the force position of the simplified model of the top beam of the present invention in the plane;

[0055] Figure 6 : Unsymmetrical loading instability zoning model of the top beam of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0056] The present invention will be further described below with reference to the drawings and embodiments:

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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:

[0061] 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;

[0062] 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;

[0063] S3. Calculate the load distribution of the top beam 1 based on the supporting force and position of the upright post on the top beam 1;

[0064] S4. Solve the equivalent concentrated load on the top beam 1 and its load acting position;

[0065] S5. Based on the maximum liquid supply pressure of the upright post, calculate the instability threshold of the equivalent concentrated load at each point of the top beam 1, and construct a data set of the off-center load instability threshold of the top beam accordingly;

[0066] S6. Taking the four support points of the upright post and the top beam 1 as the division base points, connect the lines according to the division base points, divide the top beam 1 into 9 regions, establish an off-center load instability zoning determination model for the top beam, and clarify the instability types corresponding to when the equivalent concentrated load is distributed in different zones and is greater than the instability threshold;

[0067] S7. According to steps S2 and S6, establish the control methods corresponding to different instability states and instability types, and integrate the control method library.

[0068] The pose parameters in step S1 include angles, lengths, pressures, etc. Specifically, as Figure 2 and Figure 3 shown, a top beam inclination sensor 3 is provided on the top beam 1 to measure the absolute inclination of the top beam 1 ; a canopy beam inclination sensor 5 is provided on the canopy beam 6 to measure the absolute inclination of the canopy 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 stroke sensor 2 are provided on the left front upright post 17 to measure the lower chamber pressure and length of the left front upright post 17 ; a left rear pressure sensor 14 and a left rear stroke sensor 4 are provided on the left rear upright post 13 to measure the lower chamber pressure and length ; a right front pressure sensor 21 and a right front stroke sensor 19 are provided on the right front upright post 20 to measure the lower chamber pressure and length of the right front upright post 20 and length ; a right rear pressure sensor 22 and a right rear stroke sensor 18 are provided on the right rear upright post 23 to measure the lower chamber pressure and length ; a jack pressure sensor 11 and a jack stroke sensor 9 are provided on the tail beam jack 10 to measure the lower chamber pressure and the length of the tail beam jack 10 .

[0069] The above-mentioned step S2 specifically further includes defining the relative inclination angle of the top beam 1 , defining the forward tipping instability threshold θ v1 , defining the backward tipping instability threshold θ v2 ; when θ v1 , it is determined that the hydraulic support is in a forward tipping instability state, and when θ v2 , it is determined that the hydraulic support is in a backward tipping instability state.

[0070] When the hydraulic support is in a forward tipping instability state, extend the left front leg 17 and the right front leg 20, and / or shorten the left rear leg 13 and the right rear leg 23; when the hydraulic support is in a backward tipping instability state, extend the left rear leg 13 and the right rear leg 23, and / or shorten the left front leg 17 and the right front leg 20.

[0071] Calculate the area S of the rodless cavity of each leg, obtain the support force F1 of the left front leg 17 on the top beam 1 as F1 = P3S, obtain the support force F2 of the right front leg 20 on the top beam 1 as F2 = P5S, obtain the support force F3 of the left rear leg 13 on the top beam 1 as F3 = P2S, and obtain the support force F4 of the right rear leg 23 on the top beam 1 as F4 = P4S;

[0072] Step S3 specifically includes, as shown in Figure 4 and Figure 5 , simplify the top beam 1 into a hexahedron model, establish a space coordinate system O-XYZ fixedly connected to the top beam 1, and use a corner point of the top beam 1 as the coordinate origin, define the length of the top beam 1 as L0, the width as B0, and the height as H0, and conduct a force analysis on the top beam 1; define F5 as the support force of the shield beam 6 on the top beam 1, and F xy as the external load received by the top beam 1 at the point with coordinates (x, y, H0), and L1, L2, L3, L4, and x are the distances between the force application points of F1, F2, F3, F4, and F xy and the Y-axis respectively, and B1, B2, B3, B4, B’, and y are the distances between the force application points of F1, F2, F3, F4, F5, and F xy and the X-axis respectively, , , , , are the angles between F1, F2, F3, F4, and F5 and the Z-axis respectively, is the relative inclination angle of the top beam 1, and ,

[0073] Establish the force balance equation in the Z-axis direction

[0074] (1)

[0075] Establish the force balance equation in the X-axis direction

[0076] (2)

[0077] Establish the moment balance equation about the Z-axis

[0078] (3)

[0079] Establish the moment balance equation about the X-axis

[0080] (4)

[0081] Establish the moment balance equation about the Y-axis

[0082] (5)

[0083] Solve the system of equations composed of equations (1)-(5) to obtain the force value F at any point on the top beam 1 xy , and then solve the load distribution of the top beam. By solving the load distribution of the top beam in real time, it is possible to monitor in real time whether there is an eccentric load on the hydraulic support, as well as the specific position and magnitude of the eccentric load, etc.

[0084] To quickly calculate whether there is an eccentric load on the hydraulic support, equations (1)-(5) are simplified to obtain

[0085] (6)

[0086] Solving the system of equations (6) can obtain the equivalent concentrated load F of the load borne by the top beam 1 xy_c in terms of magnitude and coordinate position (x, y, H0). Compared with solving the load magnitudes at various position points on the top beam when solving the top beam load distribution, directly solving the equivalent concentrated load can greatly simplify the equations and thus improve the calculation speed, so as to quickly determine the magnitude and position of the equivalent concentrated load on the support top beam, which is beneficial to the quick judgment of the eccentric load and stable support of the support.

[0087] 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 solving equation (6) in a loop, the instability threshold F of the equivalent concentrated load corresponding to each point on the top beam 1 is obtained xy_v , and all the calculated instability thresholds F of the equivalent concentrated load xy_v are assembled to form the top beam eccentric load instability threshold data set.

[0088] Such as Figure 6As shown in the figure, taking the support points of the left front column 17, left rear column 13, right front column 20 and right rear column 23 on the top beam 1 as the division base points, connecting lines according to the division base points, the top beam 1 is divided into 9 regions. Among them, the three regions on the right side of the right front column 20 and right rear column 23 are, from front to back, ① right front region, ② right middle region, ③ right rear region; the three regions between the left front column 17 and right front column 20 are, from front to back, ④ central front region, ⑤ central middle region, ⑥ central rear region; the three regions on the left side of the left front column 17 and left rear column 13 are, from front to back, ⑦ left front region, ⑧ left middle region, ⑨ left rear region;

[0089] According to the position and value of the equivalent concentrated load, the following instability types are established:

[0090] A. When the acting point of the equivalent concentrated load F of the top beam 1 xy_c is in the left front region, central front region and right front region, and the equivalent concentrated load F xy_c is greater than the instability threshold F of the equivalent concentrated load at this point xy_v it is determined that the hydraulic support has a tendency to tip forward;

[0091] B. When the acting point of the equivalent concentrated load F of the top beam 1 xy_c is in the left rear region, central rear region and right rear region, and the equivalent concentrated load F xy_c is greater than the instability threshold F of the equivalent concentrated load at this point xy_v it is determined that the hydraulic support has a tendency to tip backward;

[0092] C. When the acting point of the equivalent concentrated load F of the top beam 1 xy_c is in the right front region, right middle region and right rear region, and the equivalent concentrated load F xy_c is greater than the instability threshold F of the equivalent concentrated load at this point xy_v it is determined that the hydraulic support has a tendency to tip to the right;

[0093] D. When the acting point of the equivalent concentrated load F of the top beam 1 xy_c is in the left front region, left middle region and left rear region, and the equivalent concentrated load F xy_c is greater than the instability threshold F of the equivalent concentrated load at this point xy_v it is determined that the hydraulic support has a tendency to tip to the left;

[0094] E. When the acting point of the equivalent concentrated load F of the top beam 1 xy_c is in the central middle region, and the equivalent concentrated load F xy_c is greater than the instability threshold F of the equivalent concentrated load at this point xy_v it is determined that the hydraulic support has a tendency to be crushed.

[0095] According to the above instability types, different control methods are adopted, and combined with the control method for step S2, the control method sets of each group are combined to form a control method library:

[0096] When in instability type A, the control methods adopted include increasing the liquid supply pressure of the left front column 17 and the right front column 20, elongating the lengths of the left front column 17 and the right front column 20, and shortening the lengths of the left rear column 13 and the right rear column 23;

[0097] When in instability type B, the control methods adopted include increasing the liquid supply pressure of the left rear column 13 and the right rear column 23, elongating the lengths of the left rear column 13 and the right rear column 23, and shortening the lengths of the left front column 17 and the right front column 20;

[0098] When in instability type C, the control methods adopted include increasing the liquid supply pressure of the right front column 20 and the right rear column 23, elongating the lengths of the right front column 20 and the right rear column 23, and shortening the lengths of the left front column 17 and the left rear column 13;

[0099] When in instability type D, the control methods adopted include increasing the liquid supply pressure of the left front column 17 and the left rear column 13, shortening the lengths of the right front column 20 and the right rear column 23, and elongating the lengths of the left front column 17 and the left rear column 13;

[0100] When in instability type E, the control methods adopted include, when the actual pressure of the column is less than the rated liquid supply pressure of the column, increasing the liquid 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 liquid supply pressure of the column, opening the unloading valve of the hydraulic system to relieve pressure.

[0101] For various instability types, select one or more control methods, and calculate the equivalent concentrated load F of the roof beam 1 in real time during the control xy_c of the numerical value and the acting point, and compare it with the equivalent concentrated load instability threshold F xy_v at this point. When the equivalent concentrated load F xy_c is less than the equivalent concentrated load instability threshold F xy_v at the corresponding point, the control is completed.

[0102] The present invention has been described by way of example above, but the present invention is not limited to the above specific embodiments, and any modification or variation based on the present invention falls within the scope of protection required 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 columns; the columns include a left front column (17), a right front column (20), a left rear column (13) and a right rear column (23); 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 each 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. Using the four supporting points of each column and the top beam (1) as the division base points, connect the lines according to the division base points to divide the top beam (1) into 9 areas, establish a top beam eccentric load instability zoning determination model, and clarify the instability type corresponding to the equivalent concentrated load distributed in different areas 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 in 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 in 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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