Hydraulic support electro-hydraulic proportional throttling control system and control method

Abstract

This disclosure relates to the field of hydraulic control technology, providing an electro-hydraulic proportional throttling control system and method for hydraulic supports. The control system includes: a hydraulic support controller; an electro-hydraulic directional valve connected to both the hydraulic support controller and an actuator, used to receive control signals from the hydraulic support controller to adjust the fluid flow direction and control the actuator's movement based on the fluid flow direction; and a proportional throttling valve connected in series between the electro-hydraulic directional valve and the actuator, used to adjust the output flow rate of the electro-hydraulic directional valve. This disclosure, by adjusting the fluid flow direction through the electro-hydraulic directional valve and then adjusting the fluid flow rate through the proportional throttling valve located at the rear end of the electro-hydraulic directional valve, achieves precise control of both fluid flow direction and flow rate, meeting the practical needs of precise control of hydraulic cylinder stroke and linearity control of scraper conveyors during continuous advancement of unmanned and intelligent fully mechanized mining faces.

Description

Technical Field

[0001] This disclosure relates to the field of hydraulic control technology, specifically to an electro-hydraulic proportional throttling control system and control method for hydraulic supports. Background Technology

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

[0003] The electro-hydraulic control system for hydraulic supports is a system that uses microcontrollers, sensors, and other electronic devices and hydraulic circuit control components to enable the hydraulic supports to operate automatically according to production needs. This system can replace manual operation of actions such as lowering, pulling, raising, pushing the front conveyor, pulling the rear conveyor, retracting and extending the side protection plates, spraying water, and releasing top coal with automated, programmed electro-hydraulic control. It can be matched with high-efficiency coal mining machines to accelerate the face advance and significantly improve the production efficiency of the coal mining face.

[0004] The directional control valve is the fluid distribution mechanism of the hydraulic support. By opening or closing the flow channel, it controls the movement of various power hydraulic cylinders, thereby achieving the purpose of controlling the movement of the hydraulic support. The hydraulic support control system has also achieved electro-hydraulic control of the directional control valve. Currently, the electro-hydraulic directional control valve mainly consists of two parts: an electromagnetic pilot valve and a hydraulically controlled directional control valve. The electromagnetic pilot valve utilizes its electrical control characteristics to control the directional control valve's large flow rate from a small flow rate. As flow rate and pressure increase, the diameter of the directional control valve core and the hydraulic force also increase, requiring a large and strong spring to match it, resulting in increasingly larger and heavier valve bodies. Simultaneously, the increased flow rate and pressure also exacerbate the wear of the seals, increasing the risk of fluid leakage into the directional control valve, thus affecting the movement speed and reliability of the hydraulic support.

[0005] Current high-flow electro-hydraulic directional valves, as electrically controlled on / off valves, inevitably experience severe pressure shocks during high-flow opening and closing, causing damage to the valve itself, support cylinders, and piping systems. The large pressure shocks are primarily due to the large outlet flow of these valves, which can rapidly increase to a peak value. Vibration during valve core opening causes significant fluctuations in the outlet flow. Since hydraulic supports are high-flow, high-pressure systems, these flow fluctuations will cause significant impacts on different parts of the system, increasing the probability of damage to hydraulic components. The rapid peak pressure reached by the directional valve in a high-pressure, high-flow system can also damage the support column due to hydraulic shock. Furthermore, current on / off high-flow electro-hydraulic directional valves struggle to achieve hydraulic cylinder position control. The control system's response delay and the large flow rates into and out of the cylinders cause displacement deviations, further affecting the straightness of the working face support.

[0006] As can be seen from the above, the existing large-flow directional valves have problems such as inaccurate flow control, pressure shock, and inaccurate hydraulic cylinder position control, which cannot meet the actual needs of precise control of hydraulic cylinder stroke and straightness control of scraper conveyor during the continuous advancement of unmanned and intelligent fully mechanized mining faces. Summary of the Invention

[0007] The purpose of this disclosure is to provide an electro-hydraulic proportional throttling control system and method for hydraulic supports, so as to at least solve the technical problems in the prior art such as inaccurate flow control of large flow reversing valves, pressure shock, and inaccurate position control of hydraulic cylinders.

[0008] To solve the above-mentioned technical problems, the embodiments of this disclosure adopt the following technical solutions:

[0009] In a first aspect, embodiments of this disclosure provide an electro-hydraulic proportional throttling control system for a hydraulic support, comprising:

[0010] Hydraulic support controller;

[0011] An electro-hydraulic directional valve is connected to the hydraulic support controller and the actuator respectively, and is used to receive the control signal from the hydraulic support controller to adjust the direction of fluid flow, and to control the action of the actuator according to the direction of fluid flow;

[0012] A proportional throttle valve is connected in series between the electro-hydraulic directional valve and the actuator to regulate the output flow of the electro-hydraulic directional valve.

[0013] In some embodiments, the proportional throttle valve includes a proportional valve controller, an electromechanical converter, and a pilot control valve connected in sequence. The proportional valve controller is connected to the hydraulic support controller, and the hydraulic output port of the electro-hydraulic directional valve is connected to the pilot control valve.

[0014] In some embodiments, the proportional throttle valve further includes a power stage control valve, the hydraulic output port of the electro-hydraulic directional valve is connected to the power stage control valve, and the hydraulic output port of the power stage control valve is connected to the actuator.

[0015] In some embodiments, the output of the proportional valve controller is connected to an electrical signal sensor;

[0016] The electromechanical converter is connected to a displacement or force sensor;

[0017] The pilot stage control valve is connected to a pilot stage sensor, which is used to detect the state position or output pressure of the pilot stage control valve.

[0018] The electrical signal sensor, the displacement or force sensor, and the pilot stage sensor are respectively connected to the proportional valve controller.

[0019] In some embodiments, the power stage control valve is connected to a power stage sensor, which is also connected to the proportional valve controller. The power stage sensor is used to detect the state position or output pressure of the power stage control valve.

[0020] In some embodiments, there are multiple electro-hydraulic directional valves, which form an electro-hydraulic directional valve group. The electro-hydraulic directional valve group is connected to the hydraulic support controller via an electromagnetic actuator.

[0021] Secondly, this disclosure provides an electro-hydraulic proportional throttling control method for a hydraulic support, applied to an electro-hydraulic proportional throttling control system for a hydraulic support. The control system includes a hydraulic support controller, an electro-hydraulic directional valve, and a proportional throttling valve. The electro-hydraulic directional valve is connected to both the hydraulic support controller and an actuator. The proportional throttling valve is connected in series between the electro-hydraulic directional valve and the actuator. The method includes:

[0022] The electro-hydraulic directional valve receives the control signal from the hydraulic support controller and adjusts the fluid flow direction according to the control signal;

[0023] The proportional throttle valve regulates the output flow of the electro-hydraulic directional valve.

[0024] In some embodiments, the electro-hydraulic directional valve includes a proportional valve controller, an electromechanical converter, and a pilot-stage control valve connected in sequence. The proportional valve controller is connected to the hydraulic support controller, and the hydraulic output port of the electro-hydraulic directional valve is connected to the pilot-stage control valve. The method further includes:

[0025] The proportional valve controller drives and controls the electromechanical converter to output proportionally according to the control signal of the hydraulic support controller;

[0026] The pilot-stage control valve amplifies the control signal output by the electromechanical converter and performs pilot-stage regulation on the flow rate output from the hydraulic output port of the electro-hydraulic directional valve.

[0027] In some embodiments, the proportional throttle valve further includes a power stage control valve, the hydraulic output port of the electro-hydraulic directional valve is connected to the power stage control valve, and the hydraulic output port of the power stage control valve is connected to the actuator. The method further includes:

[0028] The power stage control valve adjusts the flow rate output to the hydraulic cylinder based on the hydraulic output port of the electro-hydraulic directional valve, the output signal of the pilot stage control valve, and the hydraulic output port of the power stage control valve.

[0029] In some embodiments, the output of the proportional valve controller is connected to an electrical signal sensor, the electromechanical converter is connected to a displacement or force sensor, and the pilot-stage control valve is connected to a pilot-stage sensor. The method further includes:

[0030] The proportional valve controller corrects the control signal based on the sensor signals fed back by the electrical signal sensor, the displacement or force sensor, and the pilot stage sensor.

[0031] This disclosure provides an electro-hydraulic proportional throttling control system and method for hydraulic supports. The control system comprises a hydraulic support controller, an electro-hydraulic directional valve, and a proportional throttling valve. The electro-hydraulic directional valve is connected to both the hydraulic support controller and an actuator, receiving control signals from the controller to adjust the fluid flow direction and controlling the actuator's movement based on the flow direction. The proportional throttling valve is connected in series between the electro-hydraulic directional valve and the actuator, adjusting the output flow rate of the directional valve. This allows for precise control of both the fluid flow direction and flow rate by adjusting the fluid flow direction via the electro-hydraulic directional valve and then adjusting the flow rate through the proportional throttling valve located downstream of the directional valve. This meets the practical requirements for precise control of hydraulic cylinder stroke and linearity control of scraper conveyors during continuous advancement in unmanned and intelligent fully mechanized mining faces. Furthermore, this disclosure allows for structural design modifications based on existing electro-hydraulic directional valves, facilitating easy modification and reducing costs. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of the electro-hydraulic proportional throttling control system for the hydraulic support according to an embodiment of the present disclosure. Detailed Implementation

[0034] Various embodiments and features of this disclosure are described herein with reference to the accompanying drawings.

[0035] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this disclosure will be apparent to those skilled in the art.

[0036] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

[0037] These and other features of this disclosure will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0038] It should also be understood that although this disclosure has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this disclosure, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0039] The above and other aspects, features and advantages of this disclosure will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0040] Specific embodiments of this disclosure are described thereafter with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of this disclosure, which may be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that could obscure this disclosure. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely to serve as the basis and representative basis for the claims to teach those skilled in the art to use this disclosure in a variety of substantially any suitable detailed structures.

[0041] This specification may use the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” or “in still another embodiment,” all of which may refer to one or more of the same or different embodiments according to this disclosure.

[0042] The "Coal Mine Safety Regulations" stipulate that when using fully mechanized equipment for coal mining, the "three straight lines, one level line, and two unobstructed flows" must be ensured. The "three straight lines" refer to the coal face, scraper conveyor, and hydraulic supports remaining straight; the "one level line" refers to a level roof; and the "two unobstructed flows" refer to unobstructed flows at both ends of the working face. Regarding the stipulated "three straight lines and one level line," the "Classification, Grading, Technical Conditions and Evaluation Index System for Intelligent Coal Mining Faces" published by the China Coal Society clearly states that intelligent coal cutting subsystems and intelligent support subsystems must possess straightness sensing and straightness adjustment functions. Therefore, the key to automatically achieving the "three straight lines and one level line" lies in the straightness sensing and straightening technology of the working face.

[0043] Currently, most mining areas primarily employ wire-based management, using methods such as pulling ropes or projecting infrared beams to provide positioning standards for hydraulic supports, which are then manually adjusted to straighten the supports and scraper conveyors. With the deep integration of informatization and industrialization in the coal industry, the automation and intelligence levels of fully mechanized mining faces are continuously improving. In mining areas with better conditions, the coal cutting machine uses automatic coal cutting technology for automatic control, and the hydraulic supports follow the machine for automatic position control, thus achieving reduced or even unmanned operation during production. However, after several cycles of continuous coal mining, due to sensor errors and the cumulative movement of the gaps between the hydraulic supports and the scraper conveyor connecting pins, the hydraulic supports on the working face become unevenly positioned, and the straightness of the scraper conveyor cannot be guaranteed, requiring manual adjustments before production can continue. The problem of straightness control during continuous face advancement has become a technical bottleneck for unmanned mining in fully mechanized mining faces.

[0044] Since the accumulation of sensor errors and clearance runout cannot be eliminated at its root, it is necessary to improve the accuracy of the cylinder stroke during the frame shifting process to offset the errors and ensure a high degree of straightness of the working face support. However, current on / off high-flow electro-hydraulic directional valves are insufficient for cylinder position control. Due to the response delay in the control system and the large flow rate into and out of the cylinder, cylinder displacement deviation occurs, further affecting the straightness of the working face support.

[0045] In view of this, the present disclosure provides an electro-hydraulic proportional throttling control system and control method for hydraulic supports.

[0046] Example 1

[0047] Figure 1 A schematic diagram of the structure of the electro-hydraulic proportional throttling control system for a hydraulic support according to an embodiment of this disclosure is shown. Figure 1 As shown in the figure, an electro-hydraulic proportional throttling control system for a hydraulic support provided in this embodiment includes:

[0048] Hydraulic support controller (hereinafter referred to as support controller) 1;

[0049] The electro-hydraulic directional valve 2 is connected to the hydraulic support controller 1 and the actuator 3 respectively, and is used to receive the control signal from the hydraulic support controller 1 to adjust the direction of fluid flow, and to control the action of the actuator 3 according to the direction of fluid flow.

[0050] A proportional throttle valve (also known as an electro-hydraulic proportional regulating valve) 4 is connected in series between the electro-hydraulic directional valve 2 and the actuator 3, and is used to regulate the output flow of the electro-hydraulic directional valve 2.

[0051] This disclosure provides an electro-hydraulic proportional throttling control system for hydraulic supports. The system comprises a hydraulic support controller 1, an electro-hydraulic directional valve 2, and a proportional throttling valve 4. The electro-hydraulic directional valve 2 is connected to both the hydraulic support controller 1 and the actuator 3, receiving control signals from the hydraulic support controller 1 to adjust the fluid flow direction and controlling the action of the actuator 3 according to the fluid flow direction. The proportional throttling valve 4 is connected in series between the electro-hydraulic directional valve 2 and the actuator 3, adjusting the output flow rate of the electro-hydraulic directional valve 2. After adjusting the fluid flow direction through the electro-hydraulic directional valve 2, the proportional throttling valve 4, located at the rear end of the electro-hydraulic directional valve 2, adjusts the fluid flow rate, achieving precise control of the fluid flow direction and flow rate. This meets the practical needs of precise control of hydraulic cylinder stroke and linearity control of scraper conveyors during continuous advancement of unmanned and intelligent fully mechanized mining faces.

[0052] In this embodiment, the actuator 3 can be a hydraulic cylinder, which is connected to the hydraulic support of the longwall mining face. The movement of the hydraulic cylinder controls the movement of the hydraulic support. This embodiment uses a single hydraulic support as an example to describe the electro-hydraulic proportional throttling control system for the hydraulic support in detail. The hydraulic support controller 1 can be connected to multiple hydraulic cylinders via multiple electro-hydraulic directional valves 2. These multiple electro-hydraulic directional valves constitute an electro-hydraulic directional valve group. One support controller communicates with other hydraulic supports and the server via the working face bus, and also communicates with and is powered by its subordinate proportional valve controllers.

[0053] The electro-hydraulic directional valve 2 is a switch directional valve. This disclosure allows for structural design based on the existing electro-hydraulic directional valve 2, which is convenient to modify and has a low cost.

[0054] In some embodiments, the proportional throttle valve 4 includes a proportional valve controller, an electromechanical converter, and a pilot control valve connected in sequence. The proportional valve controller is connected to the hydraulic support controller 1, and the hydraulic output port of the electro-hydraulic directional valve 2 is connected to the pilot control valve.

[0055] In practical applications, the command signals sent from the support controller to the proportional valve controller can be either analog or digital (digital signals are converted into corresponding analog signals). To facilitate control and improve accuracy, the proportional amplifier section is designed as a proportional valve controller, incorporating functions such as command signal processing, valve group sensor data reception and processing, closed-loop algorithm calculation, and proportional drive. By using an electromechanical converter and a pilot-stage control valve to amplify the control signal output from the proportional valve controller in two stages, precise control of the hydraulic support's movements can be achieved.

[0056] In some embodiments, the proportional throttle valve 4 further includes a power stage control valve, the hydraulic output port of the electro-hydraulic directional valve 2 is connected to the power stage control valve, and the hydraulic output port of the power stage control valve is connected to the actuator.

[0057] The power-stage control valve amplifies the control signal output from the proportional valve controller, improving control accuracy. Furthermore, the hydraulic output port of the power-stage control valve, in conjunction with the actuator, enables precise flow regulation.

[0058] The proportional valve controller drives the electromechanical converter to output proportionally according to the instructions of the bracket controller, which in turn drives the pilot valve to output the corresponding control pressure and adjusts the hydraulic output port of the power stage control valve to output the corresponding flow.

[0059] In some embodiments, the output of the proportional valve controller is connected to an electrical signal sensor;

[0060] The electromechanical converter is connected to a displacement or force sensor;

[0061] The pilot stage control valve is connected to a pilot stage sensor, which is used to detect the state position or output pressure of the pilot stage control valve.

[0062] The electrical signal sensor, the displacement or force sensor, and the pilot stage sensor are respectively connected to the proportional valve controller.

[0063] In some embodiments, the power stage control valve is connected to a power stage sensor, which is also connected to the proportional valve controller. The power stage sensor is used to detect the state position or output pressure of the power stage control valve.

[0064] Electrical signal sensors are used to detect the electrical signals output by the proportional valve controller, while displacement or force sensors are used to detect the displacement or force output by the electrical converter. During the signal transmission process, corresponding detection sensors can be added at each level, and the detection data is fed back to the proportional valve controller for closed-loop algorithm processing to correct the control signal and improve the overall control accuracy. The hydraulic cylinder, as the final actuator, feeds back its pressure or stroke detection information to the hydraulic support controller 1 through a corresponding interface for closed-loop control of the actuator and reporting to the server.

[0065] Understandably, in practice, corresponding sensors can be connected according to actual needs, and some components of the electro-hydraulic proportional directional control valve 2 may not need to be connected to sensors.

[0066] In some embodiments, there are multiple electro-hydraulic directional valves 2, which form an electro-hydraulic directional valve group. The electro-hydraulic directional valve group is connected to the hydraulic support controller 1 via an electromagnetic actuator. This allows the hydraulic support controller 1 to control each electro-hydraulic directional valve 2 in the electro-hydraulic directional valve group via the electromagnetic actuator.

[0067] In practice, since only a small number of hydraulic cylinders require high-precision control, while other hydraulic cylinders are small in size and have simple functions, the requirements can be met by using electro-hydraulic directional valves 2. Therefore, in this embodiment, a proportional throttle valve 4 can be connected to the rear end of the corresponding electro-hydraulic directional valve 2 as needed. Some electro-hydraulic directional valves 2 do not need to be connected to the proportional throttle valve 4, which can reduce the cost of the control valve and make control convenient and quick.

[0068] Example 2

[0069] This disclosure provides an electro-hydraulic proportional throttling control method for a hydraulic support, applied to an electro-hydraulic proportional throttling control system for a hydraulic support. The control system includes a hydraulic support controller 1, an electro-hydraulic directional valve 2, and a proportional throttling valve 4. The electro-hydraulic directional valve 2 is connected to the hydraulic support controller 1 and an actuator 3, respectively. The proportional throttling valve 4 is connected in series between the electro-hydraulic directional valve 2 and the actuator 3. The method includes:

[0070] S101: The electro-hydraulic directional valve receives the control signal from the hydraulic support controller and adjusts the fluid flow direction according to the control signal;

[0071] S102: The proportional throttle valve regulates the output flow of the electro-hydraulic directional valve.

[0072] In some embodiments, the electro-hydraulic directional valve includes a proportional valve controller, an electromechanical converter, and a pilot-stage control valve connected in sequence. The proportional valve controller is connected to the hydraulic support controller, and the hydraulic output port of the electro-hydraulic directional valve is connected to the pilot-stage control valve. The method further includes:

[0073] S201: The proportional valve controller drives and controls the electromechanical converter to output proportionally according to the control signal of the hydraulic support controller;

[0074] S202: The pilot-stage control valve amplifies the control signal output by the electromechanical converter and performs pilot-stage regulation on the flow rate output from the hydraulic output port of the electro-hydraulic directional valve.

[0075] In some embodiments, the proportional throttle valve further includes a power stage control valve, the hydraulic output port of the electro-hydraulic directional valve is connected to the power stage control valve, and the hydraulic output port of the power stage control valve is connected to the actuator. The method further includes:

[0076] S301: The power stage control valve adjusts the flow rate output to the hydraulic cylinder based on the hydraulic output port of the electro-hydraulic directional valve, the output signal of the pilot stage control valve, and the hydraulic output port of the power stage control valve.

[0077] In some embodiments, the output of the proportional valve controller is connected to an electrical signal sensor, the electromechanical converter is connected to a displacement or force sensor, and the pilot-stage control valve is connected to a pilot-stage sensor. The method further includes:

[0078] S401: The proportional valve controller corrects the control signal based on the sensor signals fed back by the electrical signal sensor, the displacement or force sensor, and the pilot stage sensor.

[0079] The electro-hydraulic proportional throttling control method for hydraulic supports provided in this disclosure corresponds to the electro-hydraulic proportional throttling control system for hydraulic supports described above. Any option in the embodiments of the electro-hydraulic proportional throttling control system for hydraulic supports is also applicable to the embodiments of the electro-hydraulic proportional throttling control method for hydraulic supports, and will not be repeated here.

[0080] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0081] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0082] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A hydraulic support electro-hydraulic proportional throttling control system, characterized in that, include: Hydraulic support controller; An electro-hydraulic directional valve is connected to the hydraulic support controller and the actuator respectively, and is used to receive control signals from the hydraulic support controller to adjust the direction of fluid flow, and to control the action of the actuator according to the direction of fluid flow; A proportional throttle valve is connected in series between the electro-hydraulic directional valve and the actuator to regulate the output flow of the electro-hydraulic directional valve; The proportional throttle valve includes a proportional valve controller, an electromechanical converter, and a pilot stage control valve connected in sequence. The proportional valve controller is connected to the hydraulic support controller, and the hydraulic output port of the electro-hydraulic directional valve is connected to the pilot stage control valve. The proportional throttle valve also includes a power stage control valve, the hydraulic output port of the electro-hydraulic directional valve is connected to the power stage control valve, and the hydraulic output port of the power stage control valve is connected to the actuator. An electrical signal sensor is connected to the output terminal of the proportional valve controller. The electromechanical converter is connected to a displacement or force sensor; The pilot stage control valve is connected to a pilot stage sensor, which is used to detect the state position or output pressure of the pilot stage control valve. The electrical signal sensor, the displacement or force sensor, and the pilot stage sensor are respectively connected to the proportional valve controller.

2. The electro-hydraulic proportional throttling control system for hydraulic supports according to claim 1, characterized in that, The power stage control valve is connected to a power stage sensor, which is also connected to the proportional valve controller. The power stage sensor is used to detect the state position or output pressure of the power stage control valve.

3. The electro-hydraulic proportional throttling control system for hydraulic supports according to claim 1, characterized in that, There are multiple electro-hydraulic directional valves, which form an electro-hydraulic directional valve group. The electro-hydraulic directional valve group is connected to the hydraulic support controller through an electromagnetic actuator.

4. A method for electro-hydraulic proportional throttling control of a hydraulic support, characterized in that, The method applied to the electro-hydraulic proportional throttling control system for hydraulic supports according to any one of claims 1 to 3 includes: The electro-hydraulic directional valve receives the control signal from the hydraulic support controller and adjusts the fluid flow direction according to the control signal; The proportional throttle valve regulates the output flow of the electro-hydraulic directional valve; The proportional valve controller of the proportional throttle valve drives and controls the electromechanical converter of the proportional throttle valve to output proportionally according to the control signal of the hydraulic support controller; The pilot control valve of the proportional throttle valve amplifies the control signal output by the electromechanical converter and performs pilot-stage regulation on the flow rate output from the hydraulic output port of the electro-hydraulic directional valve. The method further includes: The power stage control valve of the proportional throttle valve adjusts the flow rate output to the hydraulic cylinder based on the hydraulic output port of the electro-hydraulic directional valve, the output signal of the pilot stage control valve, and the hydraulic output port of the power stage control valve. The output of the proportional valve controller is connected to an electrical signal sensor, the electromechanical converter is connected to a displacement or force sensor, the pilot-stage control valve is connected to a pilot-stage sensor, and the method further includes: The proportional valve controller corrects the control signal based on the sensor signals fed back from the electrical signal sensor, the displacement or force sensor, and the pilot stage sensor.

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