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

Abstract

The invention relates to the technical field of hydraulic control, and provides a hydraulic support electro-hydraulic proportional reversing control system and a hydraulic support electro-hydraulic proportional reversing control method. The electro-hydraulic proportional reversing control valve is connected with the hydraulic support controller and the executing mechanism and is used for receiving a control signal of the hydraulic support controller, outputting corresponding flow or pressure and controlling the action of the executing mechanism according to the flow or the pressure; the electro-hydraulic proportional directional control valve is a two-position three-way proportional directional valve or a three-position four-way proportional directional valve. The control precision of the large-flow reversing valve can be improved, and the actual requirements for accurate control over the stroke of the hydraulic cylinder and control over the straightness of the scraper conveyer in the unmanned and intelligent fully mechanized coal mining face continuous propelling process are met.

Description

Technical Field

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

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

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

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

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

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

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

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

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

[0010] Hydraulic support controller;

[0011] The electro-hydraulic proportional reversing control valve is connected to the hydraulic support controller and the actuator respectively, and is used to receive the control signal output of the hydraulic support controller corresponding to the flow or pressure, and control the action of the actuator according to the flow or pressure. The electro-hydraulic proportional reversing control valve is a two-position three-way proportional reversing valve or a three-position four-way proportional reversing valve.

[0012] In some embodiments, the electro-hydraulic proportional reversing control valve includes a proportional valve controller, an electromechanical converter and a power stage control valve connected in sequence, and the power stage control valve has a hydraulic output port, and the hydraulic output port is connected to the actuator.

[0013] In some embodiments, the output end of the proportional valve controller is connected to an electrical signal sensor;

[0014] The electromechanical converter is connected to a displacement or force sensor;

[0015] The power level control valve is connected to a power level sensor, and the power level sensor is used to detect the state position or output pressure of the power level control valve;

[0016] The electrical signal sensor, the displacement or force sensor and the power level sensor are respectively connected to the proportional valve controller.

[0017] In some embodiments, a pilot stage control valve is also connected between the electromechanical converter and the power stage control valve, and the pilot stage control valve is connected to a pilot stage sensor, and the pilot stage sensor is used to detect the state position or output pressure of the pilot stage control valve.

[0018] In some embodiments, a plurality of the electro-hydraulic proportional directional control valves form an electro-hydraulic proportional directional control valve group, and the hydraulic support controller is connected to the proportional valve controllers of each of the electro-hydraulic proportional directional control valves via a valve group bus.

[0019] In some embodiments, the electro-hydraulic proportional reversing control valve group includes a proportional valve controller, and the proportional valve controller is embedded in the hydraulic support controller.

[0020] In some embodiments, an electro-hydraulic switch reversing control valve is also included, and the electro-hydraulic switch reversing control valve is connected between the hydraulic support controller and the corresponding actuator.

[0021] In a second aspect, an embodiment of the present disclosure provides a hydraulic support electro-hydraulic proportional reversing control method, which is applied to a hydraulic support electro-hydraulic proportional reversing control system, wherein the hydraulic support electro-hydraulic proportional reversing control system includes a hydraulic support controller and an electro-hydraulic proportional reversing control valve, wherein the electro-hydraulic proportional reversing control valve is connected to the hydraulic support controller and an actuator, respectively, and the method includes:

[0022] The electro-hydraulic proportional reversing control valve receives the control signal of the hydraulic support controller and outputs the corresponding flow or pressure;

[0023] The electro-hydraulic proportional reversing control valve controls the action of the actuator according to the flow rate or pressure;

[0024] Wherein, the electro-hydraulic proportional directional control valve is a two-position three-way proportional directional valve or a three-position four-way proportional directional valve.

[0025] In some embodiments, the electro-hydraulic proportional directional control valve comprises a proportional valve controller, an electromechanical converter and a power stage control valve connected in sequence, and the electro-hydraulic proportional directional control valve controls the action of the actuator according to the flow or pressure, including:

[0026] The proportional valve controller drives and controls the electromechanical converter to output proportionally according to the control signal of the hydraulic support controller;

[0027] The power stage control valve adjusts the hydraulic output port of the power stage control valve according to the output signal of the electromechanical converter to output a corresponding pressure or flow to the hydraulic cylinder.

[0028] In some embodiments, the output end of the proportional valve controller is connected to an electrical signal sensor, the electromechanical converter is connected to a displacement or force sensor, the power level control valve is connected to a power level sensor, and the method further comprises:

[0029] The proportional valve controller modifies the control signal according to the sensor signals fed back by the electrical signal sensor, the displacement or force sensor and the power level sensor.

[0030] The disclosed embodiments provide a hydraulic support electro-hydraulic proportional reversing control system and control method. Combined with the characteristics and operating conditions of the electro-hydraulic control system of the working face hydraulic support, a two-position three-way proportional reversing valve or a three-position four-way proportional reversing valve is used as an electro-hydraulic proportional reversing control valve, which is connected to the hydraulic support controller and the actuator. This can improve the control accuracy of the large-flow reversing valve, control the direction of the liquid flow, and control the output flow or pressure, thereby meeting the actual needs of precise control of the hydraulic cylinder stroke and straightness control of the scraper conveyor during the continuous advancement of the unmanned and intelligent comprehensive mining working face. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 It is a schematic structural diagram of the electro-hydraulic proportional switching control system of the hydraulic support according to the embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0034] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0035] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0036] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0037] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0038] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0039] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0040] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0041] The Coal Mine Safety Regulations stipulate that when comprehensive mechanized equipment is used for coal mining, the "three straights, one flat, and two smooths" must be ensured. The "three straights" include the coal wall, scraper conveyor, and hydraulic support of the working face must be straight, "one flat" refers to the flat roof, and "two smooths" refer to the smoothness of both ends of the working face. In response to the "three straights and one flat", the "Technical Conditions and Evaluation Index System for Classification and Grading of Intelligent Coal Mining Working Faces" issued by the China Coal Society clearly pointed out that the intelligent coal cutting subsystem and the intelligent support subsystem must have the functions of straightness perception and straightening. Therefore, the key to whether the "three straights and one flat" can be automatically achieved is the straightness perception and straightening technology of the working face.

[0042] At present, most mining areas mainly adopt wire management, that is, to provide hydraulic support positioning standards by pulling ropes or shooting an infrared beam on the working face, and to achieve the straightening of the working face support and scraper conveyor by manual adjustment. With the deep integration of industrialization and informationization in the coal industry, the automation and intelligence level of the fully-mechanized mining face is constantly improving. In mining areas with better conditions, the working face coal mining machine adopts automatic coal cutting technology for automatic control, and the hydraulic support follows the coal mining machine to achieve automatic position control, thus realizing the working face with less people or even unmanned during the production process. However, after multiple cycles of continuous coal mining on the working face, due to the accumulation of sensor errors and the gap between the pin ears of the hydraulic support and the scraper conveyor, the hydraulic support of the working face is not pushed evenly, and the straightness of the scraper conveyor cannot be guaranteed. Manual adjustment is required before production can continue. The problem of straightness control during the continuous advancement of the working face has become a technical bottleneck for unmanned mining of fully-mechanized mining faces.

[0043] Since the accumulation of sensor errors and clearance movement cannot be eliminated from the root, it is necessary to improve the accuracy of the cylinder stroke during the frame shifting process to offset the error and ensure that the working surface bracket has a high straightness. However, the current switch-type large-flow electro-hydraulic reversing valve is difficult to achieve cylinder position control. Due to the response delay of the control system and the large flow in and out of the cylinder, the cylinder displacement deviation is caused, which further affects the straightness of the working surface bracket.

[0044] In view of this, an embodiment of the present disclosure provides a hydraulic support electro-hydraulic proportional switching control system and a control method.

[0045] Embodiment 1

[0046] Figure 1 The schematic diagram of the structure of the hydraulic support electro-hydraulic proportional reversing control system according to the embodiment of the present disclosure is shown. Figure 1 As shown, an embodiment of the present disclosure provides an electro-hydraulic proportional reversing control system for a hydraulic support, comprising:

[0047] Hydraulic support controller (referred to as support controller) 1;

[0048] The electro-hydraulic proportional reversing control valve 2 is connected to the hydraulic support controller 1 and the actuator respectively, and is used to receive the control signal output of the hydraulic support controller 1 and the corresponding flow or pressure, and control the action of the actuator according to the flow or pressure. The electro-hydraulic proportional reversing control valve is a two-position three-way proportional reversing valve or a three-position four-way proportional reversing valve.

[0049] Among them, the actuator can be a hydraulic cylinder, which is connected to the hydraulic support of the comprehensive mining working face, and the movement of the hydraulic cylinder can control the movement of the hydraulic support. In this embodiment, taking a single hydraulic support as an example, the hydraulic support electro-hydraulic proportional reversing control system is described in detail. The hydraulic support controller 1 can be connected to multiple hydraulic cylinders through multiple electro-hydraulic proportional reversing control valves 2. Multiple electro-hydraulic proportional reversing control valves 2 constitute an electro-hydraulic proportional reversing control valve group. A support controller communicates with other hydraulic supports and servers through the working face bus, and communicates and supplies power to multiple subordinate proportional valve controllers through the valve group bus.

[0050] A hydraulic support electro-hydraulic proportional reversing control system provided by the embodiment of the present disclosure combines the characteristics and operating conditions of the working face hydraulic support electro-hydraulic control system, uses a two-position three-way proportional reversing valve or a three-position four-way proportional reversing valve as the electro-hydraulic proportional reversing control valve 2, and is connected to the hydraulic support controller 1 and the actuator. It can improve the control accuracy of the large-flow reversing valve, control the direction of the liquid flow, and control the output flow or pressure, meeting the actual needs of precise control of the hydraulic cylinder stroke and straightness control of the scraper conveyor during the continuous advancement of the unmanned and intelligent comprehensive mining working face.

[0051] The difference between a two-position three-way proportional directional valve and a three-position four-way proportional directional valve is that a two-position three-way proportional directional valve requires two combinations to control the extension and retraction of the hydraulic cylinder, while a three-position four-way proportional directional valve only requires one combination to control the extension and retraction of the hydraulic cylinder.

[0052] In some embodiments, the electro-hydraulic proportional directional control valve 2 includes a proportional valve controller, an electromechanical converter and a power stage control valve connected in sequence, and the power stage control valve has a hydraulic output port, and the hydraulic output port is connected to the actuator.

[0053] In actual work, the command signal sent by the support controller to the proportional control valve can be an analog signal or a digital signal (digital signal converted into the corresponding analog signal), and in order to facilitate control and improve control accuracy, the proportional amplifier part is designed as a proportional valve controller, taking into account the functions of command signal processing, valve group sensor data reception and processing, closed-loop algorithm operation, proportional drive, etc. At the same time, combined with the characteristics and operating conditions of the electro-hydraulic control system of the working face hydraulic support, the control signal output by the proportional valve controller is amplified in two stages using an electromechanical converter and a power stage control valve, so as to accurately control the hydraulic support.

[0054] Each proportional valve controller drives the control electromechanical converter to output proportionally according to the instructions of the bracket controller, and then drives the pilot valve to output the corresponding control pressure, and adjusts the power level control valve to output the corresponding pressure or flow to the hydraulic output port and the hydraulic cylinder.

[0055] In some embodiments, the output end of the proportional valve controller is connected to an electrical signal sensor;

[0056] The electromechanical converter is connected to a displacement or force sensor;

[0057] The power level control valve is connected to a power level sensor, and the power level sensor is used to detect the state position or output pressure of the power level control valve;

[0058] The electrical signal sensor, the displacement or force sensor and the power level sensor are respectively connected to the proportional valve controller.

[0059] The electrical signal sensor is used to detect the electrical signal output by the proportional valve controller, and the displacement or force sensor is used to detect the displacement or force output by the electrical converter. In the above signal transmission processes, corresponding detection sensors can be added at each level, and the detection data can be fed back to the proportional valve controller for closed-loop algorithm processing to correct the control signal and improve the control accuracy of the entire process. The hydraulic cylinder is the final actuator, and its pressure or stroke detection information is fed back to the hydraulic support controller 1 through the corresponding interface for closed-loop control of the actuator and reporting to the server.

[0060] In some embodiments, a pilot stage control valve is also connected between the electromechanical converter and the power stage control valve, and the pilot stage control valve is connected to a pilot stage sensor, and the pilot stage sensor is used to detect the state position or output pressure of the pilot stage control valve.

[0061] The control signal output by the proportional valve controller is amplified by three stages: the electromechanical converter, the pilot stage control valve, and the power stage control valve, to further improve the control accuracy.

[0062] It is understandable that, in a specific implementation, corresponding sensors may be connected according to actual needs, and some components of the electro-hydraulic proportional directional control valve 2 may not be connected to sensors.

[0063] In some embodiments, a plurality of the electro-hydraulic proportional reversing control valves 2 form an electro-hydraulic proportional reversing control valve group, and the hydraulic support controller 1 is connected to the proportional valve controllers of each of the electro-hydraulic proportional reversing control valves 2 through a valve group bus, so that the hydraulic support controller 1 can control each proportional valve controller through the valve group bus.

[0064] In some embodiments, the electro-hydraulic proportional reversing control valve group includes a proportional valve controller, and the proportional valve controller is embedded in the hydraulic support controller 1.

[0065] Figure 1The control of each hydraulic cylinder is separated into a control flow. During the specific implementation process, there may be only one proportional valve controller, which is responsible for the processing and output of multiple signals, thereby controlling multiple hydraulic cylinders as a whole; the proportional valve controller may also be embedded in the bracket controller, that is, the bracket controller directly controls the proportional valve, which is convenient for control.

[0066] In some embodiments, an electro-hydraulic switch reversing control valve is also included, and the electro-hydraulic switch reversing control valve is connected between the hydraulic support controller 1 and the corresponding actuator.

[0067] Figure 1 All hydraulic cylinders of a hydraulic support use an electro-hydraulic proportional reversing control valve 2, and each hydraulic cylinder is equipped with a corresponding sensor. In the specific implementation process, only a small number of hydraulic cylinders need to be controlled with high precision, and the other hydraulic cylinders are small in size and single in function, and a relatively simple electro-hydraulic controlled reversing valve can meet the requirements. Therefore, in this embodiment, an electro-hydraulic proportional reversing control valve group can include an electro-hydraulic proportional reversing control valve 2 to improve control accuracy, and can also include an electro-hydraulic switch reversing control valve to improve control convenience and reduce control costs.

[0068] Embodiment 2

[0069] The embodiment of the present disclosure provides a hydraulic support electro-hydraulic proportional reversing control method, which is applied to a hydraulic support electro-hydraulic proportional reversing control system. The hydraulic support electro-hydraulic proportional reversing control system includes a hydraulic support controller and an electro-hydraulic proportional reversing control valve. The electro-hydraulic proportional reversing control valve is connected to the hydraulic support controller and an actuator, respectively. The method includes:

[0070] S101: The electro-hydraulic proportional reversing control valve receives a control signal from the hydraulic support controller and outputs a corresponding flow rate or pressure;

[0071] S102: the electro-hydraulic proportional reversing control valve controls the action of the actuator according to the flow rate or pressure;

[0072] Wherein, the electro-hydraulic proportional directional control valve is a two-position three-way proportional directional valve or a three-position four-way proportional directional valve.

[0073] In some embodiments, the electro-hydraulic proportional directional control valve includes a proportional valve controller, an electromechanical converter, and a power stage control valve connected in sequence. In step S102, the electro-hydraulic proportional directional control valve controls the action of the actuator according to the flow or pressure, including:

[0074] S1021: the proportional valve controller drives and controls the electromechanical converter to output proportionally according to the control signal of the hydraulic support controller;

[0075] S1022: The power stage control valve adjusts the hydraulic output port of the power stage control valve according to the output signal of the electromechanical converter to output corresponding pressure or flow to the hydraulic cylinder.

[0076] In some embodiments, the output end of the proportional valve controller is connected to an electrical signal sensor, the electromechanical converter is connected to a displacement or force sensor, the power level control valve is connected to a power level sensor, and the method further comprises:

[0077] S201: The proportional valve controller corrects the control signal according to the sensor signals fed back by the electrical signal sensor, the displacement or force sensor, and the power level sensor.

[0078] The hydraulic support electro-hydraulic proportional reversing control method provided in the embodiment of the present disclosure corresponds to the hydraulic support electro-hydraulic proportional reversing control system of the above-mentioned embodiment. Any optional items in the embodiment of the hydraulic support electro-hydraulic proportional reversing control system are also applicable to the embodiment of the hydraulic support electro-hydraulic proportional reversing control method, which will not be repeated here.

[0079] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0080] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0081] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A hydraulic support electro-hydraulic proportional reversing control system, characterized in that: include: Hydraulic support controller; The electro-hydraulic proportional reversing control valve is connected to the hydraulic support controller and the actuator respectively, and is used to receive the control signal output of the hydraulic support controller corresponding to the flow or pressure, and control the action of the actuator according to the flow or pressure. The electro-hydraulic proportional reversing control valve is a two-position three-way proportional reversing valve or a three-position four-way proportional reversing valve.

2. The hydraulic support electro-hydraulic proportional reversing control system according to claim 1 is characterized in that: The electro-hydraulic proportional reversing control valve comprises a proportional valve controller, an electromechanical converter and a power stage control valve which are connected in sequence. The power stage control valve has a hydraulic output port which is connected to the actuator.

3. The hydraulic support electro-hydraulic proportional reversing control system according to claim 2 is characterized in that: The output end of the proportional valve controller is connected to an electrical signal sensor; The electromechanical converter is connected to a displacement or force sensor; The power level control valve is connected to a power level sensor, and the power level sensor is used to detect the state position or output pressure of the power level control valve; The electrical signal sensor, the displacement or force sensor and the power level sensor are respectively connected to the proportional valve controller.

4. The hydraulic support electro-hydraulic proportional reversing control system according to claim 2 is characterized in that: A pilot stage control valve is also connected between the electromechanical converter and the power stage control valve. The pilot stage control valve is connected to a pilot stage sensor. The pilot stage sensor is used to detect the state position or output pressure of the pilot stage control valve.

5. The hydraulic support electro-hydraulic proportional reversing control system according to claim 2 is characterized in that: The plurality of electro-hydraulic proportional directional control valves form an electro-hydraulic proportional directional control valve group, and the hydraulic support controller is connected to the proportional valve controllers of the electro-hydraulic proportional directional control valves via a valve group bus.

6. The hydraulic support electro-hydraulic proportional reversing control system according to claim 5 is characterized in that: The electro-hydraulic proportional reversing control valve group includes a proportional valve controller, and the proportional valve controller is embedded in the hydraulic support controller.

7. The hydraulic support electro-hydraulic proportional reversing control system according to claim 1, characterized in that: It also includes an electro-hydraulic switch reversing control valve, which is connected between the hydraulic support controller and the corresponding actuator.

8. A method for controlling the electro-hydraulic proportional reversing of a hydraulic support, characterized in that: Applied to a hydraulic support electro-hydraulic proportional reversing control system, the hydraulic support electro-hydraulic proportional reversing control system comprises a hydraulic support controller and an electro-hydraulic proportional reversing control valve, the electro-hydraulic proportional reversing control valve is connected to the hydraulic support controller and the actuator respectively, the method comprises: The electro-hydraulic proportional reversing control valve receives the control signal of the hydraulic support controller and outputs the corresponding flow or pressure; The electro-hydraulic proportional reversing control valve controls the action of the actuator according to the flow rate or pressure; Wherein, the electro-hydraulic proportional directional control valve is a two-position three-way proportional directional valve or a three-position four-way proportional directional valve.

9. The control method according to claim 8, characterized in that: The electro-hydraulic proportional reversing control valve comprises a proportional valve controller, an electromechanical converter and a power stage control valve connected in sequence, and the electro-hydraulic proportional reversing control valve controls the action of the actuator according to the flow or pressure, including: The proportional valve controller drives and controls the electromechanical converter to output proportionally according to the control signal of the hydraulic support controller; The power stage control valve adjusts the hydraulic output port of the power stage control valve according to the output signal of the electromechanical converter to output a corresponding pressure or flow to the hydraulic cylinder.

10. The control method according to claim 9, characterized in that: The output end of the proportional valve controller is connected to an electrical signal sensor, the electromechanical converter is connected to a displacement or force sensor, the power level control valve is connected to a power level sensor, and the method further includes: The proportional valve controller modifies the control signal according to the sensor signals fed back by the electrical signal sensor, the displacement or force sensor and the power level sensor.

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