Self-adaptive coordination control strategy for unit hydraulic support

Abstract

A self-adaptive coordination control strategy for a unit hydraulic support comprises the following steps that S0, current top beam pose information is obtained and compared with a stable state, whether a pose error E exists or not is judged, and when it is judged that E exists, whether E falls into a preset error range or not is judged; if the E exceeds the preset error range, continuing the step S1, otherwise, repeating the current step; the method comprises the following steps: S1, carrying out limited self-adaptive adjustment on a top beam pose by a self-contained structure of a unit hydraulic support, and obtaining a current top beam pose error E after completing the limited self-adaptive adjustment; s2, judging whether E falls into a preset error range or not; if it is judged that E falls into the preset error range, adjustment is ended; if the E is judged to exceed the preset error range, continuing the step S3; s3, whether the top beam exceeds the adjustable range or not is judged; if it is judged that the top beam does not exceed the adjustable range, the step S4 is continued, and if it is judged that the top beam exceeds the adjustable range, the step S5 is continued; s4, inner ring coordination adjustment is conducted on the position and posture of the top beam; and S5, outer ring coordination adjustment is conducted on the position and posture of the top beam.

Description

Technical Field

[0001] This invention relates to the field of coal mining support technology, and in particular to an adaptive coordination control strategy for unit hydraulic supports suitable for advanced support. Background Technology

[0002] Advanced hydraulic supports are one of the important support methods for the roof of roadways in deeply buried fully mechanized mining faces. During the support process, the upper part of the top beam of the advanced hydraulic support not only bears and transmits the huge supporting pressure brought by the coal seam roof, but also may bear and transmit huge local loads on the roof caused by temporary rock collapses, which may lead to uneven loads on the roof. Therefore, the stability, reliability and applicability of the advanced hydraulic support itself are particularly critical in the support process.

[0003] Advanced hydraulic supports typically consist of multiple unit hydraulic supports connected in series. Traditional unit hydraulic supports use a rigid connection between the column and the roof beam. When temporary rock collapses occur, the roof beam cannot adjust its posture according to the condition of the coal seam roof, resulting in an off-center load. This can easily lead to problems such as support squeezing, slippage, or collapse, causing not only low efficiency in fully mechanized mining but also threatening mine safety. More advanced new unit hydraulic supports use a ball-head joint connection between the column and the roof beam, allowing for adaptive adjustment of the support posture based on roof deformation. When temporary rock collapses occur, the ball-head joint connection between the roof beam and column, along with the need for adjacent unit hydraulic supports to maintain balance, allows for more precise adjustments. The tension generated by the new unit hydraulic support allows it to automatically adjust its posture based on deformation and its own structure, effectively improving the pre-support effect of the roadway compared to traditional unit hydraulic supports. However, the posture adjustment mentioned above is only a limited adaptive adjustment made by the new unit hydraulic support based on its own structure. Its adaptive adjustment range is limited and its accuracy is low, which leads to the need to improve the overall support stability and efficiency of the pre-support hydraulic support. Therefore, under the current trend of "green, efficient and safe" coal mining, it is urgent to improve the adaptive adjustment accuracy of the new unit hydraulic support, improve its following and adaptability to complex load changes in the roof, and thus improve the overall support stability and efficiency of the pre-support hydraulic support. Summary of the Invention

[0004] In view of this, it is necessary to provide an adaptive coordination control strategy for the new type of unit hydraulic support to improve the adaptive adjustment range and adjustment accuracy of the unit hydraulic support, enhance the following and adaptability of the unit hydraulic support to complex load changes in the roof, and thus improve the overall support stability and support efficiency of the advanced hydraulic support, so as to meet the needs of efficient and stable support in coal mining.

[0005] An adaptive coordinated control strategy for a unit hydraulic support includes the following steps:

[0006] S0. Obtain the current top beam position information and compare it with the stable state to determine whether there is a position error E. If it is determined that there is a position error E, continue to determine whether E falls within the preset error range. If it is determined that E exceeds the preset error range, continue to step S1; otherwise, repeat the current step.

[0007] S1. The unit hydraulic support has its own structure to perform limited adaptive adjustment of the top beam's posture, and after completion, the current top beam posture error E is obtained.

[0008] S2. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal; if E exceeds the preset error range, continue to step S3.

[0009] S3. Determine whether the top beam is outside the adjustable range; if the top beam is not outside the adjustable range, continue to step S4; if the top beam is outside the adjustable range, continue to step S5.

[0010] S4. Perform inner-loop coordination adjustment of the top beam's position and orientation, specifically including the following steps:

[0011] S40. Based on the current top beam posture error E, adjust the top beam posture using the top beam control method, and obtain the current top beam posture error E after completion.

[0012] S41. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal; if E exceeds the preset error range, continue to step S42.

[0013] S42. Determine whether the top beam is outside the adjustable range; if the top beam is not outside the adjustable range, return to step S40 to continue execution; if the top beam is outside the adjustable range, continue to step S5.

[0014] S5. Perform outer ring coordination adjustment on the top beam position, specifically including the following steps:

[0015] S50. Based on the current top beam posture error E, the top beam posture is adjusted using a dual-column lifting control method. After completion, the current top beam posture error E is obtained.

[0016] S51. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal; if E exceeds the preset error range, continue to step S52.

[0017] S52. Based on the current top beam position error E, the top beam position is adjusted using a combination of dual column lifting control and base indentation control. Once completed, the adjustment ends and a stable signal is output.

[0018] Preferably, step S40, which involves adjusting the top beam's pose using a top beam control method based on the current top beam pose error E, and then obtaining the current top beam pose error E, specifically includes:

[0019] S400. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S401; if the top beam is biased towards rolling, continue to step S402.

[0020] S401, Based on the top beam pitch adjustment adaptation function F T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S403.

[0021] S402, Based on the top beam roll adjustment adaptation function F T (γ), according to the weighting coefficient ω γ1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S403.

[0022] S403. Obtain the current top beam position error E.

[0023] Preferably, step S50, adjusting the top beam's position based on the current top beam's pose error E using a dual-column lifting control method, and then obtaining the current top beam's pose error E, specifically includes:

[0024] S500. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S501; if the top beam is biased towards rolling, continue to step S502.

[0025] S501, First, based on the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω β2 Assign the current top beam pose error E and adjust the top beam pose accordingly; then adjust the top beam pitch and yaw adjustment based on the top beam pitch and yaw adaptation function F. T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S503.

[0026] S502, First, based on the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω γ2 Assign the current top beam pose error E and adjust the top beam pose; then adjust according to the top beam roll adaptation function F. T (γ), according to the weighting coefficient ωγ1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S503.

[0027] S503. Obtain the current top beam position error E.

[0028] Preferably, step S52, adjusting the top beam's posture using both a dual-column lifting control method and a base indentation control method based on the current top beam posture error E, and then obtaining the current top beam posture error E, specifically includes:

[0029] S520. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S521; if the top beam is biased towards rolling, continue to step S522.

[0030] S521. First, according to the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω β2 Assign the current top beam pose error E and adjust the top beam pose accordingly; then, adjust the top beam pitch and yaw adjustment based on the top beam pitch and yaw adjustment adaptation function F. T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E and adjust the top beam pose accordingly; finally, adjust the adaptation function F based on the base indentation. B (Δx) is used to adjust the remaining pose error. Once the adjustment is complete, the adjustment ends and a stable signal is output.

[0031] S522. First, according to the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω γ2 Assign the current top beam pose error E and adjust the top beam pose; then, adjust the top beam roll adaptation function F. T (γ), according to the weighting coefficient ω γ1 Assign the current top beam pose error E and adjust the top beam pose accordingly; finally, adjust the adaptation function F based on the base indentation. B (Δx) is used to adjust the remaining pose error. Once the adjustment is complete, the adjustment ends and a stable signal is output.

[0032] Preferably, the weighting coefficient ω β1 ω β2 This refers to the coordination distribution coefficient between the top beam and column modules of the unit hydraulic support under elevation and depression conditions. The specific calibration process is as follows:

[0033] St0, ω is obtained through simulation. β1 ω β2 The initial value range includes:

[0034] Construct a virtual prototype and working condition model of the unit hydraulic support;

[0035] A series of surface loads F are applied to the top beam respectively. β1 F β2 …F βn This causes the top beam to experience pitching or tilting conditions, resulting in corresponding pitch or tilt angles β1, β2…β. n ;

[0036] Obtain the elevation or depression angles β1, β2…β under the above working conditions respectively. n The corresponding arc length a β1 a β2 …a βn Obtain the displacement length L of the top beam's center of mass change. β1 L β2 …L βn Obtain the height difference Δh between the centroids of the left and right columns. β1 Δh β2 …Δh βn ω is obtained from formula group (1) β1 ω β2 The initial value range;

[0037] St1, by improving the particle swarm optimization algorithm, obtain ω from St0. β1 ω β2 The initial value range is optimized to obtain a definite ω. β1 ω β2 ;

[0038]

[0039] The weighting coefficient ω γ1 ω γ2 , which is the coordination distribution coefficient between the top beam and column modules of the unit hydraulic support under roll conditions. The specific calibration process is as follows:

[0040] St0, ω is obtained through simulation. γ1 ω γ2 The initial value range includes:

[0041] Construct a virtual prototype and working condition model of the unit hydraulic support;

[0042] A series of surface loads F are applied to the top beam respectively. γ1 F γ2 …F γn This causes the top beam to undergo a rolling condition, obtaining the corresponding roll angles γ1, γ2…γ n ;

[0043] Obtain the roll angles γ1, γ2…γ under the above working conditions respectively. n The corresponding arc length aγ1 a γ2 …a γn Obtain the displacement length L of the top beam's center of mass change. βγ1 L βγ2 …L βγn Obtain the height difference Δh between the centroids of the left and right columns. γ1 Δh γ2 …Δh γn ω is obtained from formula group (2) γ1 ω γ2 The initial value range;

[0044] St1, by improving the particle swarm optimization algorithm, obtain ω from St0. γ1 ω γ2 ω γ3 The initial value range is optimized to obtain a definite ω. γ1 ω γ2 ω γ3 .

[0045]

[0046] Preferably, the step of determining whether the top beam is biased towards pitching or rolling based on the current top beam posture error E specifically involves:

[0047] Decompose the current top beam attitude error E to obtain the current top beam attitude error yaw angle α, current top beam attitude error pitch angle β and current top beam attitude error roll angle γ;

[0048] Compare |β| and |γ|. If |β|≥|γ|, determine that the top beam is under a pitching condition; if |β|<|γ|, determine that the top beam is under a rolling condition.

[0049] Preferably, determining whether the top beam exceeds the adjustable range specifically involves:

[0050] Decompose the current top beam pose error E, and obtain the current top beam pitch angle β and the current top beam roll angle γ;

[0051] Determine whether β satisfies β min <β<β max And whether γ satisfies γ min <γ<γ max , where β max and β min These are the maximum elevation angle and the maximum depression angle of the top beam, respectively; γ max and γ min These are the maximum counterclockwise roll angle and the maximum clockwise roll angle of the top beam, respectively.

[0052] When β satisfies β min <β<β maxAnd γ satisfies γ min <γ<γ max If the top beam is within its adjustable range, it is determined that the top beam is within its adjustable range; otherwise, it is determined that the top beam is outside its adjustable range.

[0053] Preferably, the pitch adjustment adaptation function F of the top beam is used. T When (β), the adjustment amount Δl of the left column 1x Right column adjustment amount Δl 2x The solution is obtained from formula group (3), where, The reaction force of the kinematic pair between the left column and the top beam. The reaction force of the kinematic pair between the right column and the top beam. The sudden load exerted on the upper surface of the top beam is the pressure, m1 is the mass of the top beam, and P is the pressure. l Let F be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δβ be the pressure of F. T (β) According to the weighting coefficient ω β1 The pitch angle adjustment amount is obtained from the pitch angle allocation of the current top beam posture error;

[0054]

[0055] The top beam roll adjustment adaptation function F is adopted. T When (γ), the adjustment amount Δl of the left column 1y Right column adjustment amount Δl 2y The solution is obtained from formula group (4), where, The reaction force of the kinematic pair between the left column and the top beam support. The reaction force of the kinematic pair between the right column and the top beam support. For the pressure of sudden load on the upper surface of the top beam, P l Let ΔS be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δγ be the pressure according to the weighting coefficient ω. γ1 The roll angle adjustment amount is obtained from the roll angle allocation of the current top beam posture error;

[0056]

[0057] Preferably, the column lifting adjustment adaptation function F Q In (Δl1,Δl2), the left column lifting adjustment amount Δl1 is obtained from formula group (5), where α is the top beam yaw angle and β is the weighted coefficient ω. β2 or ω γ2 The pitch angle adjustment is obtained from the pitch angle allocation of the current top beam pose error; γ is the adjustment amount according to the weighting coefficient ω. β2 or ω γ2The roll angle adjustment amount is obtained from the roll angle allocation of the current top beam posture error; r is the coordinate radius from the center of the kinematic pair between the column and the top beam to the origin of the moving coordinate system;

[0058]

[0059] The right column lifting adjustment amount Δl2 is obtained from formula group (6), where α is the top beam yaw angle and β is the weighted coefficient ω. β2 or ω γ2 The pitch angle adjustment amount is obtained from the current pitch angle distribution of the top beam error; γ is the adjustment amount according to the weighting coefficient ω. β2 or ω γ2 The roll angle adjustment amount is obtained from the roll angle allocation of the current top beam posture error; r is the coordinate radius from the center of the kinematic pair between the column and the top beam to the origin of the moving coordinate system;

[0060]

[0061] Preferably, the base indentation adjustment adaptation function F B In (Δx), the base indentation Δx is obtained from formula group (7);

[0062] In formula group (7), In the dual-column lifting and lowering control method, the adaptation function F based on the tilt adjustment of the top beam is used. T (β) or based on the top beam roll adjustment adaptation function F T (γ) After the top beam position adjustment is completed, the pressure F(P) borne by the left and right columns from the top beam. b P is the pressure borne by the base, m2 is the sum of the masses of the left and right columns, m3 is the mass of the base, and P l Let ΔS be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δl1 and Δl2 be the pressure of the left and right column cylinders respectively, according to the top beam tilt adjustment adaptation function F in the dual column lifting control mode. T (β) or based on the top beam roll adjustment adaptation function F T (γ) The amount of lifting and lowering of the left and right columns during adjustment, P b k is the grounding specific pressure of the unit hydraulic support. c The cohesive deformation modulus of the soil at the bottom of the tunnel. denoted as , where is the frictional deformation modulus of the roadway floor soil, n is the roadway floor settlement index (range 2-3), b is the width of the unit hydraulic support base, and S is the... b The area of ​​the unit hydraulic support base.

[0063] The aforementioned adaptive coordination control strategy for unit hydraulic supports, when there is temporary rockfall or sudden load on the roof beam, adjusts the positional error portion of the unit hydraulic support that cannot be adjusted after limited adaptive adjustment by coupling outer and inner loop coordinated adjustment, i.e., combining the double column lifting method with the base indentation control method. Specifically, the lifting of the left and right columns and the indentation of the base assist in adjusting the spatial position of the unit hydraulic support, thereby achieving support for the roadway roof. Compared with the limited adaptive adjustment of unit hydraulic supports based solely on their own structure in existing technologies, this invention improves the adaptive adjustment accuracy of unit hydraulic supports, as well as their ability to follow and adapt to complex load changes on the roof in complex and harsh mining environments. This, in turn, improves the overall stability and efficiency of the advanced hydraulic support, and enhances the safety and stability of the coal mining process. Attached Figure Description

[0064] Figure 1 This is a schematic diagram of the overall structure of the unit hydraulic support in this invention.

[0065] Figure 2 This is a schematic diagram of the unit hydraulic support in this invention, excluding the top beam.

[0066] Figure 3 This is a flowchart illustrating the overall adaptive coordination control strategy for the unit hydraulic support in this invention.

[0067] Figure 4 This is the motion space analysis model of the unit hydraulic support based on the unit hydraulic support topology in this invention.

[0068] Figure 5 These are the test results from a specific embodiment.

[0069] In the diagram: Top beam 1; Left column 2; Right column 3; Left column cylinder 4; Right column cylinder 5; Base 6; Fixing frame 7; Ball head socket 8; Base 9; Column cylinder 10; Column 11; Top beam 12. Detailed Implementation

[0070] The technical solutions and effects of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0071] Please refer to Figure 1 and Figure 2As shown, the unit hydraulic support involved in this invention includes: a top beam 1, a left column 2, a right column 3, a left column cylinder 4, a right column cylinder 5, a base 6, and a fixing frame 7; the tops of the left column 2 and the right column 3 are respectively connected to the top beam 1 via ball joint sockets 8; tilt sensors (not shown in the figure) are installed at the four corners and the center of the bottom of the top beam 1 to monitor the position of the top beam 1; several pressure sensors (not shown in the figure) are installed on the top of the top beam 1 to monitor the load changes of the top beam 1; displacement sensors (not shown in the figure) are respectively installed on the left column 2 and the right column 3 to monitor the extension and retraction of the left column 2 and the right column 3;

[0072] In all embodiments of the present invention, the adjustable range of the top beam 1 is related to the specific model of the unit hydraulic support and the ball head socket 8 structure at the connection between the unit hydraulic support column and the top beam 1.

[0073] Wherein, the pitch angle of the top beam 1 is the angle between the top beam and the horizontal plane when the top beam swings back and forth, and the roll angle of the top beam 1 is the angle between the top beam 1 and the horizontal plane when the top beam 1 swings left and right. The pitch angle is positive and the depression angle is negative. The counterclockwise roll angle is positive and the clockwise roll angle is negative. The stable state refers to the state in which the top beam and the roof are in a level position after the roadway has been calibrated in the direction of travel, height, and radial direction. In all embodiments of the present invention, the current top beam posture error E is obtained by obtaining the current top beam posture information and comparing it with the stable state.

[0074] Please refer to Figure 3 As shown, an adaptive coordinated control strategy for a unit hydraulic support includes the following steps:

[0075] S0. Obtain the current top beam position information and compare it with the stable state to determine whether there is a position error E. If it is determined that there is a position error E, continue to determine whether E falls within the preset error range. If it is determined that E exceeds the preset error range, continue to step S1; otherwise, repeat the current step.

[0076] S1. The unit hydraulic support's built-in structure performs limited adaptive adjustment of the top beam's posture, and after completion, obtains the current top beam posture error E. Limited adaptive adjustment occurs when a certain part of the top beam is subjected to a local sudden load. Under the combined action of the rigid-flexible coupling spherical hinge structure set between the unit hydraulic support's column and the top beam, and the tension of adjacent unit hydraulic supports, the connection between the top beam and the column changes to a certain extent in order to maintain balance. However, due to structural limitations, the adjustment angle of the top beam is limited during limited adaptive adjustment. This adjustable range is related to the specific unit hydraulic support model.

[0077] S2. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal; if E exceeds the preset error range, continue to step S3; the preset error range is [-5°, 5°] for both pitch and roll angles.

[0078] S3. Determine whether the top beam exceeds the adjustable range; if the top beam does not exceed the adjustable range, continue to step S4; if the top beam exceeds the adjustable range, continue to step S5; the adjustable range of the top beam is related to the specific unit hydraulic support model and the ball head socket structure at the connection between the specific unit hydraulic support column and the top beam.

[0079] S4. Perform inner-loop coordination adjustment of the top beam's position and orientation, specifically including the following steps:

[0080] S40. Based on the current top beam posture error E, adjust the top beam posture using the top beam control method, and obtain the current top beam posture error E after completion.

[0081] S41. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal; if E exceeds the preset error range, continue to step S42.

[0082] S42. Determine whether the top beam is outside the adjustable range; if the top beam is not outside the adjustable range, return to step S40 to continue execution; if the top beam is outside the adjustable range, continue to step S5.

[0083] S5. Perform outer ring coordination adjustment on the top beam position, specifically including the following steps:

[0084] S50. Based on the current top beam posture error E, the top beam posture is adjusted using a dual-column lifting control method. After completion, the current top beam posture error E is obtained.

[0085] S51. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal; if E exceeds the preset error range, continue to step S52.

[0086] S52. Based on the current top beam position error E, the top beam position is adjusted using a combination of dual column lifting control and base indentation control. Once completed, the adjustment ends and a stable signal is output.

[0087] In this embodiment, when the positional error range E of the top beam exceeds the preset error range, the positional error is first adjusted by the limited adaptive adjustment generated by the unit hydraulic support itself. If the positional error still exists after adjustment, it is first adjusted by the inner loop coordination adjustment, i.e., the top beam control method. If the positional error still exists outside the error range and the top beam has exceeded the adjustable range, the outer loop coordination adjustment is then activated. During the outer loop coordination adjustment process, the double-column lifting control method is first activated for coordination adjustment. If the positional error E still exists outside the error range after adjustment, the double-column lifting control method and the base indentation control method are then activated together to adjust the top beam position. Compared with the limited adaptive adjustment of positional error by the unit hydraulic support solely through its own structure in the prior art, this invention can further adjust the top beam positional error more precisely through the lifting of the columns and the indentation of the base, improving the adaptive adjustment accuracy of the unit hydraulic support, as well as its following and adaptability to complex load changes in the roadway roof. This, in turn, improves the stability and support efficiency of the overall support of the advanced hydraulic support, and enhances the safety and stability of the coal mining process.

[0088] Further, in step S40, based on the current top beam pose error E, the top beam pose is adjusted using a top beam control method. After completion, the current top beam pose error E is obtained, specifically including:

[0089] S400. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S401; if the top beam is biased towards rolling, continue to step S402.

[0090] S401, Based on the top beam pitch adjustment adaptation function F T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S403.

[0091] S402, Based on the top beam roll adjustment adaptation function F T (γ), according to the weighting coefficient ω γ1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S403.

[0092] S403. Obtain the current top beam position error E.

[0093] In this embodiment, the pitch adjustment adaptation function F of the top beam is set according to the working conditions of the top beam. T (β) and the top beam roll adjustment adaptation function F T (γ), and different weighting coefficients ω are used when allocating the current top beam pose error E under different working conditions.β1 or ω γ1 This makes the control of the adjustment process of the present invention more closely match the working conditions, which is beneficial to improving the adjustment accuracy of the unit hydraulic support.

[0094] Further, in step S50, based on the current top beam posture error E, the top beam posture is adjusted using a dual-column lifting control method. After completion, the current top beam posture error E is obtained, specifically including:

[0095] S500. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S501; if the top beam is biased towards rolling, continue to step S502.

[0096] S501, First, based on the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω β2 Assign the current top beam pose error E and adjust the top beam pose accordingly; then adjust the top beam pitch and yaw adjustment based on the top beam pitch and yaw adaptation function F. T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S503.

[0097] S502, First, based on the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω γ2 Assign the current top beam pose error E and adjust the top beam pose; then adjust according to the top beam roll adaptation function F. T (γ), according to the weighting coefficient ω γ1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S503.

[0098] S503. Obtain the current top beam position error E.

[0099] In this embodiment, during the adjustment process, the column lifting and lowering adjustment adaptation function F is first used. Q (Δl1, Δl2) are used to adjust the top beam error. After adjustment, the top beam, which was originally outside the adjustment range, has room for adjustment again under the control of the left and right columns. Then, F is selected according to the working conditions. T (β) or F T (γ) Adjust the top beam, and select different weight coefficients according to different conditions during the adjustment, so that the control of the adjustment process of the present invention is more in line with the working conditions, which is conducive to improving the adjustment accuracy of the unit hydraulic support.

[0100] Further, in step S52, based on the current top beam posture error E, the top beam posture is adjusted using a combination of dual-column lifting control and base indentation control. After completion, the current top beam posture error E is obtained, specifically including:

[0101] S520. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S521; if the top beam is biased towards rolling, continue to step S522.

[0102] S521. First, according to the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω β2 Assign the current top beam pose error E and adjust the top beam pose accordingly; then, adjust the top beam pitch and yaw adjustment based on the top beam pitch and yaw adjustment adaptation function F. T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E and adjust the top beam pose accordingly; finally, adjust the adaptation function F based on the base indentation. B (Δx) is used to adjust the remaining pose error. Once the adjustment is complete, the adjustment ends and a stable signal is output.

[0103] S522. First, according to the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω γ2 Assign the current top beam pose error E and adjust the top beam pose accordingly; then, adjust the top beam roll adaptation function F. T (γ), according to the weighting coefficient ω γ1 Assign the current top beam pose error E and adjust the top beam pose accordingly; finally, adjust the adaptation function F based on the base indentation. B (Δx) is used to adjust the remaining pose error. Once the adjustment is complete, the adjustment ends and a stable signal is output.

[0104] In this embodiment, during the adjustment process, the column lifting and lowering adjustment adaptation function F is first used. Q (Δl1, Δl2) adjusts the top beam's positional error. After adjustment, the top beam, which was originally outside the adjustment range, has room for adjustment again under the control of the left and right columns. Then, F is selected according to the working conditions. T (β) or F T (γ) Adjust the top beam, and finally, adjust the adaptation function F according to the base indentation. B (Δx) is used to compensate for the remaining pose error; at the same time, different weighting coefficients are selected according to different conditions during the adjustment, so that the control of the adjustment process of this invention is more in line with the working conditions, which is conducive to improving the adjustment accuracy of the unit hydraulic support.

[0105] Furthermore, the weighting coefficient ω β1 ω β2 This refers to the coordination distribution coefficient between the top beam and column modules of the unit hydraulic support under elevation and depression conditions. The specific calibration process is as follows:

[0106] St0, ω is obtained through simulation. β1 ω β2 The initial value range includes:

[0107] Construct a virtual prototype and working condition model of the unit hydraulic support;

[0108] A series of surface loads F are applied to the top beam respectively. β1 F β2 …F βn This causes the top beam to experience pitching or tilting conditions, resulting in corresponding pitch or tilt angles β1, β2…β. n ;

[0109] Obtain the elevation or depression angles β1, β2…β under the above working conditions respectively. n The corresponding arc length a β1 a β2 …a βn Obtain the displacement length L of the top beam's center of mass change. β1 L β2 …L βn Obtain the height difference Δh between the centroids of the left and right columns. β1 Δh β2 …Δh βn ω is obtained from formula group (1) β1 ω β2 The initial value range;

[0110] St1, by improving the particle swarm optimization algorithm, obtain ω from St0. β1 ω β2 The initial value range is optimized to obtain a definite ω. β1 ω β2 ;

[0111]

[0112] Weighting coefficient ω γ1 ω γ2 , which is the coordination distribution coefficient between the top beam and column modules of the unit hydraulic support under roll conditions. The specific calibration process is as follows:

[0113] St0, ω is obtained through simulation. γ1 ω γ2 The initial value range includes:

[0114] Construct a virtual prototype and working condition model of the unit hydraulic support;

[0115] A series of surface loads F are applied to the top beam respectively. γ1 F γ2 …F γn This causes the top beam to undergo a rolling condition, obtaining the corresponding roll angles γ1, γ2…γ n ;

[0116] Obtain the roll angles γ1, γ2…γ under the above working conditions respectively. n The corresponding arc length a γ1 a γ2 …a γn Obtain the displacement length L of the top beam's center of mass change. βγ1 L βγ2 …L βγn Obtain the height difference Δh between the centroids of the left and right columns. γ1 Δh γ2 …Δh γn ω is obtained from formula group (2) γ1 ω γ2 The initial value range;

[0117] St1, by improving the particle swarm optimization algorithm, obtain ω from St0. γ1 ω γ2 ω γ3 The initial value range is optimized to obtain a definite ω. γ1 ω γ2 ω γ3 .

[0118]

[0119] Furthermore, based on the current top beam posture error E, it is determined whether the top beam is more inclined towards pitching or rolling conditions, specifically as follows:

[0120] Decompose the current top beam attitude error E to obtain the current top beam attitude error yaw angle α, current top beam attitude error pitch angle β and current top beam attitude error roll angle γ;

[0121] Compare |β| and |γ|. If |β|≥|γ|, determine that the top beam is under a pitching condition; if |β|<|γ|, determine that the top beam is under a rolling condition.

[0122] Further, to determine whether the top beam exceeds the adjustable range, specifically:

[0123] Decompose the current top beam pose error E, and obtain the current top beam pitch angle β and the current top beam roll angle γ;

[0124] Determine whether β satisfies β min <β<β max And whether γ satisfies γ min <γ<γmax , where β max and β min These are the maximum elevation angle and the maximum depression angle of the top beam, respectively; γ max and γ min These are the maximum counterclockwise roll angle and the maximum clockwise roll angle of the top beam, respectively.

[0125] When β satisfies β min <β<β max And γ satisfies γ min <γ<γ max If the top beam is within the adjustable range, it is determined that the top beam is within the adjustable range; otherwise, it is determined that the top beam is outside the adjustable range.

[0126] The maximum elevation angle, maximum depression angle, maximum counterclockwise roll angle, and maximum clockwise roll angle of the top beam are all related to the specific unit hydraulic support model and the rigid-flexible coupling spherical hinge structure at the connection between the unit hydraulic support column and the top beam.

[0127] Furthermore, the pitch adjustment adaptation function F of the top beam is adopted. T When (β), the adjustment amount Δl of the left column 1x Right column adjustment amount Δl 2x The solution is obtained from formula group (3), where, The reaction force of the kinematic pair between the left column and the top beam. The reaction force of the kinematic pair between the right column and the top beam. The sudden load exerted on the upper surface of the top beam is the pressure, m1 is the mass of the top beam, and P is the pressure. l Let F be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δβ be the pressure of F. T (β) According to the weighting coefficient ω β1 The pitch angle adjustment amount is obtained from the pitch angle allocation of the current top beam posture error; whereby the pitch angle of the current top beam posture error is obtained from the decomposition of the current top beam posture error E.

[0128]

[0129] Adopting the top beam roll adjustment adaptation function F T When (γ), the adjustment amount Δl of the left column 1y Right column adjustment amount Δl 2y The solution is obtained from formula group (4), where, The reaction force of the kinematic pair between the left column and the top beam support. The reaction force of the kinematic pair between the right column and the top beam support. For the pressure of sudden load on the upper surface of the top beam, P l Let ΔS be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δγ be the pressure according to the weighting coefficient ω.γ1 The roll angle adjustment amount is obtained from the roll angle allocation of the current top beam pose error; wherein, the roll angle of the current top beam pose error is obtained from the decomposition of the current top beam pose error E;

[0130]

[0131] Furthermore, the column lifting adjustment adaptation function F Q In (Δl1,Δl2), the left column lifting adjustment amount Δl1 is obtained from formula group (5), where α is the top beam yaw angle and β is the weighted coefficient ω. β2 or ω γ2 The pitch angle adjustment is obtained from the pitch angle allocation of the current top beam pose error; γ is the adjustment amount according to the weighting coefficient ω. β2 or ω γ2 The roll angle adjustment is obtained from the roll angle allocation of the current top beam posture error; r is the coordinate radius from the center of the kinematic pair between the column and the top beam to the origin of the moving coordinate system; where the pitch angle of the current top beam posture error is obtained from the decomposition of the current top beam posture error E, and the roll angle of the current top beam posture error is obtained from the decomposition of the current top beam posture error E; when the top beam is biased towards pitch conditions, β is the adjustment amount according to the weighting coefficient ω. β2 The pitch angle adjustment amount, γ, is obtained from the pitch angle allocation of the current top beam pose error, and is calculated according to the weighting coefficient ω. β2 The roll angle adjustment is derived from the roll angle allocation based on the current top beam posture error; when the top beam is biased towards roll conditions, β is determined according to the weighting coefficient ω. γ2 The pitch angle adjustment amount, γ, is derived from the pitch angle allocation of the current top beam pose error, and is calculated according to the weighting coefficient ω. γ2 The roll angle adjustment amount is obtained from the roll angle allocation of the current top beam posture error;

[0132]

[0133] The right column lifting adjustment amount Δl2 is obtained from formula group (6), where α is the top beam yaw angle and β is the weighted coefficient ω. β2 or ω γ2 The pitch angle adjustment amount is obtained from the current pitch angle distribution of the top beam error; γ is the adjustment amount according to the weighting coefficient ω. β2 or ω γ2 The roll angle adjustment is obtained from the roll angle allocation of the current top beam posture error; r is the coordinate radius from the center of the kinematic pair between the column and the top beam to the origin of the moving coordinate system; where the pitch angle of the current top beam posture error is obtained from the decomposition of the current top beam posture error E, and the roll angle of the current top beam posture error is obtained from the decomposition of the current top beam posture error E; when the top beam is biased towards pitch conditions, β is the adjustment amount according to the weighting coefficient ω. β2 The pitch angle adjustment amount, γ, is derived from the pitch angle allocation of the current top beam pose error, and is calculated according to the weighting coefficient ω. β2The roll angle adjustment is derived from the roll angle allocation based on the current top beam posture error; when the top beam is biased towards roll conditions, β is determined according to the weighting coefficient ω. γ2 The pitch angle adjustment amount, γ, is derived from the pitch angle allocation of the current top beam pose error, and is calculated according to the weighting coefficient ω. γ2 The roll angle adjustment amount is obtained from the roll angle allocation of the current top beam posture error;

[0134]

[0135] like Figure 4 The motion space analysis model of the unit hydraulic support based on the unit hydraulic support topology is shown in the figure. In the figure, 9 is the base of the unit hydraulic support, 10 is the column cylinder, 11 is the column, 12 is the top beam, S13 and S23 are the kinematic pairs between the column and the top beam. The origin O of the static coordinate system O-XYZ coincides with the center of gravity of the static platform of the base. The X-axis is along the direction of the roadway, the Y-axis is along the direction of the working face, and the Z-axis is determined according to the principle of the spatial Cartesian coordinate system. The origin O' of the dynamic coordinate system O'-X'Y'Z' coincides with the center of gravity of the dynamic platform of the top beam. The directions of the Y', Y' and Z' axes are the same as the directions of the static coordinate system X, Y and Z axes. In this embodiment, r is the coordinate radius from the center of the kinematic pair S13 or S23 between the column 11 and the top beam 12 to the origin O' of the dynamic coordinate system.

[0136] Furthermore, the base indentation adjustment adaptation function F B In (Δx), the base indentation Δx is obtained from formula group (7);

[0137]

[0138] In formula group (7), In the dual-column lifting and lowering control method, the adaptation function F based on the tilt adjustment of the top beam is used. T (β) or based on the top beam roll adjustment adaptation function F T (γ) After the top beam position adjustment is completed, the pressure F(P) borne by the left and right columns from the top beam. b P is the pressure borne by the base, m2 is the sum of the masses of the left and right columns, m3 is the mass of the base, and P l Let ΔS be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δl1 and Δl2 be the pressure of the left and right column cylinders respectively, according to the top beam tilt adjustment adaptation function F in the dual column lifting control mode. T (β) or based on the top beam roll adjustment adaptation function F T (γ) The amount of lifting and lowering of the left and right columns during adjustment, P b k is the grounding specific pressure of the unit hydraulic support. c The cohesive deformation modulus of the soil at the bottom of the tunnel. denoted as , where is the frictional deformation modulus of the roadway floor soil, n is the roadway floor settlement index (range 2-3), b is the width of the unit hydraulic support base, and S is the... b The area of ​​the unit hydraulic support base.

[0139] The effects of the present invention will be illustrated below using specific embodiments:

[0140] The test site was the Ningtaota Coal Mine. Support tests were conducted on the roadway using traditional unit hydraulic supports, a new type of unit hydraulic support, and a new type of unit hydraulic support incorporating the adaptive coordinated control strategy of this invention. Test parameters included: structural displacement deformation of the roadway, and the distance between the roadway and the working face when the roadway reached a stable support state. The new unit hydraulic support model was G3ZI, with its columns and top beam connected by a ball-and-socket joint. The top beam mass m1 was 0.856t, the sum of the masses of the left and right columns m2 was 0.3197t, the base mass m3 was 0.442357198t, and the pressure P of the left and right column cylinders was... l Both are 31.5 MPa, and the area ΔS of both the left and right column cylinders is 43351.625 mm². 2 Cohesive deformation modulus k of the soil at the bottom of the tunnel c The frictional deformation modulus of the soil at the tunnel floor is 3 MPa. The hydraulic pressure is 16 MPa, the width b of the unit hydraulic support base is 960 mm, and the area S of the unit hydraulic support base is... b 1824000mm 2 ;

[0141] The maximum elevation angle is +16°, the maximum depression angle is -16°, and the maximum roll angle is ±20°.

[0142] For the adaptive coordinated control strategy of the unit hydraulic support of the present invention, the weighting coefficient ω is first obtained through calibration. β1 ω β2 , and ω γ1 ω γ2 ;

[0143] ω was obtained through simulation. β1 ω β2 The initial range of ω β1 ∈[0.415, 0.723], ω β2 ∈[0.106, 0.313], and ω γ1 ω γ2 The initial range of ω γ1 ∈[0.404, 0.689], ω γ2 ∈[0.124, 0.322];

[0144] By improving the particle swarm optimization algorithm, the initial value range mentioned above is optimized. During the optimization process, the objective function J is a weighted sum of support error e(t) and energy consumption τ(t), as shown in the following formula, where u1=0.3, u2=0.7, the number of iterations T=100, and the population size is 50. Finally, the weight coefficient ω is obtained. β1 =0.525, ω β2 =0.248, ω γ1 =0.557, ω γ2 =0.287;

[0145]

[0146] Test results are as follows Figure 5 As shown;

[0147] from Figure 5 As can be seen, firstly, regarding the structural displacement and deformation of the roadway, when using traditional unit hydraulic supports, the structural displacement and deformation of the roadway reaches as high as 245mm. When using the new unit hydraulic supports, the structural displacement and deformation of the roadway is reduced to 195mm. When using the new unit hydraulic supports incorporating the adaptive coordination control strategy of this invention, the structural displacement and deformation of the roadway is reduced to 158mm. Compared with traditional unit hydraulic supports, the overall reduction in structural displacement and deformation of the roadway is 21.1% and 15.5% when using the new unit hydraulic supports and the new unit hydraulic supports incorporating the adaptive coordination control strategy of this invention, respectively. Compared with the new unit hydraulic supports, the reduction in structural displacement and deformation of the roadway is 18.97% when using the new unit hydraulic supports incorporating the adaptive coordination control strategy of this invention.

[0148] Secondly, regarding the distance between the roadway and the advanced working face when the roadway reaches a stable support state, as shown in the figure, when using traditional advanced hydraulic supports, the roadway generally reaches a stable support state after the advanced working face reaches 62m; when using the new type of unit hydraulic supports, the roadway reaches a stable support state after the advanced working face reaches 50m; when using the new type of unit hydraulic supports incorporating the adaptive coordination control strategy of this invention, the roadway reaches a stable support state after the advanced working face reaches 40m. Compared with traditional unit hydraulic supports, the advancement speed of the roadway reaching a stable support state is increased by [percentage missing] for both the new type of unit hydraulic supports and the new type of unit hydraulic supports incorporating the adaptive coordination control strategy of this invention. 19.35% and 35.48%; compared with the new unit hydraulic support, the advance speed of the roadway reaching a stable support state is increased by 20% when the new unit hydraulic support incorporates the adaptive coordination control strategy of this invention; therefore, from the above test results and analysis, it can be seen that when the unit hydraulic support incorporating the adaptive coordination control strategy provided by this invention is used for support, due to the improved adaptive adjustment accuracy and the improved following and adaptability to complex load changes of the roof in the harsh mine environment, the stability and support efficiency of the overall support of the advanced hydraulic support are improved. Specifically, this is reflected in the reduction of roadway structural displacement deformation and the increase in advance speed when the roadway reaches a stable support state.

[0149] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the invention. Those skilled in the art will understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. An adaptive coordinated control strategy for a unit hydraulic support, characterized in that, Includes the following steps: S0. Obtain the current top beam position information and compare it with the stable state to determine whether there is a position error E. If it is determined that there is a position error E, continue to determine whether E falls within the preset error range. If it is determined that E exceeds the preset error range, continue to step S1; otherwise, repeat the current step. S1. The unit hydraulic support has its own structure to perform limited adaptive adjustment of the top beam's posture, and after completion, the current top beam posture error E is obtained. S2. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal. If it is determined that E exceeds the preset error range, then continue to step S3; S3. Determine whether the top beam is outside the adjustable range; if the top beam is not outside the adjustable range, continue to step S4; if the top beam is outside the adjustable range, continue to step S5. S4. Perform inner-loop coordination adjustment of the top beam's position and orientation, specifically including the following steps: S40. Based on the current top beam posture error E, adjust the top beam posture using the top beam control method, and obtain the current top beam posture error E after completion. S41. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal; if E exceeds the preset error range, continue to step S42. S42. Determine whether the top beam is outside the adjustable range; if the top beam is not outside the adjustable range, return to step S40 to continue execution; if the top beam is outside the adjustable range, continue to step S5. S5. Perform outer ring coordination adjustment on the top beam position, specifically including the following steps: S50. Based on the current top beam posture error E, the top beam posture is adjusted using a dual-column lifting control method. After completion, the current top beam posture error E is obtained. S51. Determine whether E falls within the preset error range; if E falls within the preset error range, end the adjustment and output a stable signal; if E exceeds the preset error range, continue to step S52. S52. Based on the current top beam position error E, the top beam position is adjusted using a combination of dual column lifting control and base indentation control. Once completed, the adjustment ends and a stable signal is output.

2. The adaptive coordinated control strategy for the unit hydraulic support as described in claim 1, characterized in that, Step S40 involves adjusting the top beam's pose using a top beam control method based on the current top beam pose error E, and then obtaining the current top beam pose error E. Specifically, this includes: S400. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S401; if the top beam is biased towards rolling, continue to step S402. S401, Based on the top beam pitch adjustment adaptation function F T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S403. S402, Based on the top beam roll adjustment adaptation function F T (γ), according to the weighting coefficient ω γ1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S403. S403. Obtain the current top beam position error E.

3. The adaptive coordinated control strategy for the unit hydraulic support as described in claim 1, characterized in that, Step S50 involves adjusting the top beam's posture using a dual-column lifting control method based on the current top beam posture error E, and then obtaining the current top beam posture error E. Specifically, this includes: S500. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S501; if the top beam is biased towards rolling, continue to step S502. S501, First, based on the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω β2 Assign the current top beam pose error E and adjust the top beam pose accordingly; then adjust the top beam pitch and yaw adjustment based on the top beam pitch and yaw adaptation function F. T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S503. S502, First, based on the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω γ2 Assign the current top beam pose error E and adjust the top beam pose; then adjust according to the top beam roll adaptation function F. T (γ), according to the weighting coefficient ω γ1 Assign the current top beam pose error E, adjust the top beam pose, and then continue to step S503. S503. Obtain the current top beam position error E.

4. The adaptive coordination control strategy for the unit hydraulic support as described in claim 1, characterized in that, Step S52 involves adjusting the top beam's posture using both a dual-column lifting control method and a base indentation control method based on the current top beam posture error E. After completion, the current top beam posture error E is obtained. Specifically, this includes: S520. Based on the current top beam posture error E, determine whether the top beam is biased towards pitching or rolling. If the top beam is biased towards pitching, continue to step S521; if the top beam is biased towards rolling, continue to step S522. S521. First, according to the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω β2 Assign the current top beam pose error E and adjust the top beam pose accordingly; then, adjust the top beam pitch and yaw adjustment based on the top beam pitch and yaw adjustment adaptation function F. T (β), according to the weighting coefficient ω β1 Assign the current top beam pose error E and adjust the top beam pose accordingly; finally, adjust the adaptation function F based on the base indentation. B (Δx) is used to adjust the remaining pose error. Once the adjustment is complete, the adjustment ends and a stable signal is output. S522. First, according to the column lifting adjustment adaptation function F Q (Δl1,Δl2), according to the weighting coefficient ω γ2 Assign the current top beam pose error E and adjust the top beam pose accordingly; then, adjust the top beam roll adaptation function F. T (γ), according to the weighting coefficient ω γ1 Assign the current top beam pose error E and adjust the top beam pose accordingly; finally, adjust the adaptation function F based on the base indentation. B (Δx) is used to adjust the remaining pose error. Once the adjustment is complete, the adjustment ends and a stable signal is output.

5. The adaptive coordinated control strategy for the unit hydraulic support as described in any one of claims 2-4, characterized in that, The weighting coefficient ω β1 ω β2 This refers to the coordination distribution coefficient between the top beam and column modules of the unit hydraulic support under elevation and depression conditions. The specific calibration process is as follows: St0, ω is obtained through simulation. β1 ω β2 The initial value range includes: Construct a virtual prototype and working condition model of the unit hydraulic support; A series of surface loads F are applied to the top beam respectively. β1 F β2 …F βn This causes the top beam to experience pitching or tilting conditions, resulting in corresponding pitch or tilt angles β1, β2…β. n ; Obtain the elevation or depression angles β1, β2…β under the above working conditions respectively. n The corresponding arc length a β1 a β2 …a βn Obtain the displacement length L of the top beam's center of mass change. β1 L β2 …L βn Obtain the height difference Δh between the centroids of the left and right columns. β1 Δh β2 …Δh βn ω is obtained from formula group (1) β1 ω β2 The initial value range; St1, by improving the particle swarm optimization algorithm, obtain ω from St0. β1 ω β2 The initial value range is optimized to obtain a definite ω. β1 ω β2 ; The weighting coefficient ω γ1 ω γ2 , which is the coordination distribution coefficient between the top beam and column modules of the unit hydraulic support under roll conditions. The specific calibration process is as follows: St0, ω is obtained through simulation. γ1 ω γ2 The initial value range includes: Construct a virtual prototype and working condition model of the unit hydraulic support; A series of surface loads F are applied to the top beam respectively. γ1 F γ2 …F γn This causes the top beam to undergo a rolling condition, obtaining the corresponding roll angles γ1, γ2…γ n ; Obtain the roll angles γ1, γ2…γ under the above working conditions respectively. n The corresponding arc length a γ1 a γ2 …a γn Obtain the displacement length L of the top beam's center of mass change. βγ1 L βγ2 …L βγn Obtain the height difference Δh between the centroids of the left and right columns. γ1 Δh γ2 …Δh γn ω is obtained from formula group (2) γ1 ω γ2 The initial value range; St1, by improving the particle swarm optimization algorithm, obtain ω from St0. γ1 ω γ2 ω γ3 The initial value range is optimized to obtain a definite ω. γ1 ω γ2 ω γ3 .

6. The adaptive coordinated control strategy for the unit hydraulic support as described in any one of claims 2-4, characterized in that, The step of determining whether the top beam is biased towards pitch or roll based on the current top beam posture error E is as follows: decompose the current top beam posture error E to obtain the current top beam posture error yaw angle α, the current top beam posture error pitch angle β and the current top beam posture error roll angle γ. Compare |β| and |γ|. If |β|≥|γ|, determine that the top beam is under a pitching condition; if |β|<|γ|, determine that the top beam is under a rolling condition.

7. The adaptive coordination control strategy for the unit hydraulic support as described in claim 1, characterized in that: The determination of whether the top beam exceeds the adjustable range specifically involves: Decompose the current top beam pose error E, and obtain the current top beam pitch angle β and the current top beam roll angle γ; Determine whether β satisfies β min <β<β max And whether γ satisfies γ min <γ<γ max , where β max and β min These are the maximum elevation angle and the maximum depression angle of the top beam, respectively; γ max and γ min These are the maximum counterclockwise roll angle and the maximum clockwise roll angle of the top beam, respectively. When β satisfies β min <β<β max And γ satisfies γ min <γ<γ max If the top beam is within the adjustable range, it is determined that the top beam is within the adjustable range; otherwise, it is determined that the top beam is outside the adjustable range.

8. The adaptive coordinated control strategy for the unit hydraulic support as described in any one of claims 2-4, characterized in that: The pitch adjustment adaptation function F of the top beam is adopted. T When (β), the adjustment amount Δl of the left column 1x Right column adjustment amount Δl 2x The solution is obtained from formula group (3), where, The reaction force of the kinematic pair between the left column and the top beam. The reaction force of the kinematic pair between the right column and the top beam. The sudden load exerted on the upper surface of the top beam is the pressure, m1 is the mass of the top beam, and P is the pressure. l Let F be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δβ be the pressure of F. T (β) According to the weighting coefficient ω β1 The pitch angle adjustment amount is obtained from the pitch angle allocation of the current top beam posture error; The top beam roll adjustment adaptation function F is adopted. T When (γ), the adjustment amount Δl of the left column 1y Right column adjustment amount Δl 2y The solution is obtained from formula group (4), where, The reaction force of the kinematic pair between the left column and the top beam support. The reaction force of the kinematic pair between the right column and the top beam support. For the pressure of sudden load on the upper surface of the top beam, P l Let ΔS be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δγ be the pressure according to the weighting coefficient ω. γ1 The roll angle adjustment amount is obtained from the roll angle allocation based on the current top beam position error.

9. The adaptive coordinated control strategy for the unit hydraulic support as described in claim 3 or 4, characterized in that: The column lifting adjustment adaptation function F Q In (Δl1,Δl2), the left column lifting adjustment amount Δl1 is obtained from formula group (5), where α is the top beam yaw angle and β is the weighted coefficient ω. β2 or ω γ2 The pitch angle adjustment is obtained from the pitch angle allocation of the current top beam pose error; γ is the adjustment amount according to the weighting coefficient ω. β2 or ω γ2 The roll angle adjustment amount is obtained from the roll angle allocation of the current top beam posture error; r is the coordinate radius from the kinematic pair center between the column and the top beam to the coordinate origin; The right column lifting adjustment amount Δl2 is obtained from formula group (6), where α is the top beam yaw angle and β is the weighted coefficient ω. β2 or ω γ2 The pitch angle adjustment amount is obtained from the current pitch angle distribution of the top beam error; γ is the adjustment amount according to the weighting coefficient ω. β2 or ω γ2 The roll angle adjustment amount is obtained from the roll angle allocation of the current top beam posture error; r is the coordinate radius from the kinematic pair center between the column and the top beam to the origin of the coordinate system.

10. The adaptive coordinated control strategy for the unit hydraulic support as described in claim 4, characterized in that: The base indentation adjustment adaptive function F B In (Δx), the base indentation Δx is obtained from formula group (7); In formula group (7), In the dual-column lifting and lowering control method, the adaptation function F based on the tilt adjustment of the top beam is used. T (β) or based on the top beam roll adjustment adaptation function F T (γ) After the top beam position adjustment is completed, the pressure F(P) borne by the left and right columns from the top beam. b P is the pressure borne by the base, m2 is the sum of the masses of the left and right columns, m3 is the mass of the base, and P l Let ΔS be the pressure of the left and right column cylinders, ΔS be the area of ​​the left and right column cylinders, and Δl1 and Δl2 be the pressure of the left and right column cylinders respectively, according to the top beam tilt adjustment adaptation function F in the dual column lifting control mode. T (β) or based on the top beam roll adjustment adaptation function F T (γ) The amount of lifting and lowering of the left and right columns during adjustment, P b k is the grounding specific pressure of the unit hydraulic support. c The cohesive deformation modulus of the soil at the bottom of the tunnel. denoted as , where is the frictional deformation modulus of the roadway floor soil, n is the roadway floor settlement index (range 2-3), b is the width of the unit hydraulic support base, and S is the... b The area of ​​the unit hydraulic support base.

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