Automatic control method and device for hydraulic support

Abstract

The invention provides an automatic control method and device for a hydraulic support, and relates to the technical field of hydraulic control. The method comprises the following steps: obtaining a support quality evaluation index according to a pre-constructed hydraulic support moment model; if it is determined that the stable supporting degree is within the preset numerical value interval, a control target is determined according to a first comparison result between the supporting eccentricity and a preset supporting eccentricity threshold value, automatic control is conducted in a corresponding control mode, and automatic control is conducted in a corresponding control mode according to a second comparison result between the parallelism and a preset parallelism threshold value. And a control target is determined, and a corresponding control mode is adopted for automatic control. According to the automatic control method and device of the hydraulic support, self-adaptive adjustment and active stability control of the support can be achieved.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control technology, and specifically to an automatic control method and device for a hydraulic support. Background Technology

[0002] Hydraulic supports are key load-bearing and support equipment in fully mechanized mining faces. Existing hydraulic support controls mostly employ pressure or height control methods, making simple adjustments based solely on the column pressure or stroke.

[0003] However, in actual coal mining: the pressure changes of the roof strata are complex, and the non-linear distribution of the force on the support results in an S-shaped curve in the trajectory of the support beam ends; the top beam, shield beam, and four-bar linkage structure have a coupling relationship during movement; the torque distribution between the balance cylinder, the side support cylinder, and the column affects the overall stability; in order to increase the recovery of top coal, increase the mining height, or encounter the top cavity, the maximum support height of the support is not limited, causing the actual height of the shield support to reach the critical value of the design support height, and the parallelism of the top beam base is too poor; if not properly controlled, it will cause the top beam to become unstable, the shield beam to be unbalanced, or the side support to fail. In severe cases, it will cause the support to tilt upwards and be damaged by the shear force of the roof, resulting in the inability to continue pushing.

[0004] Existing technologies generally lack analysis and control models for the distribution of force torque on the support, making it impossible to achieve adaptive control based on the coupling of support posture and load.

[0005] Currently, adaptive control technology for hydraulic supports in fully mechanized mining faces mainly relies on increasing the types and number of sensors, as well as utilizing external detection methods. For example, the roof condition sensing method uses penetrating sensors to detect roof thickness, delamination, and subsidence trends to assist in support adjustment. Another example is the hydraulic support full-attitude monitoring method, which uses multiple sensors such as tilt sensors, stroke sensors, pressure sensors, height sensors, three-axis accelerometers, and three-axis gyroscopes to measure the position and angle changes of the roof beam in real time. Based on the data provided by these multi-source sensors, the attitude changes and stress characteristics of the hydraulic support are assessed, thereby implementing necessary adjustments.

[0006] In general, existing technologies mainly rely on local sensing information to determine the status of the support, focusing more on monitoring local attitude or local stress. The attitude of existing hydraulic supports is mainly described by two indicators: the pitch angle of the hydraulic support's top beam, which is the angle by which the plane of the top beam deviates from the plane of the base along the direction of travel; and the support height of the hydraulic support, which is the vertical distance from the end point of the top beam to the base. Adaptive control of the hydraulic support's attitude is particularly important in production. The balancing jacks maintain the overall stability of the support and adjust the pitch angle of the top beam, while the column jacks adjust the support height and maintain a good support posture by bearing pressure. Summary of the Invention

[0007] To address the problems in the prior art, embodiments of the present invention provide an automatic control method and apparatus for hydraulic supports, which can at least partially solve the problems existing in the prior art.

[0008] On one hand, this invention proposes an automatic control method for a hydraulic support, comprising: The support quality evaluation index is obtained based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using a corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using a corresponding control method.

[0009] The step of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model includes: The effective force of the left column is calculated based on the pressure value of the left column and the projected area of ​​the left column on the reference plane of the base. The effective force of the right column is calculated based on the pressure value of the right column and the projected area of ​​the right column on the reference plane of the base. The effective force of the balance cylinder is calculated based on the hydraulic oil pressure value of the lower chamber of the balance cylinder and the cavity area of ​​the lower chamber of the balance cylinder. The resultant force is calculated based on the effective force of the left column, the effective force of the right column, and the effective force of the balancing cylinder. The ratio of the resultant force to the design value of the resultant force reflecting the design bearing capacity of the hydraulic support is used as the stability support degree.

[0010] The step of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model further includes: Based on the effective force of the left column, the effective force of the right column, and the effective force of the balance cylinder, as well as the geometric arm lengths from the support point of the left column to the origin, the geometric arm lengths from the support point of the right column to the origin, and the geometric arm lengths from the support point of the balance cylinder to the origin, the left and right torques are calculated. Based on the pressure, tension, and support force of the balancing cylinder, as well as the geometric arm lengths of the balancing cylinder from the pressure point to the origin, the geometric arm lengths of the balancing cylinder from the tension point to the origin, and the geometric arm lengths of the resultant force of the support force to the origin, the front and rear torques are calculated. Calculate the ratio of the front-to-back moment to the resultant force, and calculate the ratio of the left-to-right moment to the resultant force to obtain the front-to-back resultant force eccentricity and the left-to-right resultant force eccentricity; The support eccentricity is calculated based on the front-to-back resultant force eccentricity and the equivalent support width of the support in the front-to-back direction of the top beam, as well as the left-to-right resultant force eccentricity and the equivalent support width of the support in the left-to-right direction of the top beam.

[0011] The step of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model includes: The parallelism is calculated based on the pitch angles of the top beam and the base.

[0012] The step of determining the control target and using a corresponding control method for automatic control based on a first comparison result between the support eccentricity and a preset support eccentricity threshold includes: If it is determined that the first difference between the support eccentricity and the preset support eccentricity threshold is less than the first preset difference, then the control target is determined to be the support eccentricity, and adaptive control is performed on it. If it is determined that the first difference between the support eccentricity and the preset support eccentricity threshold is greater than or equal to the first preset difference, then the control target is determined to be the attitude angle, and the attitude angle difference parameter is subject to threshold control.

[0013] The step of determining the control target and using a corresponding control method for automatic control based on a second comparison result between the parallelism and a preset parallelism threshold includes: If it is determined that the second difference between the parallelism and the preset parallelism threshold is less than the second preset difference, then the control target is determined to be the parallelism, and adaptive control is performed on it. If it is determined that the second difference between the parallelism and the preset parallelism threshold is greater than or equal to the second preset difference, then the control target is determined to be the attitude angle, and the attitude angle difference parameter is subject to threshold control.

[0014] On one hand, the present invention proposes an automatic control device for a hydraulic support, comprising: The acquisition unit is used to acquire support quality evaluation indicators based on a pre-built hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. The control unit is configured to, if it is determined that the stability support degree is within a preset value range, determine a control target and automatically control it using a corresponding control method based on a first comparison result between the support eccentricity and a preset support eccentricity threshold; and to determine a control target and automatically control it using a corresponding control method based on a second comparison result between the parallelism and a preset parallelism threshold.

[0015] In another aspect, embodiments of the present invention provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the following method: The support quality evaluation index is obtained based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using a corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using a corresponding control method.

[0016] This invention provides a computer-readable storage medium, comprising: The computer-readable storage medium stores a computer program that, when executed by a processor, implements the following method: The support quality evaluation index is obtained based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using a corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using a corresponding control method.

[0017] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the following method: The support quality evaluation index is obtained based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using a corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using a corresponding control method.

[0018] The automatic control method and apparatus for hydraulic supports provided in this invention obtain support quality evaluation indicators based on a pre-constructed hydraulic support torque model. These indicators include stability support degree, support eccentricity, and parallelism between the top beam and the base. The hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset numerical range, a control target is determined based on a first comparison result between the support eccentricity and a preset support eccentricity threshold, and an corresponding control method is used for automatic control. Similarly, a control target is determined based on a second comparison result between the parallelism and a preset parallelism threshold, and an corresponding control method is used for automatic control. This enables adaptive adjustment and active stabilization of the support. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a flowchart illustrating an automatic control method for a hydraulic support according to an embodiment of the present invention.

[0020] Figure 2 This is a flowchart illustrating an automatic control method for a hydraulic support provided in another embodiment of the present invention.

[0021] Figure 3 This is a flowchart illustrating an automatic control method for a hydraulic support provided in another embodiment of the present invention.

[0022] Figure 4This is a schematic diagram of the modular structure of the automatic control method for hydraulic supports provided in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of an automatic control device for a hydraulic support provided in an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the physical structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0026] Figure 1 This is a flowchart illustrating an automatic control method for a hydraulic support according to an embodiment of the present invention, as shown below. Figure 1 As shown, the automatic control method for a hydraulic support provided in this embodiment of the invention includes: Step R1: Obtain the support quality evaluation index based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity, and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component.

[0027] Step R2: If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using the corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using the corresponding control method.

[0028] In step R1 above, the device obtains the support quality evaluation index based on the pre-built hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity, and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model constructed by abstracting the hydraulic support into a rhomboid mechanism and using the top beam as the main load-bearing structural component. The device can be a computer device, such as a server, that executes this method. The constructed hydraulic support torque model is described below: The hydraulic support is abstracted as a rhomboid mechanism, and the top beam is used as the main load-bearing structural component to construct its torque balance model in the front-rear direction. Since the load applied by the top plate is unknown and variable, the torque of the top beam is described in the following way: the pressure of the column cylinder, the pressure of the balancing cylinder, the pressure of the side plate, the inclination angle information of the top beam and the base, and the structural parameters of the hydraulic support itself (including the position of the fulcrum, the position of the cylinder, the geometric dimensions, etc.).

[0029] Moment of the top beam in the front-rear direction It can be represented as:

[0030] in: This refers to the supporting force generated by the column cylinder, balance cylinder, and side guard plate on the top beam. The force arm of each support force relative to the center of rotation of the top beam is the forward and backward direction.

[0031] This torque directly reflects whether the support has a tendency to tilt forward or backward, and serves as the core judgment basis for adaptive control.

[0032] A moment model is constructed with the "top beam-column-balance" system as the isolated body, taking the top beam as the load-bearing structure and the base as the reference plane, considering the uneven contact between the coal on the top beam and the roof, resulting in load eccentricity. The supporting force comes from the left and right columns and the balancing cylinder.

[0033] The process of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model includes: The effective force of the left column is calculated based on the pressure value of the left column and its projected area on the base reference plane. The effective force of the right column is calculated based on the pressure value of the right column and its projected area on the base reference plane. The effective force of the balance cylinder is calculated based on the hydraulic oil pressure in the lower chamber and the area of ​​the lower chamber. The effective force of the left column is calculated using the following formula. :

[0034] in, This is the pressure value of the left column. This represents the projected area of ​​the left column on the reference plane of the base.

[0035] The effective force of the right column is calculated using the following formula. :

[0036] in, This is the pressure value of the right column. This represents the projected area of ​​the right column on the reference plane of the base.

[0037] The effective force of the balance cylinder is calculated using the following formula. :

[0038] in, To balance the hydraulic oil pressure in the lower chamber of the cylinder, To balance the area of ​​the lower chamber of the hydraulic cylinder.

[0039] The pressure values ​​mentioned above are in Pa, and the areas mentioned above are in m². 2 .

[0040] The resultant force is calculated based on the effective force of the left column, the effective force of the right column, and the effective force of the balancing cylinder; the resultant force N is calculated using the following formula:

[0041] The ratio of the resultant force to the design value of the resultant force reflecting the design bearing capacity of the hydraulic support is taken as the stability support degree. The stability support degree U is calculated according to the following formula:

[0042] in, To reflect the resultant force design value of the hydraulic support's design load-bearing capacity, the stability support index should not exceed the allowable range under different top and bottom plate working conditions. This index reflects whether the top beam can "support" the load without being overloaded, and the index should be controlled within the stability support zone.

[0043] The process of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model also includes: Based on the effective forces of the left column, the right column, and the balance cylinder, and their corresponding geometric arm lengths from the left column support point to the origin, the left and right torques are calculated; the left and right torques are then calculated using the following formula. :

[0044] in, The geometric arm length from the left column support point to the origin. Let be the geometric arm length from the right column support point to the origin. To balance the geometric arm length from the hydraulic cylinder support point to the origin.

[0045] Based on the pressure, tension, and support force of the balancing cylinder, and their corresponding geometric arm lengths from the pressure, tension, and resultant force of the support force to the origin, the front and rear torques are calculated. The front and rear torques are then calculated using the following formula. :

[0046] in, To balance the pressure on the hydraulic cylinder, To balance the tension on the hydraulic cylinder, For the support of the column, To balance the geometric arm length of the hydraulic cylinder from the origin under pressure, To balance the geometric arm length of the hydraulic cylinder from the origin under tension, Let be the geometric arm length of the resultant force of the column support to the origin.

[0047] Calculate the ratio of the front-to-back moment to the resultant force, and calculate the ratio of the left-to-right moment to the resultant force to obtain the front-to-back resultant force eccentricity and the left-to-right resultant force eccentricity; calculate the front-to-back resultant force eccentricity according to the following formula. :

[0048] The eccentricity of the resultant force on the left and right sides is calculated using the following formula. : or The larger the value, the closer the resultant force is to the edge of the top beam, resulting in more severe bending of the top beam. This makes the tendency of the top beam to rise and fall more pronounced, and increases the risk of top plate crushing and localized top erosion. Adjustment of the telescopic plunger of the balance jack is required.

[0049] The support eccentricity is calculated based on the front-to-back resultant force eccentricity and the equivalent support width of the support in the front-to-back direction of the top beam, as well as the left-to-right resultant force eccentricity and the equivalent support width of the support in the left-to-right direction of the top beam. The support eccentricity includes the front-to-back support eccentricity. It is calculated according to the following formula:

[0050] in, This is the equivalent support width of the support in the front and rear directions of the top beam.

[0051] Support eccentricity also includes left and right support eccentricity. It is calculated according to the following formula:

[0052] in, This is the equivalent support width of the support in the left and right directions of the top beam.

[0053] The testing basis is:

[0054] in, A value of 0.6-0.7 is acceptable, which can be understood as the resultant force projection point falling within 60%-70% of the support polygon. If the resultant force projection point falls within the allowable area of ​​the support polygon, the likelihood of the support exhibiting lateral load imbalance, tilting forward or backward, or torque changes is low. If a support deviation or torque exceedance occurs in a certain direction, the operation must be stopped immediately for intervention and adjustment. In severe cases, emergency intervention with directional movements may be necessary.

[0055] The process of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model includes: The parallelism is calculated based on the pitch angles of the top beam and the base. The parallelism is then calculated using the following formula. :

[0056] in, The pitch angle of the top beam. The base pitch angle is used to monitor the parallelism index between the top beam and the base whenever the column lifting and the extension and retraction of the balance jack are involved, and to determine the direction of deviation to control the extension and retraction of the balance jack cylinder plunger.

[0057] In step R2 above, if the device determines that the stability support degree is within a preset value range, it determines the control target and uses a corresponding control method for automatic control based on the first comparison result between the support eccentricity and the preset support eccentricity threshold; and it determines the control target and uses a corresponding control method for automatic control based on the second comparison result between the parallelism and the preset parallelism threshold. The preset value range can be set independently according to the actual situation and can be selected as 0~1. Taking into account the above evaluation indicators, the support degree of the support is kept within the stable support range, and the support eccentricity is less than... The parallelism between the top beam and the base meets the parallelism threshold requirement. Different control logic methods are selected for processing according to different scenarios and needs, such as: PID adaptive control, fuzzy control, fuzzy predictive control, and hybrid control of threshold + trend judgment, etc.

[0058] The following example illustrates the control process for stability support during a typical automatic column lowering, moving, and raising process of a hydraulic support. For example... Figure 2As shown, real-time support quality evaluation indicators are calculated. During the automated "column lowering-frame shifting-column raising" process, a threshold + PID adaptive control method is used to ensure that the moment state and parallelism index of the top beam change dynamically within the resultant force threshold. After the action is completed, the static attitude of the support is adjusted according to the parallelism index. To improve the control accuracy of the balancing cylinder, the extension and retraction of the cylinder plunger are controlled according to the command window convergence control method, which can avoid the balancing cylinder over-stopping due to its own error, thereby improving the control accuracy of the top beam attitude.

[0059] Real-time calculation of the top beam moment state yields three support quality evaluation indicators: stability support degree U, support eccentricity, and support stability. Parallelism between top beam and base The system compares the safe range of the corresponding indicators with possible torsional and eccentric loading trends. Within the safe range, the support quality evaluation indicators are controlled by thresholds based on the attitude angle difference of the support at different stages of operation. When the support quality evaluation indicators are close to the safe range, adaptive control is implemented to ensure that the real-time support evaluation indicators do not exceed the corresponding safe range. If necessary, an alarm and manual intervention are required.

[0060] The combined load-bearing capacity of the hydraulic support should be below its design load-bearing capacity, that is, its stable support degree U∈[0,1] throughout the entire life cycle of the hydraulic support. Under this condition, good support of the top and bottom plates of the hydraulic support can be achieved by attitude adjustment including adaptive control methods. When U>1, it indicates that the specifications of the hydraulic support do not match the actual working conditions, and additional support measures need to be added.

[0061] Torsional monitoring and eccentric load monitoring are two dimensions for stability assessment during the hydraulic support's operation, corresponding to the force conditions and posture of the hydraulic support in the left-right and front-back directions, respectively. During the automatic "lower-move-raise" process of the hydraulic support, in each stage of depressurization and column lowering, column adjustment and lowering, column moving, column lowering again, raising transition pressure, and raising initial support pressure, while adjusting the balance cylinder, the real-time support quality is reflected in the real-time support eccentricity and top beam-base parallelism indicators. As mentioned above, regarding support eccentricity... ≤Preset support eccentricity threshold, such as (0.7, 0.7), top beam-base parallelism ≤Preset parallelism threshold, such as 7°. (If applied to a steeply inclined fully mechanized mining face, the maximum value of the corresponding index should be fine-tuned according to the safety margin, such as support eccentricity.) ≤ (0.5, 0.5), Top beam-base parallelism ≤5°). When the support eccentricity and The first difference between them is less than the first preset difference. If the value is 0.1, the indicator is considered to be close to the safe range, and adaptive control is performed; otherwise, threshold control is performed based on the attitude angle difference parameter.

[0062] When the top beam and base are parallel and The second difference between them is less than the second preset difference. If the value is 1°, the indicator is considered to be near the safe range, and adaptive control is executed; otherwise, threshold control is performed based on the attitude angle difference parameter. Here, label x indicates the forward / backward direction, adjusting the pitch angle; label y indicates the left / right direction, adjusting the roll angle. Negative feedback adjustment is performed based on the correspondence between the extension / retraction of the left and right column cylinders and the balance cylinder and the increase / decrease of the corresponding indicator. The adjustment is performed in a command window convergence manner.

[0063] like Figure 2 As shown, the threshold control of the attitude angle difference parameter is further explained below: For off-center load monitoring: When (initial roll angle) When D ALFA is greater than or equal to the top beam angle, no intervention or adjustment will be made until the end of the entire control process. D ALFA is the allowable difference in the top beam roll angle during the automatic "column lowering-frame shifting-column raising" process.

[0064] When (initial roll angle) If D ALFA is less than the top beam angle value, an alarm will be triggered.

[0065] For torsion monitoring: During the column reduction phase, the methods include: When the balancing cylinder operates, it stops when the lifting angle of the top beam exceeds DBETA0. DBETA0 represents the allowable difference in pitch angle during the first stage of the column lowering and balancing cylinder operation.

[0066] When the top beam is raised at an angle When D BETA0, the balancing cylinder action continues until the "balancing cylinder action time 0" ends, at which point the balancing cylinder action stops.

[0067] During the transfer phase, the methods include: When the top beam angle is less than the initial angle + ADVANCED BETA, the balancing cylinder adaptively extends / retracts during the frame shift. ADVANCED BETA is the allowable difference in pitch angle during the frame shift phase.

[0068] When the balancing cylinder action 1 ends, the method also includes: When the top beam angle value is less than the initial angle + D BETA1, it indicates that no intervention or adjustment is required.

[0069] When the top beam angle value When the initial angle is +D BETA1, the balance cylinder trigger adjustment mechanism is executed. D BETA1 is the allowable difference in pitch angle between the lowering column and the end of the balance cylinder's movement.

[0070] After the column drop is complete, the methods include: Before performing the re-lowering column action, check that (initial angle + D BETA2) < top beam angle value < (initial angle + D BETA3). Where D BETA2 is the allowable difference in pitch angle during the second stage of the re-lowering column and the balance cylinder action, and D BETA3 is the allowable difference in pitch angle during the third stage of the transition pressure increase and the balance cylinder action.

[0071] When performing the re-lowering column action, the methods include: When the top beam angle value is less than (initial angle + RELOWER D BETA), the balance cylinder adaptively extends / retracts, and then a judgment is made. Specifically, when the top beam angle value is less than (initial angle + D BETA2), it indicates that the column lowering is complete. When the initial angle is (initial angle + D BETA2), the balance cylinder trigger adjustment mechanism is executed. Here, RELOWER D BETA is the angle the top beam moves to when the column is lowered again.

[0072] After the column reduction is completed, the methods include: Execute the column lifting (transition) phase action, and then when (initial angle + D BETA3) < top beam angle value < (initial angle + D BETA2), continue to execute the column lifting (initial support) phase; when the top beam angle value is not within the above range, the balance cylinder triggers the adaptive adjustment mechanism.

[0073] During the initial support (lifting of the column) stage, when the top beam angle is less than (initial angle + SET DBETA), the balancing cylinder performs adaptive extension / retraction adjustment, and then the column lifting ends. SET DBETA is the allowable difference in pitch angle during the initial support stage.

[0074] After the column lifting is completed, the balance cylinder performs adaptive extension / retraction adjustment, and then the method ends.

[0075] It should be noted that the allowable difference in attitude angle is based on the attitude angle when the automated action is started. A negative pitch angle indicates that the top beam is lowered towards the ground, and a negative roll angle indicates that the support is twisted to the right when the top beam is facing the coal wall.

[0076] Changes in the support posture of the scaffold significantly impact its load-bearing capacity, even damaging the structural components themselves, and interact with the stability of the direct jacking. The pitch angle of the top beam is a crucial factor affecting the stability of the direct jacking at the end face. When the top beam is in an upward position, it severely affects the horizontal support force of the scaffolding on the roof, worsening the stress condition of the roof and reducing the effective support range of the scaffolding. When the top beam is in a downward position, it increases the distance between the end face and the roof, reduces the contact area between the top beam and the roof, and worsens the contact condition, reducing the support capacity at the front end of the top beam and the overall support force of the scaffolding. As the roof slips and becomes unstable, the subsidence increases, and the downward tilt of the top beam intensifies, the direct jacking at the end face suffers severe damage under shear and compression. In short, both upward and downward tilting of the top beam are highly detrimental to the control of the roof at the end face. Field experience shows that, under optimal working conditions, the pitch angle of the top beam should be controlled to ensure that the angle deviating from the base plane does not exceed 7°.

[0077] like Figure 3 The automatic control method for the hydraulic support provided in the embodiments of the present invention will be described as follows: Includes the following steps: S1: Collect pressure, sampling height, and tilt angle data.

[0078] S2: Calculate the front and rear moments of the top beam .

[0079] S3: Determine whether the top beam is in the stable zone.

[0080] S4: If unstable, determine the direction of deviation (forward tilt / backward tilt).

[0081] S5: Perform differential adjustment, synchronous adjustment or micro-adjustment based on the deviation.

[0082] S6: Recalculate torque after the hydraulic cylinder actuates.

[0083] S7: If the stable region is still not reached, return to S4 to form a closed loop.

[0084] This control logic enables the hydraulic support to continuously maintain the stable stress state of the rhomboid structure.

[0085] The above steps are further explained in detail below: This invention collects the following data using sensing units arranged on a hydraulic support: Pressure sensor: The pressure in the lower chamber of the left and right column cylinders, the pressure in both chambers of the balance cylinder, and the pressure in the rodless chamber of the side guard cylinder are obtained to calculate the normal force of the side guard on the coal wall, as well as the system inlet / outlet pressure.

[0086] Height sensor: It is used to reflect the current height position of the top beam and helps in determining the lever arm and attitude.

[0087] Tilt sensor: Mounted on the top beam, shield beam, and base, these sensors measure the parallelism between the top beam and base, providing the most direct information on the orientation of the top beam, indicating whether it is tilting forward or backward. The base tilt sensor can also be used to identify impact loads and monitor and prevent the risk of support slippage.

[0088] Hydraulic support structural parameters: including the distribution dimensions of each support point of the hydraulic support, cylinder position information, etc., which are determined and input into the system during system deployment.

[0089] The system periodically collects the above data and inputs it into the torque calculation and stability judgment modules.

[0090] Stability assessment method: Through real-time calculation of torque The stent status is divided into: (1) Stable region: If the value falls within the set stable threshold, the stent is considered to be in normal posture and no adjustment is required.

[0091] (2) Deviation zone: If the value exceeds the stable range but does not reach the limit threshold, it indicates that the stent is slightly tilted forward or backward, which can be corrected by minor adjustments.

[0092] (3) Over-limit zone: Exceeding the maximum permissible range indicates a significant tendency to tip over, and immediate forced adjustment should be performed. The tilt angle of the top beam relative to the base, output by the tilt sensor, is used to confirm the specific direction of forward or backward tilting.

[0093] Mapping of torque deviation to cylinder adjustment amount: This invention generates cylinder adjustment commands based on the direction and amplitude of torque deviation, including: (1) Differential regulation: Differential adjustment refers to the adjustment of the column and the balance cylinder at different amplitudes or in different directions to change the posture of the support.

[0094] (2) Synchronous adjustment: Synchronous adjustment refers to the column and the balance cylinder adjusting in the same direction, which is used for the overall lifting support without changing its posture.

[0095] (3) Micro-adjustment: Micro-adjustment refers to the adjustment of a small stroke or small pressure of the column or balance cylinder.

[0096] Closed-loop implementation of adaptive control.

[0097] like Figure 4As shown, the automatic control method for hydraulic supports provided in this embodiment of the invention can be implemented based on modularity, including a data acquisition module (pressure, mining height, tilt angle), a torque calculation module, a stability judgment module, an adjustment strategy module (including differential / synchronous decision-making), and an execution module (column cylinder, balance cylinder).

[0098] The automatic control method for a hydraulic support provided in this invention achieves adaptive adjustment by maintaining the structural stability of the support as a rhomboid mechanism. Based on this, a torque model is introduced to describe the overall stress state of the top beam and serves as the basis for judging the support's posture stability and adjustment direction, thereby achieving dynamic adjustment of the support under complex working conditions. The technical problems to be solved by this invention include: 1. How to characterize the support state of a hydraulic support from an overall mechanical perspective. Existing technologies lack a unified overall stress index. This invention constructs a top beam moment model based on the characteristics of a rhomboid structure to reflect the overall stability of the support.

[0099] 2. How to determine stability and adjustment direction based on torque state. Torque changes can reflect overturning tendency, eccentric loading degree, and attitude deviation. This invention utilizes torque state to directly determine the adjustment direction and amplitude of the support.

[0100] 3. How to convert torque deviation into hydraulic cylinder adjustment action. This invention establishes a mapping relationship between torque deviation and the extension / retraction of the column and balancing hydraulic cylinder, enabling the bracket to automatically return to a stable rhomboid structure state through minute adjustments.

[0101] 4. How to achieve real-time and reliable adaptive control under complex and highly variable working conditions. Stability evaluation based on a torque model enables the system to continuously identify trends in the support deviating from the stable zone and adjust accordingly in a timely manner, thereby improving support reliability.

[0102] By solving the above problems, this invention achieves a holistic description and real-time adaptive adjustment of the stress state of the hydraulic support, ensuring structural stability and support quality under various working conditions.

[0103] The automatic control method for hydraulic supports provided in this invention has the following beneficial technical effects: This invention focuses on maintaining the overall stability of the rhomboid structure of the hydraulic support. It achieves a unified and quantitative characterization of the stress state of the support through a front-to-back moment model of the top beam, which has significant advantages over existing technologies that rely on local sensors or top plate detection.

[0104] First, the torque model of this invention can directly reflect the tendency of the support to tilt forward or backward during loading, transforming the assessment of the support's state from speculation based on local data to calculation of the overall force, thus improving the accuracy of attitude recognition. Second, this invention establishes an adaptive adjustment mechanism based on torque deviation: when the support deviates from the torque balance range, differential adjustment or synchronous adjustment can be automatically selected according to the direction of deviation, so that the support can be restored to the stable attitude of the rhomboid structure.

[0105] Differential adjustment is used for attitude correction, while synchronous adjustment is used for compensation of overall height or support force, making the adjustment more precise and reasonable. Furthermore, this invention can operate based on existing information such as column pressure, balance cylinder pressure, sidewall pressure, inclination angle, and mining height, without the need for additional roof detection equipment. The system is simple and reliable, and suitable for downhole environments with high dust and strong interference.

[0106] Furthermore, the torque model possesses trend recognition capabilities, enabling timely adjustments to be triggered in the early stages of attitude deviation, thereby improving the safety and anti-overturning ability of the support. Ultimately, this invention constructs a closed-loop control system of "data acquisition—torque calculation—stability judgment—cylinder adjustment," enabling the hydraulic support to possess the ability to self-correct and autonomously maintain stability, significantly improving the quality and intelligence level of working face support.

[0107] The automatic control method for hydraulic supports provided in this invention obtains support quality evaluation indicators based on a pre-constructed hydraulic support torque model. These indicators include stability support degree, support eccentricity, and parallelism between the top beam and the base. The hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset numerical range, a control target is determined based on a first comparison between the support eccentricity and a preset support eccentricity threshold, and an corresponding control method is used for automatic control. Similarly, a control target is determined based on a second comparison between the parallelism and a preset parallelism threshold, and an corresponding control method is used for automatic control. This method enables adaptive adjustment and active stabilization of the support.

[0108] In the above optional embodiments, obtaining the support quality evaluation index based on the pre-built hydraulic support torque model includes: The effective force of the left column is calculated based on the pressure value of the left column and the projected area of ​​the left column on the reference plane of the base. The effective force of the right column is calculated based on the pressure value of the right column and the projected area of ​​the right column on the reference plane of the base. The effective force of the balance cylinder is calculated based on the hydraulic oil pressure value of the lower chamber of the balance cylinder and the area of ​​the lower chamber of the balance cylinder. The above embodiments can be referred to for explanation, and will not be repeated here.

[0109] The resultant force is calculated based on the effective force of the left column, the effective force of the right column, and the effective force of the balancing cylinder; this can be referred to the above embodiment for explanation, and will not be repeated here.

[0110] The ratio of the resultant force to the design value of the resultant force reflecting the design bearing capacity of the hydraulic support is used as the stability support degree. This can be referred to the above embodiments for explanation, and will not be repeated here.

[0111] In the above optional embodiments, obtaining the support quality evaluation index based on the pre-built hydraulic support torque model further includes: The left and right torques are calculated based on the effective force of the left column, the effective force of the right column, and the effective force of the balancing cylinder, as well as the geometric arm lengths from the support point of the left column to the origin, the support point of the right column to the origin, and the support point of the balancing cylinder to the origin, respectively. The above embodiments can be referred to for explanation, and will not be repeated here.

[0112] Based on the pressure, tension, and support force of the balancing cylinder, as well as the geometric arm lengths of the balancing cylinder from the pressure point to the origin, the geometric arm lengths of the balancing cylinder from the tension point to the origin, and the geometric arm lengths of the combined force of the support force to the origin, the front and rear torques are calculated. This can be referred to the above embodiments for further explanation.

[0113] The ratio of the front-to-back torque to the resultant force, and the ratio of the left-to-right torque to the resultant force are calculated to obtain the front-to-back resultant force eccentricity and the left-to-right resultant force eccentricity; the above embodiments can be referred to for explanation, and will not be repeated here.

[0114] The support eccentricity is calculated based on the front-to-back resultant force eccentricity and the equivalent support width of the support in the front-to-back direction of the top beam, as well as the left-to-right resultant force eccentricity and the equivalent support width of the support in the left-to-right direction of the top beam. This can be referred to the above embodiment for explanation, and will not be repeated here.

[0115] In the above optional embodiments, obtaining the support quality evaluation index based on the pre-built hydraulic support torque model includes: The parallelism is calculated based on the pitch angles of the top beam and the base. This can be referred to the above embodiment for explanation, and will not be repeated here.

[0116] In the above optional embodiments, the step of determining the control target and using a corresponding control method for automatic control based on the first comparison result between the support eccentricity and the preset support eccentricity threshold includes: If it is determined that the first difference between the support eccentricity and the preset support eccentricity threshold is less than the first preset difference, then the control target is determined to be the support eccentricity, and adaptive control is performed on it; this can be referred to the above embodiments for explanation, and will not be repeated here.

[0117] If it is determined that the first difference between the support eccentricity and the preset support eccentricity threshold is greater than or equal to the first preset difference, then the control target is determined to be the attitude angle, and threshold control is applied to the attitude angle difference parameter. This can be referred to the above embodiments for explanation, and will not be repeated here.

[0118] Figure 5 This is a schematic diagram of the structure of an automatic control device for a hydraulic support according to an embodiment of the present invention, as shown below. Figure 5 As shown, the automatic control device for a hydraulic support provided in this embodiment of the invention includes an acquisition unit 501 and a control unit 502, wherein: The acquisition unit 501 is used to acquire support quality evaluation indicators based on a pre-constructed hydraulic support torque model; wherein, the support quality evaluation indicators include stability support degree, support eccentricity, and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and constructs a top beam as the main load-bearing structural component; the control unit 502 is used to determine the control target and automatically control the system based on a first comparison result between the support eccentricity and a preset support eccentricity threshold if the stability support degree is determined to be within a preset value range, and to determine the control target and automatically control the system based on a corresponding control method based on a second comparison result between the parallelism and a preset parallelism threshold.

[0119] Specifically, the acquisition unit 501 in the device is used to acquire support quality evaluation indicators based on a pre-constructed hydraulic support torque model; wherein, the support quality evaluation indicators include stability support degree, support eccentricity, and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and constructs a top beam as the main load-bearing structural component; the control unit 502 is used to determine the control target and automatically control the system based on a first comparison result between the support eccentricity and a preset support eccentricity threshold if the stability support degree is determined to be within a preset value range, and to determine the control target and automatically control the system based on a corresponding control method based on a second comparison result between the parallelism and a preset parallelism threshold.

[0120] The automatic control device for hydraulic supports provided in this invention obtains support quality evaluation indicators based on a pre-constructed hydraulic support torque model. These indicators include stability support degree, support eccentricity, and parallelism between the top beam and the base. The hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset numerical range, a control target is determined based on a first comparison between the support eccentricity and a preset support eccentricity threshold, and an corresponding control method is used for automatic control. Similarly, a control target is determined based on a second comparison between the parallelism and a preset parallelism threshold, and an corresponding control method is used for automatic control. This enables adaptive adjustment and active stabilization of the support.

[0121] The embodiments of the present invention provide an automatic control device for hydraulic supports that can be used to execute the processing flow of the above-described method embodiments. Its functions will not be repeated here, but can be referred to the detailed description of the above-described method embodiments.

[0122] Figure 6 This is a schematic diagram of the physical structure of a computer device provided in an embodiment of the present invention, such as... Figure 6 As shown, the computer device includes: a memory 601, a processor 602, and a computer program stored in the memory 601 and executable on the processor 602. When the processor 602 executes the computer program, it implements the following method: The support quality evaluation index is obtained based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using a corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using a corresponding control method.

[0123] This embodiment discloses a computer program product, which includes a computer program that, when executed by a processor, implements the following method: The support quality evaluation index is obtained based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using a corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using a corresponding control method.

[0124] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the following method: The support quality evaluation index is obtained based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using a corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using a corresponding control method.

[0125] Compared with existing technologies, the automatic control method for hydraulic supports provided in this invention obtains support quality evaluation indicators based on a pre-constructed hydraulic support torque model. These indicators include stability support degree, support eccentricity, and parallelism between the top beam and the base. The hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, a control target is determined based on a first comparison between the support eccentricity and a preset support eccentricity threshold, and an corresponding control method is used for automatic control. Similarly, a control target is determined based on a second comparison between the parallelism and a preset parallelism threshold, and an corresponding control method is used for automatic control. This enables adaptive adjustment and active stabilization of the support.

[0126] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] In the description of this specification, the references to terms such as "an embodiment," "a specific embodiment," "some embodiments," "for example," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0131] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic control method for a hydraulic support, characterized in that, include: The support quality evaluation index is obtained based on the pre-constructed hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. If the stability support degree is determined to be within a preset value range, then based on the first comparison result between the support eccentricity and the preset support eccentricity threshold, a control target is determined and an automatic control is performed using a corresponding control method; and based on the second comparison result between the parallelism and the preset parallelism threshold, a control target is determined and an automatic control is performed using a corresponding control method.

2. The automatic control method for hydraulic supports according to claim 1, characterized in that, The process of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model includes: The effective force of the left column is calculated based on the pressure value of the left column and the projected area of ​​the left column on the reference plane of the base. The effective force of the right column is calculated based on the pressure value of the right column and the projected area of ​​the right column on the reference plane of the base. The effective force of the balance cylinder is calculated based on the hydraulic oil pressure value of the lower chamber of the balance cylinder and the area of ​​the lower chamber of the balance cylinder. The resultant force is calculated based on the effective force of the left column, the effective force of the right column, and the effective force of the balancing cylinder. The ratio of the resultant force to the design value of the resultant force reflecting the design bearing capacity of the hydraulic support is used as the stability support degree.

3. The automatic control method for hydraulic supports according to claim 2, characterized in that, The process of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model also includes: Based on the effective force of the left column, the effective force of the right column, and the effective force of the balance cylinder, as well as the geometric arm lengths from the support point of the left column to the origin, the geometric arm lengths from the support point of the right column to the origin, and the geometric arm lengths from the support point of the balance cylinder to the origin, the left and right torques are calculated. Based on the pressure, tension, and support force of the balancing cylinder, as well as the geometric arm lengths of the balancing cylinder from the pressure point to the origin, the geometric arm lengths of the balancing cylinder from the tension point to the origin, and the geometric arm lengths of the resultant force of the support force to the origin, the front and rear torques are calculated. Calculate the ratio of the front-to-back moment to the resultant force, and calculate the ratio of the left-to-right moment to the resultant force to obtain the front-to-back resultant force eccentricity and the left-to-right resultant force eccentricity; The support eccentricity is calculated based on the front-to-back resultant force eccentricity and the equivalent support width of the support in the front-to-back direction of the top beam, as well as the left-to-right resultant force eccentricity and the equivalent support width of the support in the left-to-right direction of the top beam.

4. The automatic control method for hydraulic supports according to claim 1, characterized in that, The process of obtaining support quality evaluation indicators based on a pre-constructed hydraulic support torque model includes: The parallelism is calculated based on the pitch angles of the top beam and the base.

5. The automatic control method for a hydraulic support according to any one of claims 1 to 4, characterized in that, The step of determining the control target and using a corresponding control method for automatic control based on a first comparison result between the support eccentricity and a preset support eccentricity threshold includes: If it is determined that the first difference between the support eccentricity and the preset support eccentricity threshold is less than the first preset difference, then the control target is determined to be the support eccentricity, and adaptive control is performed on it. If it is determined that the first difference between the support eccentricity and the preset support eccentricity threshold is greater than or equal to the first preset difference, then the control target is determined to be the attitude angle, and the attitude angle difference parameter is subject to threshold control.

6. The automatic control method for a hydraulic support according to any one of claims 1 to 4, characterized in that, The step of determining the control target and using a corresponding control method for automatic control based on a second comparison result between the parallelism and a preset parallelism threshold includes: If it is determined that the second difference between the parallelism and the preset parallelism threshold is less than the second preset difference, then the control target is determined to be the parallelism, and adaptive control is performed on it. If it is determined that the second difference between the parallelism and the preset parallelism threshold is greater than or equal to the second preset difference, then the control target is determined to be the attitude angle, and the attitude angle difference parameter is subject to threshold control.

7. An automatic control device for a hydraulic support, characterized in that, include: The acquisition unit is used to acquire support quality evaluation indicators based on a pre-built hydraulic support torque model; The support quality evaluation indicators include stability support degree, support eccentricity and parallelism between the top beam and the base; the hydraulic support torque model is a torque balance model that abstracts the hydraulic support into a rhomboid mechanism and uses the top beam as the main load-bearing structural component. The control unit is configured to, if it is determined that the stability support degree is within a preset value range, determine a control target and automatically control it using a corresponding control method based on a first comparison result between the support eccentricity and a preset support eccentricity threshold; and to determine a control target and automatically control it using a corresponding control method based on a second comparison result between the parallelism and a preset parallelism threshold.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

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