Tendency prediction of initial support force and posture control method of step-type advanced hydraulic support

Abstract

The present disclosure relates to a method for initial support force trend prediction and attitude control of a step-type advanced hydraulic support. The method comprises: identifying the top beam top connection state of the support according to the support height change rate and the stand column pressure change rate; determining the remaining column lifting time required to reach the target initial support force according to the current stand column pressure and the pressure change rate; calculating the attitude credibility of the support according to the pitch angle, the roll angle and the sensor health degree; adjusting the column lifting valve control strategy according to the top connection state, the remaining column lifting time and the attitude credibility; the column lifting valve control strategy includes the opening time length of the control stand column liquid inlet valve in the column lifting action; when the stand column pressure reaches the target initial support force and the attitude credibility meets the preset condition, the liquid inlet valve is closed, and if the stand column pressure remains stable within the pressure maintaining time, it is confirmed that the column lifting is completed. The present disclosure improves the initial support force compliance rate of the automatic column lifting process of the step-type advanced hydraulic support.

Description

Technical Field

[0001] This disclosure relates to the field of coal mining technology, and in particular to a method for predicting the initial support force trend and controlling the attitude of a stepping-type advanced hydraulic support. Background Technology

[0002] In related technologies, the stepping hydraulic support is a key support device for fully mechanized coal mining faces. The column-lifting stage during its automatic support movement directly determines whether the support can effectively connect with the roof and establish initial support force. Currently, hydraulic support column-lifting control generally adopts an open-loop control method with a preset target pressure threshold or fixed action time: the controller monitors the column pressure in real time, and closes the inlet valve when the pressure reaches the set threshold, ending the column-lifting action; or it controls the fluid supply time according to a preset fixed pulse duration. This control method is simple to implement and widely used in the field.

[0003] However, the above methods have inherent limitations. On the one hand, due to factors such as changes in roof conditions, fluctuations in liquid supply pressure, and sensor zero drift, fixed thresholds are difficult to accurately reflect the actual roof connection status, which can easily lead to insufficient initial support force or pressure overshoot. On the other hand, the tilt of the support posture during the column raising process may cause uneven loading, but the existing control strategy lacks the perception and utilization of the support posture. When the posture is abnormal, it still executes according to the established logic, which poses a risk of support failure or equipment damage. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a method for predicting the initial support force trend and controlling the attitude of a stepping-type advanced hydraulic support.

[0005] According to a first aspect of the present disclosure, a method for predicting the initial support force trend and controlling the attitude of a stepping-type advanced hydraulic support is provided, comprising:

[0006] In response to the support being in the column raising stage, the target initial support force and safety pressure threshold are obtained, as well as the support data collected by sensors during the column raising stage, and the sensor health status of each sensor; the support data includes column pressure, support height, pitch angle and roll angle; the support is a stepping type advanced hydraulic support. The column pressure change rate is determined based on the column pressure, the support height change rate is determined based on the support height, and the top beam connection status of the support is identified based on the support height change rate and the column pressure change rate. Based on the current column pressure and the pressure change rate, determine the remaining column lifting time required to reach the target initial support force; The attitude reliability of the support is calculated based on the pitch angle, roll angle, and sensor health status. Based on the force-position physical mapping relationship between the column pressure and the support height, pitch angle, and roll angle, calculate the force-position coupling consistency residual; The column lifting valve control strategy is adjusted based on the top connection status, remaining column lifting time, and attitude reliability; the column lifting valve control strategy includes controlling the opening duration of the column inlet valve during the column lifting action; When the column pressure reaches the target initial support force and the attitude reliability meets the preset conditions, the liquid inlet valve is closed, and the column pressure is monitored to ensure that it remains stable during the pressure holding time. If it remains stable, the column lifting is confirmed to be completed. When the column pressure, pitch angle, roll angle, force If any item in the bit coupling consistency residual does not meet its corresponding preset condition, the column raising operation will be stopped and an alarm signal will be output.

[0007] According to a second aspect of the present disclosure, a device for predicting the initial support force trend and controlling the attitude of a stepping-type advanced hydraulic support is provided, comprising: The acquisition unit is used to acquire the target initial support force and safety pressure threshold in response to the support being in the column raising stage, as well as the support data collected by sensors during the column raising stage and the sensor health status of each sensor; the support data includes column pressure, support height, pitch angle and roll angle; the support is a stepping type advanced hydraulic support. The identification unit is used to determine the column pressure change rate based on the column pressure, determine the support height change rate based on the support height, and identify the top beam connection status of the support according to the support height change rate and the column pressure change rate. The determining unit is used to determine the remaining column lifting time required to reach the target initial support force based on the current column pressure and the pressure change rate. The first calculation unit is used to calculate the attitude reliability of the support based on the pitch angle, roll angle, and sensor health status. The second calculation unit is used to calculate the force-position coupling consistency residual based on the force-position physical mapping relationship between the column pressure and the support height, pitch angle and roll angle. The adjustment unit is used to adjust the column lifting valve control strategy according to the top connection status, remaining column lifting time, and attitude reliability; the column lifting valve control strategy includes controlling the opening duration of the column inlet valve during the column lifting action; The control unit is used to close the liquid inlet valve when the column pressure reaches the target initial support force and the attitude reliability meets the preset conditions, and to monitor whether the column pressure remains stable during the pressure holding time. If it remains stable, the column lifting is confirmed to be completed. The stop unit is used when the column pressure, pitch angle, roll angle, force... If any item in the bit coupling consistency residual does not meet its corresponding preset condition, the column raising operation will be stopped and an alarm signal will be output.

[0008] According to a third aspect of the present disclosure, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any one of the first aspects.

[0009] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method as described in any one of the first aspects.

[0010] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method as described in any one of the first aspects.

[0011] The technical solutions provided by the embodiments of this disclosure can include the following beneficial effects: By synchronously acquiring the column pressure, support height, pitch angle, roll angle, and sensor health status during the column raising stage, and jointly identifying the abnormal state of the support top beam based on the support height change rate and column pressure change rate, it is possible to accurately distinguish different physical contact stages throughout the column raising process, avoiding misjudgment of a single pressure threshold before connection or overshoot during the connection transition; predicting the remaining column raising time required to reach the target initial support force based on the current column pressure and pressure change rate, and adjusting the opening duration of the column inlet valve in advance accordingly to actively reduce the fluid supply when approaching the target initial support force, suppressing pressure overshoot; and calculating attitude reliability by introducing pitch angle, roll angle, and sensor health status, using the support attitude health status as the threshold for column raising control. The system automatically reduces valve opening time or suspends column raising when attitude reliability decreases, effectively preventing the expansion of off-center load and equipment damage caused by continuing column raising under skewed conditions. Furthermore, it uses force-position coupling consistency residuals to verify the matching degree between force and attitude states, effectively distinguishing between normal jacking pressure build-up and false signals such as hydraulic shock and pressure sensor anomalies. Pressure stability monitoring during the pressure holding period confirms the continuous effectiveness of the initial support force. If any of the pressure, tilt angle, or force-position consistency exceeds the limit, column raising is immediately stopped and an alarm is triggered. This forms a complete closed-loop safety control system from jacking identification, trend prediction, attitude access to pressure holding confirmation and abnormal interlocking, significantly improving the initial support force compliance rate, attitude safety, and fault identification capability of the automatic column raising process of the stepping-type advanced hydraulic support.

[0012] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0014] Figure 1 This is a flowchart illustrating a method for predicting the initial support force trend and controlling the attitude of a stepping-type advanced hydraulic support, according to an exemplary embodiment.

[0015] Figure 2 This is a flowchart illustrating the initial support force trend prediction and attitude reliability of the column lifting process according to an exemplary embodiment.

[0016] Figure 3 This is a schematic diagram illustrating the initial support force trend prediction during the column raising process, according to an exemplary embodiment.

[0017] Figure 4 This is a block diagram illustrating an initial support force trend prediction and attitude control device for a stepping-type advanced hydraulic support according to an exemplary embodiment.

[0018] Figure 5 This is a block diagram illustrating an apparatus for predicting the initial support force trend and controlling the attitude of a step-type advanced hydraulic support, according to an exemplary embodiment. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure.

[0020] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of this disclosure. The singular forms "a" and "the" as used in this disclosure are also intended to include the plural forms unless the context clearly indicates otherwise.

[0021] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of embodiments of this disclosure, and similarly, second information may also be referred to as first information. Depending on the context, the words “if” and “suppose” as used herein may be interpreted as “when”, “when”, or “in response to a determination”.

[0022] Furthermore, various forms of processes shown in the embodiments of this disclosure can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and no limitation is imposed herein.

[0023] It should be noted that the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0024] Figure 1 This is a flowchart illustrating a method for predicting the initial support force trend and controlling the attitude of a stepping-type advanced hydraulic support, according to an exemplary embodiment. Figure 1 As shown, it should be noted that the initial support force trend prediction and attitude control method of the stepping-type advanced hydraulic support in this embodiment is applied to the initial support force trend prediction and attitude control device of the stepping-type advanced hydraulic support. Figure 1 As shown, the method may include the following steps: Step 101: In response to the support being in the column raising stage, acquire the target initial support force and safety pressure threshold, as well as the support data collected by the sensors during the column raising stage, and the sensor health status of each sensor.

[0025] The data for the support system includes column pressure, support height, pitch angle, and roll angle; the support system is a stepping-type advanced hydraulic support.

[0026] In some embodiments, the support data may also include valve status and action time. Valve status is used to provide feedback on whether the inlet valve opens and closes normally as instructed, and is the basis for judging whether the actuator responds normally. Action time is used to record the duration of each stage.

[0027] In some embodiments of this disclosure, the controller confirms that the current column is in the extension and lifting stage based on the automatic action sequence or valve status, and reads preset control parameters such as the target initial support force, the maximum safe pressure threshold, the angle threshold, and the pressure holding confirmation time.

[0028] It should be noted that the column raising stage refers to the complete process during the automatic relocation of the stepping-type advanced hydraulic support, from the column extending from its retracted state until the top beam contacts the top plate and establishes initial support force. Before the column raising stage begins, the controller first reads the target initial support force and the safety pressure threshold from the storage unit. The target initial support force is used as the pressure target value for column raising control, and the safety pressure threshold is used to prevent excessive pressure on the column from causing damage to the top plate or the support.

[0029] In addition, the controller collects support data in real time through sensors installed at various parts of the support. For example, this may include: pressure sensors installed in the lower chamber of the column or the fluid inlet circuit to collect column pressure; height sensors installed between the column or top beam and the base to collect support height; and tilt sensors installed on the top beam or base to collect pitch and roll angles. The pitch angle reflects the degree of tilt of the support in the front-to-back direction, and the roll angle reflects the degree of tilt of the support in the left-to-right direction.

[0030] In addition, the signal quality of each sensor can be evaluated in real time to obtain the sensor health of each sensor. The sensor health is used to characterize the reliability of the measurement data of each sensor. Its evaluation dimensions can include data integrity, range rationality, noise stability, residual consistency and action phase matching.

[0031] As an example, the health assessment of a pressure sensor may include: checking whether the pressure signal is within a reasonable range, whether there are abnormal spikes or zero drift in the signal, and whether the pressure change is consistent with the current operating phase.

[0032] Step 102: Determine the column pressure change rate based on the column pressure, determine the support height change rate based on the support height, and identify the top beam connection status of the support based on the support height change rate and the column pressure change rate.

[0033] As an example of a possible implementation method, the column pressure change rate can be calculated using the sliding window least squares method, that is, by fitting a straight line that changes with time using the pressure sampling points within the window, and using the slope of the straight line as the pressure change rate at the current moment. This method can effectively suppress the influence of sensor noise on the change rate calculation. The support height change rate can be calculated using the difference method at both ends of the window, that is, by subtracting the height value at the beginning of the window from the height value at the current moment, and then dividing by the total duration of the window, to reflect the current height change trend.

[0034] In this embodiment, the column pressure change rate reflects the rate at which the pressure inside the column cavity rises over time, while the support height change rate reflects the vertical movement speed of the top beam. In the initial stage of column raising, before the top beam contacts the roof, the support height change rate is large while the pressure change rate is small. After the top beam contacts the roof, the height change rate begins to decrease while the pressure change rate begins to increase. When the height stabilizes and the pressure reaches the target value, it indicates successful roof connection. By jointly identifying these two types of change rates, the column raising process can be divided into four states: not yet connected, transitional connection, connected, and abnormal connection. This provides a basis for the subsequent phased adjustment of the valve control strategy, avoiding misjudgment of a single pressure threshold when not yet connected or overshooting during the transitional connection.

[0035] In some embodiments of this disclosure, step 102 may specifically include the following sub-steps: Step a1: When the support height change rate is greater than the first height change rate threshold and the column pressure change rate is less than the first pressure change rate threshold, it is identified as an unconnected state.

[0036] In this embodiment, the "unconnected" state refers to the stage where the top beam has not yet contacted the top slab and the column is still extending under no-load. During this stage, the support height continuously increases during column raising, and the rate of change of height exceeds a first height change rate threshold. However, because the top beam is not bearing load, the rate of change of pressure on the column is less than a first pressure change rate threshold. The first height change rate threshold is used to define whether the support height is changing significantly and can be preset based on the height sensor accuracy, sampling frequency, and normal column raising speed. The first pressure change rate threshold is used to define whether pressure has begun to build up and can be preset based on the target initial support force, pump station pressure, and the column's rated pressure.

[0037] It should be noted that, in the unsupported state, the column inlet valve is opened by continuously supplying liquid to shorten the no-load stroke and improve the column raising efficiency. By identifying the unsupported state, it is possible to avoid misjudging the no-load stage as a completed support, thus preventing insufficient initial support force.

[0038] Step a2: When the support height change rate is less than the first height change rate threshold and the column pressure change rate is greater than the first pressure change rate threshold, it is identified as a jacking transition state.

[0039] In some embodiments of this disclosure, in step a2, the jacking transition state refers to the transition stage where the top beam just contacts the top slab and begins to bear load. During this stage, the rate of change of support height begins to decrease, changing from greater than a first height change rate threshold to less than the first height change rate threshold. Simultaneously, the rate of change of column pressure begins to increase, changing from less than a first pressure change rate threshold to greater than the first pressure change rate threshold. This transition is a key indicator of jacking; after the top beam contacts the top slab, the resistance to further column elongation increases, the rate of height increase slows down, and simultaneously, the pressure within the column cavity begins to build up and rise rapidly.

[0040] It should be noted that the identification of the top-connection transition state is a key turning point in the column lifting control. After detecting this state, the opening time of the column inlet valve should be reduced in time, and liquid should be supplied in a slow lifting or pulse mode to avoid top-connection impact and pressure overshoot.

[0041] Step a3: When the absolute value of the support height change rate is less than the second height change rate threshold, the column pressure reaches the target initial support force, and the absolute value of the column pressure change rate is continuously less than the second pressure change rate threshold within the first preset time, it is identified as a jacking state.

[0042] In this embodiment, the "connected" state refers to the effective contact between the support beam and the roof slab, establishing a stable initial support force. During this stage, the support height is essentially stable, with the absolute value of the height change rate less than a second height change rate threshold. The column pressure reaches the target initial support force, and the absolute value of the pressure change rate remains less than the second pressure change rate threshold for a first preset time period, indicating that the pressure remains stable near the target value without significant fluctuations or a continuous upward / downward trend. The first preset time period is used to confirm the stability of the pressure; the specific duration can be determined based on the support response speed and on-site safety requirements.

[0043] It should be noted that accurate identification of the top connection status is one of the prerequisites for stopping the column riser. Once the pressure is confirmed to have stabilized and reached the target value, the inlet valve is closed and the pressure holding confirmation stage is entered to avoid misjudgment caused by pressure fluctuations or false peak values.

[0044] Step a4: When the absolute value of the support height change rate is less than the second height change rate threshold but the column pressure does not reach the target initial support force within the second preset time, or the absolute value of the column pressure change rate is continuously greater than the third pressure change rate threshold within the third preset time and the change direction alternates, or the column pressure change rate is negative and its absolute value is continuously greater than the fourth pressure change rate threshold within the fourth preset time, it is identified as an abnormal connection state.

[0045] In some embodiments of this disclosure, an abnormal connection state refers to an abnormal physical or system failure state that occurs during the column raising process. Specifically, it includes the following three scenarios: The support height has stopped changing (the absolute value of the height change rate is less than the second height change rate threshold), but the column pressure has not reached the target initial support force within the second preset time, indicating that there may be problems such as poor connection to the top, insufficient liquid supply, system leakage or abnormal pressure sensor. If the absolute value of the column pressure change rate is continuously greater than the third pressure change rate threshold within the third preset time and the change direction alternates (i.e. the pressure fluctuates, and the positive and negative values ​​alternate), it indicates abnormal pressure fluctuation, which may be due to hydraulic system oscillation or sensor signal interference. If the column pressure change rate is negative and its absolute value is continuously greater than the fourth pressure change rate threshold within the fourth preset time period, it indicates that the pressure is continuously decreasing, which may indicate system leakage or roof subsidence.

[0046] It should be noted that the identification of abnormal connection status is used to trigger corresponding fault diagnosis and handling strategies, and can output corresponding prompt information or execute interlock protection according to different abnormality types.

[0047] Step 103: Determine the remaining column lifting time required to reach the target initial support force based on the current column pressure and pressure change rate.

[0048] In this embodiment, the remaining rise time is used to quantify how far the current pressure is from the target initial support force and how long it will take to reach the target based on the current trend. It is calculated by dividing the difference between the target initial support force and the current pressure by the effective pressure growth rate, where the effective pressure growth rate is the larger value between the current pressure change rate and the minimum pressure growth rate constant. The minimum pressure growth rate constant is introduced to avoid abnormal calculations of the remaining time when the pressure change rate is zero or negative. By predicting the remaining rise time, the pressure build-up progress can be known in advance before the pressure reaches the target value. Therefore, when approaching the target, the valve opening time can be proactively reduced or a pulsed liquid supply mode can be switched, achieving a smooth pressure transition and effectively suppressing overshoot.

[0049] In some embodiments of this disclosure, step 103 may specifically include the following sub-steps: Step b1, calculate the remaining column raising time using the following formula:

[0050] in, P0 represents the remaining time required to reach the target initial support force based on the current pressure increase trend; P0 represents the target initial support force, indicating the preset pressure value corresponding to the target initial support force or the target pressure value for column lifting control; P k The current column pressure at time k; Let be the rate of change of column pressure at time k, representing the speed at which column pressure increases with time; This is the minimum pressure growth rate constant, a preset small positive number; This is the effective pressure growth rate, used to avoid abnormal calculation of remaining time when the pressure growth rate is too small, zero, or negative.

[0051] In some embodiments of this disclosure, the column pressure change rate The sliding window least squares method is used for calculation, and the specific formula is as follows:

[0052] Where N represents the number of data points involved in the calculation within the sliding window, used to calculate the rate of pressure change; k is the current sampling time number; j is the sampling point number within the sliding window; t j The sampling time corresponding to the j-th sampling point; P is the average value of all sampling times within the sliding window; j The pressure value at the j-th sampling point can be the pressure of a single column, the equivalent column pressure, or the representative pressure used for control. This represents the average value of the pressure samples within the sliding window.

[0053] When the pressure plate is relatively hard and the pressure changes rapidly, N can be appropriately reduced to improve the response speed; when the pressure plate is relatively soft or the data fluctuates greatly, N can be appropriately increased to improve the stability of the judgment. Therefore, N can be preset or adaptively adjusted according to the pressure fluctuations and action speed on site.

[0054] The rate of change of support height is calculated using the following formula:

[0055] in, h represents the rate of change of support height at time k, indicating the speed at which the support height changes with time. It is used to determine whether the support is still rising, whether it has reached the jacking point, or whether it is stabilizing. k h represents the current support height at time k; k-N The historical support height at time kN; The sampling period represents the time interval between two adjacent sampling points.

[0056] It should be noted that by predicting the remaining rise time, it is possible to know in advance how long it will take to build up pressure before the target pressure is reached, thus providing a basis for early adjustment of the valve control strategy. When the remaining rise time is short, the valve opening time is actively reduced or a short pulse is used to build up pressure, suppressing pressure overshoot; when the remaining time is long and the attitude reliability meets the requirements, normal fluid supply continues.

[0057] In some embodiments of this disclosure, such as Figure 2 The figure shows the trends of column pressure and support height over time under different working conditions during the column raising process. The horizontal axis represents time (unit: s), and the vertical axis represents column pressure (unit: kPa) and support height (unit: m), respectively. During normal jacking and pressurization, the support height remains stable near the target value, and the column pressure rises smoothly to the target initial support force and then remains stable. When insufficient fluid supply pressure occurs, the pressure rises slowly or continues to decrease after reaching the target value, while the height data shows no significant corresponding change, indicating possible improper jacking or leakage. When pressure overshoot occurs, the column pressure continues to rise after reaching the target value, exceeding the safe pressure threshold, indicating that the valve opening time or pulse width was not reduced in time when approaching the target initial support force. When the pressure fluctuates at high frequency, the support height and tilt angle data show no corresponding change, indicating possible hydraulic shock or pressure sensor malfunction. When the pressure or height data returns to zero or jumps, it indicates that the corresponding sensor may be faulty or have lost signal. The characteristic waveforms of the above-mentioned various operating conditions can be used for abnormal classification diagnosis during the column lifting process. The change pattern of the measured data is compared with the characteristic pattern of each abnormal type to distinguish different situations such as normal pressure build-up, insufficient pressure, pressure overshoot, abnormal pressure fluctuation and sensor failure, and output corresponding adjustment, pressure holding, alarm or lockout strategies accordingly.

[0058] Step 104: Calculate the attitude reliability of the support based on the pitch angle, roll angle, and sensor health status.

[0059] In this embodiment, attitude reliability is calculated based on sensor health, with pitch angle deviation, roll angle deviation, insufficient pressure center stability margin, and force-position coupling consistency residual as penalty terms. Each penalty term is converted into a reliability attenuation coefficient through exponential mapping. Pitch and roll angles reflect the degree of tilt of the support in the front-back and left-right directions; a larger tilt angle indicates lower reliability. Sensor health is obtained through a comprehensive evaluation of the signal quality of each sensor. Pressure center stability margin is determined by the position of the resultant force application point relative to the effective support boundary of the base. Force-position coupling consistency residual characterizes the degree of matching between the force state and the attitude state. When attitude reliability falls below a set threshold, column raising is paused or attitude adjustment is performed. Resumption is only permitted after reliability recovers, thus avoiding the expansion of off-center load and equipment damage caused by continuing column raising while the support is tilted.

[0060] In some embodiments of this disclosure, step 104 may specifically include the following sub-steps: Step c1: Calculate the attitude confidence level using the following formula:

[0061] in, The attitude confidence level represents the confidence level of the current posture sensing results. The value is usually between 0 and 1. The larger the value, the more reliable the attitude results are. Sensor health status represents the comprehensive result of the health status of related sensors such as pressure, tilt angle, height, and stroke, with a value ranging from 0 to 1; The pitch angle represents the tilt angle of the support in the front-to-back direction, used to reflect the state of the support being higher in the front and lower in the back or lower in the front and higher in the back. This represents the allowable limit for the pitch angle, indicating the maximum permissible pitch angle threshold, which can be determined based on the support structure, safety requirements, or on-site commissioning. The roll angle represents the tilt angle of the support in the left and right directions, used to reflect the state of left high and right low or right high and left low. This represents the allowable limit for the roll angle, indicating the maximum permissible roll angle threshold, which can be determined based on the support structure, safety requirements, or on-site commissioning. η The pressure center stability margin represents the safety margin of the point of application of the resultant force of the support relative to the effective support boundary of the base. The closer to 1, the more stable; the closer to 0, the closer to the support boundary. η The insufficient stability margin indicates the degree of decrease in the stability of the support structure; this value increases as the pressure center approaches the boundary. D fp For strength Position coupling consistency residuals represent the degree of inconsistency between changes in the support posture and changes in force. The larger the value, the more mismatched the posture and force are. aθ The penalty coefficient corresponding to the pitch angle, a The penalty coefficient corresponding to the roll angle. aη for η Corresponding penalty coefficient, ar for D fp The corresponding penalty coefficient is used to represent the degree of influence of each factor on the attitude reliability. The initial value can be set according to safety requirements and field experience. The principle is to set a larger coefficient for factors with a greater impact on safety, and it can be corrected later based on debugging data.

[0062] In some embodiments of this disclosure, the overall sensor health is considered. The health status of various sensors, such as pressure sensors, tilt sensors, height sensors, and stroke sensors, is obtained by combining the following five dimensions: data integrity (whether the signal is lost or interrupted), range rationality (whether the measured value is within a reasonable physical range), noise stability (whether the signal jitters excessively), residual consistency (whether similar sensors corroborate each other), and action phase matching (whether the current signal conforms to the physical laws of the action phase).

[0063] Stability margin at the center of pressure η The stability margin is determined by the position of the point of application of the resultant force of the support relative to the effective support boundary of the base. Specifically, the coordinates of the point of application of the resultant force of the support are calculated using the pressure values ​​of each column, and this point is compared with the geometric center of the effective support boundary of the base. The closer the resultant force is to the boundary, the lower the stability margin. η The smaller the value, the closer the resultant force is to the center, and the higher the stability margin. η The closer the value is to 1.

[0064] force Position coupling consistency residual D fp The force-position mapping is determined by comparing the stress state calculated from pressure with the stress state predicted from attitude. The mapping relationship between force and position is established through the support structure parameters and the contact relationship with the top plate. Changes in attitude such as support height, pitch angle, and roll angle alter the contact state between the top beam and the top plate, thus affecting the pressure distribution of each column. Conversely, changes in pressure differences and pressure center at each column reflect front-to-back or left-to-right eccentric loading of the support. The correspondence between attitude changes and force changes is established using column coordinates, effective cylinder area, base boundary, top beam contact boundary, and historical pressure changes. If the directions of pressure change, attitude change, and pressure center change are consistent, the residual is small; if a single data point changes abruptly without corresponding changes in other quantities, the residual increases.

[0065] It should be noted that attitude reliability is a crucial safety threshold for column raising control. When attitude reliability is low, column raising should be paused or lateral / forward / backward attitude adjustments performed even if the pressure has not yet reached the target initial support force. Column raising will only resume once attitude reliability is restored. This effectively prevents the expansion of off-center load and equipment damage caused by continuing column raising while the support is tilted.

[0066] Step 105: Based on the force between the column pressure, support height, pitch angle, and roll angle. Bit-to-physical mapping relationship, computational power Bit coupling consistency residual.

[0067] In some embodiments of this disclosure, in step 105, force The specific calculation method for the position coupling consistency residual is as follows: First, a physical mapping model between force and position is established using the support structure parameters. This model describes the theoretical pressure distribution of each column under different support heights, pitch angles, and roll angles. Then, the currently measured pressure of each column is input into the model to calculate the theoretically expected pressure distribution under the current attitude conditions. Finally, the deviation between the theoretical pressure distribution and the actual pressure distribution is calculated. This deviation, after standardization, becomes the force. Position coupling consistency residual D fp .

[0068] Specifically, force The physical mapping relationship can be established as follows: Using the support structure parameters such as column coordinates, effective cylinder area, base boundary, and top beam connection boundary, combined with the contact geometry between the top beam and the top plate, a mathematical model is established between the attitude parameters (support height, pitch angle, roll angle) and the forces on each column (this mathematical model can be constructed using existing technology, and will not be elaborated here). This model can describe how the contact state between the top beam and the top plate changes and how the load is distributed among the columns when the support is in different attitudes. Substituting the currently measured attitude parameters into this model, the theoretical pressure values ​​of each column under the current attitude are obtained; comparing the theoretical pressure values ​​with the measured pressure values, the deviation between the two is calculated; the larger the deviation, the worse the match between the force state and the attitude state. The larger the bit coupling consistency residual, the greater the residual.

[0069] It should be noted that force Position coupling consistency residuals are an important criterion for distinguishing between normal jacking pressurization and abnormal situations (such as hydraulic shock or pressure sensor failure). When pressure suddenly increases but the support height, pitch angle, and roll angle do not change accordingly, the force... The position coupling consistency residual will increase sharply, which can be used to determine whether it is a hydraulic shock or a pressure sensor malfunction, and take corresponding safety measures.

[0070] Step 106: Adjust the column lifting valve control strategy based on the top connection status, remaining column lifting time, and attitude reliability.

[0071] Among them, the column lifting valve control strategy includes controlling the opening duration of the column inlet valve during the column lifting action.

[0072] In this embodiment, the connection status is used to determine the current stage of column raising. When not connected, it is in the no-load stroke stage; when connected or already connected, it is in the load-bearing establishment stage. The remaining column raising time quantifies the urgency of pressure building; the shorter the time, the smaller the liquid supply should be to avoid overshoot. Attitude reliability characterizes whether continuing column raising is safe; the lower the reliability, the smaller the liquid supply should be, or even suspend the operation. The connection status determines whether valve control adjustment is needed, the remaining column raising time determines the base value for adjustment, and attitude reliability provides a safety correction to this base value. When the connection status is not connected, the column inlet valve is controlled to open using continuous liquid supply; when the connection status is connected (transition or already connected), the opening duration is jointly adjusted based on the remaining column raising time and attitude reliability. Through the coordinated decision-making of these three factors, the valve control strategy can achieve fine-tuning according to different stages of the column raising process and different reliability levels of the support status, ensuring both column raising efficiency under normal operating conditions and safety under abnormal operating conditions.

[0073] In some embodiments of this disclosure, step 106 may specifically include the following sub-steps: Step d1: Determine the current column raising stage based on the top contact status, determine the base amount of liquid supply for this control cycle based on the remaining column raising time, and determine the liquid supply correction coefficient for this control cycle based on the attitude reliability.

[0074] In this embodiment, the column raising control process is divided into four stages: no-load rapid column raising stage, top-connection buffer column raising stage, pulse pressure building stage, and pressure holding confirmation stage. The top-connection status is used to determine the current stage. When not connected to the top, it is in the no-load rapid column raising stage; during the top-connection transition, it is in the top-connection buffer column raising stage; when connected to the top and the pressure is close to the target value, it is in the pulse pressure building stage; after the pressure reaches the target, it enters the pressure holding confirmation stage. The remaining column raising time is used to determine the base liquid supply for this control cycle. The longer the remaining time, the larger the base liquid supply can be to improve efficiency; the shorter the remaining time, the smaller the base liquid supply should be to avoid overshoot. The attitude reliability is used to determine the liquid supply correction coefficient for this control cycle. The higher the attitude reliability, the closer the correction coefficient is to 1, and the liquid supply is executed according to the base value; when the attitude reliability decreases, the correction coefficient decreases accordingly, reducing the liquid supply.

[0075] Step d2: When the connection status is not connected, the column inlet valve is controlled to open in a continuous liquid supply mode.

[0076] In this embodiment, the top beam is not yet in contact with the top plate in the unsupported state, and the column is in the no-load extension stage. At this time, a continuous liquid supply method is used to control the opening of the column's inlet valve. That is, the inlet valve remains open throughout the control cycle, allowing high-pressure emulsion to continuously enter the lower cavity of the column, propelling it to extend rapidly. The continuous liquid supply method can shorten the no-load stroke time and improve the column lifting efficiency. In the unsupported state, since the top beam is not under load, even continuous liquid supply will not cause impact; therefore, the attitude reliability does not affect the opening control of the column's inlet valve.

[0077] Step d3: When the connection status is in the transition phase or the connection has been established, adjust the opening duration of the column inlet valve based on the remaining column lifting time and attitude reliability.

[0078] In some embodiments of this disclosure, step d3 may specifically include the following sub-steps: Step d31: Adjust the opening duration of the column inlet valve using the following formula:

[0079] Among them, T on , where is the opening duration of the column inlet valve during this column-raising action, representing the time the solenoid valve or hydraulic control valve remains open within this control cycle, used to control the amplitude of the column-raising action; 'sat' is the limiting function, indicating that the calculated valve opening duration is limited to an allowable range to avoid ineffective action due to excessive duration or pressure surge due to excessive duration; 'T0' is the basic opening duration, representing the preset basic column-raising valve opening time under normal operating conditions, which can be determined by the valve assembly response time and on-site commissioning results; K t t is the correction factor for the remaining column rise time, representing the influence coefficient of the remaining column rise time on the valve opening duration; rem t represents the remaining time for the column to rise; ref The remaining column raising time is used as a reference, representing a preset or calibrated reference time during normal column raising, to determine whether the current column raising process is too fast or too slow; K c C is the attitude reliability correction coefficient, representing the influence coefficient of attitude reliability on valve opening time; pose C represents the current attitude confidence level. ref T represents the reference attitude confidence threshold, indicating the reference confidence threshold that must be met to allow normal column lifting control; min The lower limit of the opening time represents the minimum opening time for which the valve assembly can respond effectively; T max The upper limit of the opening time indicates the maximum allowable opening time for a single control, used to prevent the column from rising too quickly, exceeding the pressure limit, or impacting the top.

[0080] It should be noted that the above formula reflects the combined effect of remaining column rise time and attitude reliability on valve opening duration. When the remaining column rise time is relatively long (t... rem >tref When K t (t rem -t ref When the value is positive, the valve opening time increases from the base value, improving the column lifting efficiency; when the remaining column lifting time is short (t... rem <t ref When the pressure is high (C), this value is negative, the valve opening time is reduced, and short pulse control is used to avoid pressure over-limit. pose >C ref When K c (C pose -C ref The value is positive or zero, and the valve opening duration is executed as needed; when the attitude reliability decreases (C) pose <C ref When this value is negative, the valve opening time is reduced to prevent further large movements when the attitude is unreliable. The final calculation result is limited to T by the limiting function sat. min and T max Ensure that control actions are within a safe range.

[0081] Step 107: When the column pressure reaches the target initial support force and the attitude reliability meets the preset conditions, close the liquid inlet valve and monitor whether the column pressure remains stable during the pressure holding time. If it remains stable, the column lifting is confirmed to be complete.

[0082] In this embodiment, when the column pressure reaches the target initial support force and the attitude reliability meets the preset condition (i.e., the attitude reliability is not lower than the set reference reliability threshold), the column inlet valve is closed, the liquid supply to the column is stopped, and the pressure holding confirmation stage begins. The purpose of the pressure holding confirmation stage is to verify whether the initial support force is continuously effective, rather than simply reaching the target value at a certain moment. During the pressure holding time, the column pressure is continuously monitored to determine whether the pressure remains stable. The pressure holding completion condition can be expressed as:

[0083] Where P is the current column pressure, and P0 is the target initial support force. For the allowable pressure fluctuation range, The rate of change of pressure, The upper limit of the allowable pressure change rate, t is the holding time, T holdThis is a preset pressure holding time threshold. Specifically, the pressure holding time can typically be set to ensure that pressure fluctuations do not exceed the allowable range within 1-5 seconds. The specific duration is determined based on the support's response speed and on-site safety requirements. If the pressure remains stable within the pressure holding time (the deviation between the pressure value and the target value is within the allowable range, and the absolute value of the pressure change rate is less than the allowable upper limit), then the column lifting is confirmed to be complete, and the support has successfully established effective initial support force. If the pressure continues to drop or fluctuates beyond the allowable range during the pressure holding process, it is determined to be a pressure holding failure, and the system will output corresponding fault prompts based on the specific situation.

[0084] Step 108, when the column pressure, pitch angle, roll angle, force If any item in the bit coupling consistency residual does not meet its corresponding preset condition, the column raising operation will be stopped and an alarm signal will be output.

[0085] In this embodiment of the disclosure, four safety indicators are continuously monitored throughout the entire column raising process: column pressure, pitch angle, roll angle, and force. Position coupling consistency residual. Each indicator corresponds to a preset safety condition: the column pressure must not exceed the safe pressure threshold; the pitch angle must not exceed the allowable pitch angle limit. θ The roll angle must not exceed the allowable limit. lim; force The bit coupling consistency residual must not exceed the residual threshold. If any of the above conditions are not met, the column raising operation will be stopped immediately and an alarm or lockout signal will be output.

[0086] Specifically, when the column pressure exceeds the safe pressure threshold, it indicates a possible overload of the roof or an abnormality in the hydraulic system; continuing to raise the column may lead to roof damage or equipment failure. When the pitch or roll angle exceeds the corresponding angle threshold, it indicates a severe deviation in the support posture; continuing to raise the column may exacerbate the uneven load or even cause the support to collapse. When the position coupling consistency residual exceeds the residual threshold, it indicates a serious mismatch between the stress state and attitude state of the support, which may be due to hydraulic shock, pressure sensor failure, or structural abnormality.

[0087] In some embodiments of this disclosure, the above method further includes: when the attitude confidence level is lower than a set confidence level threshold, pausing the column raising or performing left-right attitude adjustment and / or front-back attitude adjustment; and continuing the column raising after the attitude confidence level recovers to meet the preset conditions.

[0088] In some embodiments of this disclosure, the above method further includes: when the column pressure does not reach the target initial support force and the rate of change of support height is lower than the threshold for a long period of time, outputting a prompt of poor connection, leakage, insufficient fluid supply or abnormal pressure sensor; when the column pressure suddenly increases but the support height, pitch angle and roll angle do not change accordingly, it is determined to be a hydraulic shock or abnormal pressure sensor, and the health of the corresponding pressure sensor is reduced.

[0089] In some embodiments of this disclosure, the above method can be applied to the sequential column raising control of a single column, front and rear columns, left and right grouped columns, or a single group of supports, and calls the corresponding pressure measuring points, attitude measuring points, and valve control channels according to the corresponding column number. Specifically, for a support with multiple columns, the above control method can be executed independently for each column or group of columns, each monitoring its own pressure, height, and attitude data, and controlling its corresponding inlet valve. The columns can be raised sequentially according to a preset order, or they can be raised synchronously in groups, depending on the support structure and control requirements.

[0090] In some embodiments of this disclosure, when the column pressure fails to reach the target initial support force and the support height change rate remains below the threshold for an extended period, an alert is issued indicating poor connection, leakage, insufficient fluid supply, or pressure sensor malfunction. When the column pressure suddenly increases but the support height, pitch angle, and roll angle do not change accordingly, it is determined to be a hydraulic shock or pressure sensor malfunction, and the health status of the corresponding pressure sensor is reduced. When the column pressure remains insufficient and the height does not change, it is determined to be insufficient fluid supply pressure or system leakage. When the column pressure fails to reach the target initial support force and the height change rate does not decrease significantly, it is determined to be a failure to connect to the roof or a broken roof.

[0091] In some embodiments of this disclosure, such as Figure 3 As shown, the process first identifies the support structure as being in the column-raising stage and reads the target initial support force and safety pressure threshold. Simultaneously, it collects data on column pressure, support height, pitch angle, roll angle, valve status, and action time. Based on the collected data, it calculates the pressure change rate and height change rate, jointly identifying the top beam in four states: not yet connected, in transition to connection, already connected, or connection abnormal. Based on the current pressure and pressure change rate, it predicts the remaining column-raising time to reach the target initial support force. Finally, it evaluates attitude reliability based on pitch angle, roll angle, pressure center stability margin, sensor health, and force-position coupling consistency residuals. Based on the top connection status, remaining column raising time, and attitude reliability, the column raising control is divided into four stages: fast raising, slow raising, pulse pressure building, and pressure holding confirmation, which are executed separately. The attitude reliability is also used for access judgment in the control logic. When the attitude reliability is lower than the threshold, the valve opening time or pulse width is adjusted and the closed-loop column raising continues. When the pressure reaches the standard and the attitude is reliable, the column raising stops and enters the pressure holding confirmation stage. After the confirmation is completed, the column raising is completed and the next action is initiated. During the entire column raising process, if overpressure, excessive tilt angle, or force-position abnormality occurs, an emergency stop, alarm, or lockout is immediately executed.

[0092] According to the method for predicting the initial support force trend and controlling the attitude of the stepping-type advanced hydraulic support proposed in this disclosure, the column pressure, support height, pitch angle, roll angle, and sensor health status during the column raising stage are acquired simultaneously. Based on the joint identification of abnormal states of the support top beam using the support height change rate and column pressure change rate, different physical contact stages throughout the column raising process can be accurately distinguished, avoiding misjudgment of a single pressure threshold before contact or overshooting during the contact transition. The remaining column raising time required to reach the target initial support force is predicted based on the current column pressure and pressure change rate, and the opening duration of the column inlet valve is adjusted accordingly to proactively reduce the fluid supply when approaching the target initial support force, suppressing pressure overshoot. The attitude reliability is calculated by introducing pitch angle, roll angle, and sensor health status, and the support attitude health status is used as the indicator for column raising. The system controls the entry conditions and actively reduces the valve opening time or suspends column raising when the attitude reliability decreases, effectively avoiding the expansion of off-center load and equipment damage caused by continuing column raising when the support is tilted. In addition, the system uses the force-position coupling consistency residual to verify the matching degree between the force state and the attitude state, effectively distinguishing between normal jacking pressure build-up and false signals such as hydraulic shock and pressure sensor abnormalities. The system also confirms the continuous effectiveness of the initial support force by monitoring the pressure stability during the pressure holding time. When any of the pressure, tilt angle, or force-position consistency exceeds the limit, the column raising is stopped immediately and an alarm is triggered. This forms a closed-loop safety control system from jacking identification, trend prediction, attitude access to pressure holding confirmation and abnormal interlocking, which significantly improves the initial support force compliance rate, attitude safety, and fault identification capability of the automatic column raising process of the stepping advanced hydraulic support.

[0093] Figure 4 This is a block diagram illustrating an initial support force trend prediction and attitude control device for a stepping-type advanced hydraulic support, according to an exemplary embodiment. (Refer to...) Figure 4 The device includes an acquisition unit 401, an identification unit 402, a determination unit 403, a first calculation unit 404, a second calculation unit 405, an adjustment unit 406, a control unit 407, and a stop unit 408.

[0094] The acquisition unit 401 is used to acquire the target initial support force and safety pressure threshold in response to the support being in the column raising stage, as well as the support data collected by the sensors during the column raising stage and the sensor health status of each sensor; the support data includes column pressure, support height, pitch angle and roll angle; the support is a stepping type advanced hydraulic support. The identification unit 402 is used to determine the column pressure change rate based on the column pressure, determine the support height change rate based on the support height, and identify the top beam connection status of the support according to the support height change rate and the column pressure change rate. Unit 403 is used to determine the remaining column lifting time required to reach the target initial support force based on the current column pressure and pressure change rate. The first calculation unit 404 is used to calculate the attitude reliability of the support based on the pitch angle, roll angle, and sensor health status. The second calculation unit 405 is used to calculate the force-position coupling consistency residual based on the force-position physical mapping relationship between column pressure and support height, pitch angle and roll angle. The adjustment unit 406 is used to adjust the column lifting valve control strategy according to the top connection status, remaining column lifting time, and attitude reliability; the column lifting valve control strategy includes controlling the opening duration of the column inlet valve during the column lifting action; The control unit 407 is used to close the liquid inlet valve when the column pressure reaches the target initial support force and the attitude reliability meets the preset conditions, and to monitor whether the column pressure remains stable during the pressure holding time. If it remains stable, the column lifting is confirmed to be completed. Stop unit 408 is used when the column pressure, pitch angle, roll angle, force If any item in the bit coupling consistency residual does not meet its corresponding preset condition, the column raising operation will be stopped and an alarm signal will be output.

[0095] In some embodiments, the top beam connection status includes no connection, connection transition, connection completed, and connection abnormality. In some embodiments, the identification unit 402 may specifically be used for: When the rate of change of support height is greater than the first threshold for the rate of change of height and the rate of change of column pressure is less than the first threshold for the rate of change of pressure, it is identified as an unconnected state. When the rate of change of support height is less than the first threshold for the rate of change of height and the rate of change of column pressure is greater than the first threshold for the rate of change of pressure, it is identified as a transition state to the top. When the absolute value of the support height change rate is less than the second height change rate threshold, the column pressure reaches the target initial support force, and the absolute value of the column pressure change rate is continuously less than the second pressure change rate threshold within the first preset time, it is identified as a jacking state. When the absolute value of the support height change rate is less than the second height change rate threshold but the column pressure does not reach the target initial support force within the second preset time, or the absolute value of the column pressure change rate is continuously greater than the third pressure change rate threshold within the third preset time and the change direction alternates, or the column pressure change rate is negative and its absolute value is continuously greater than the fourth pressure change rate threshold within the fourth preset time, it is identified as an abnormal connection state.

[0096] In some embodiments, the determining unit 403 may specifically be used for: The remaining column raising time is calculated using the following formula:

[0097] in, Let be the rate of change of column pressure at time k. To provide initial support for the goal, Let the current column pressure be at time k. δ This is the minimum pressure growth rate constant. This represents the remaining time for the column to rise.

[0098] In some embodiments, the first computing unit 404 may specifically be used for:

[0099] in, For the credibility of the posture, For sensor health, The pitch angle, This is the roll angle. The allowable limit for the pitch angle. This refers to the permissible limit for the roll angle. η For the stability margin of the pressure center, D fp For force-position coupling consistency residuals, aθ The penalty coefficient corresponding to the pitch angle, a The penalty coefficient corresponding to the roll angle. aη for η Corresponding penalty coefficient, ar for D fp The corresponding penalty coefficient.

[0100] In some embodiments, the adjustment unit 406 may specifically be used for: The current column raising stage is determined based on the top contact status; the base amount of liquid supply for this control cycle is determined based on the remaining column raising time; and the liquid supply correction coefficient for this control cycle is determined based on the attitude reliability. When the connection status is not connected, the column inlet valve is controlled to open in a continuous liquid supply mode; When the connection status is in the transition phase or the connection has been established, the opening duration of the column inlet valve is adjusted based on the remaining column lifting time and attitude reliability.

[0101] In some embodiments, the adjustment unit 406 may specifically be used for: The opening duration of the column inlet valve is adjusted using the following formula:

[0102] in, The duration of the column inlet valve opening during this column raising operation is given by , where 'sat' is the limiting function. Based on the duration of activation, This is a correction factor for the remaining column raising time. This represents the remaining time for the column to rise. For reference, the remaining time for the column to rise, This is a correction coefficient for attitude reliability. Assuming the credibility of the current posture, As a reference attitude confidence threshold, This is the minimum duration for activation. This is the maximum duration that can be enabled.

[0103] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0104] According to the step-type advanced hydraulic support initial support force trend prediction and attitude control device proposed in this disclosure, by simultaneously acquiring the column pressure, support height, pitch angle, roll angle and sensor health status during the column raising stage, and jointly identifying the abnormal state of the support top beam based on the support height change rate and column pressure change rate, it can accurately distinguish different physical contact stages in the entire column raising process, avoiding misjudgment of a single pressure threshold before contact or overshoot during the contact transition; predicting the remaining column raising time required to reach the target initial support force based on the current column pressure and pressure change rate, and adjusting the opening duration of the column inlet valve in advance accordingly to actively reduce the fluid supply when approaching the target initial support force and suppress pressure overshoot; and calculating attitude reliability by introducing pitch angle, roll angle and sensor health status, and using the support attitude health status as the column raising parameter. The system controls the entry conditions and actively reduces the valve opening time or suspends column raising when the attitude reliability decreases, effectively avoiding the expansion of off-center load and equipment damage caused by continuing column raising when the support is tilted. In addition, the system uses the force-position coupling consistency residual to verify the matching degree between the force state and the attitude state, effectively distinguishing between normal jacking pressure build-up and false signals such as hydraulic shock and pressure sensor abnormalities. The system also confirms the continuous effectiveness of the initial support force by monitoring the pressure stability during the pressure holding time. When any of the pressure, tilt angle, or force-position consistency exceeds the limit, the column raising is stopped immediately and an alarm is triggered. This forms a closed-loop safety control system from jacking identification, trend prediction, attitude access to pressure holding confirmation and abnormal interlocking, which significantly improves the initial support force compliance rate, attitude safety, and fault identification capability of the automatic column raising process of the stepping advanced hydraulic support.

[0105] Figure 5 This is a block diagram illustrating an apparatus for predicting the initial support force trend and controlling the attitude of a step-type advanced hydraulic support, according to an exemplary embodiment. For example, apparatus 500 may be an electronic device, such as a mobile phone, computer, digital broadcasting terminal, messaging device, tablet device, personal digital assistant, etc.

[0106] Reference Figure 5The device 500 may include one or more of the following components: processing component 502, memory 504, power component 506, multimedia component 508, audio component 510, input / output I / O interface 512, sensor component 514, and communication component 516.

[0107] Processing component 502 typically controls the overall operation of device 500, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 502 may include one or more processors 520 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 502 may include one or more modules to facilitate interaction between processing component 502 and other components. For example, processing component 502 may include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.

[0108] Memory 504 is configured to store various types of data to support the operation of device 500. Examples of such data include instructions for any application or method operating on device 500, contact data, phonebook data, messages, pictures, videos, etc. Memory 504 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0109] The power supply component 506 provides power to the various components of the device 500. The power supply component 506 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the device 500.

[0110] Multimedia component 508 includes a screen that provides an output interface between the device 500 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 508 includes a front-facing camera and / or a rear-facing camera. When the device 500 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0111] Audio component 510 is configured to output and / or input audio signals. For example, audio component 510 includes a microphone (MIC) configured to receive external audio signals when device 500 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 504 or transmitted via communication component 516. In some embodiments, audio component 510 also includes a speaker for outputting audio signals.

[0112] I / O interface 512 provides an interface between processing component 502 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0113] Sensor assembly 514 includes one or more sensors for providing status assessments of various aspects of device 500. For example, sensor assembly 514 may detect the on / off state of device 500, the relative positioning of components such as the display and keypad of device 500, changes in the position of device 500 or a component of device 500, the presence or absence of user contact with device 500, the orientation or acceleration / deceleration of device 500, and temperature changes of device 500. Sensor assembly 514 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 514 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0114] Communication component 516 is configured to facilitate wired or wireless communication between device 500 and other devices. Device 500 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 516 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 516 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0115] In an exemplary embodiment, the apparatus 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0116] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 504 including instructions, which can be executed by a processor 520 of the device 500 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0117] In an exemplary embodiment, a computer program product is also provided, including a computer program that implements the above-described method when executed by the processor 520 of the device 500.

[0118] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein.

[0119] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A method for predicting the initial support force trend and controlling the attitude of a stepping-type advanced hydraulic support, characterized in that, include: In response to the support being in the column raising stage, the target initial support force and safety pressure threshold are obtained, as well as the support data collected by sensors during the column raising stage, and the sensor health status of each sensor; the support data includes column pressure, support height, pitch angle and roll angle; the support is a stepping type advanced hydraulic support. The column pressure change rate is determined based on the column pressure, the support height change rate is determined based on the support height, and the top beam connection status of the support is identified based on the support height change rate and the column pressure change rate. Based on the current column pressure and the pressure change rate, determine the remaining column lifting time required to reach the target initial support force; The attitude reliability of the support is calculated based on the pitch angle, roll angle, and sensor health status. Based on the force-position physical mapping relationship between the column pressure and the support height, pitch angle, and roll angle, calculate the force-position coupling consistency residual; The column lifting valve control strategy is adjusted based on the top connection status, remaining column lifting time, and attitude reliability; the column lifting valve control strategy includes controlling the opening duration of the column inlet valve during the column lifting action; When the column pressure reaches the target initial support force and the attitude reliability meets the preset conditions, the liquid inlet valve is closed, and the column pressure is monitored to ensure that it remains stable during the pressure holding time. If it remains stable, the column lifting is confirmed to be completed. When the column pressure, pitch angle, roll angle, force If any item in the bit coupling consistency residual does not meet its corresponding preset condition, the column raising operation will be stopped and an alarm signal will be output.

2. The method for predicting the initial support force trend and controlling the attitude of the stepping-type advanced hydraulic support according to claim 1, characterized in that, The top beam connection status includes not connected, connection transition, connected, and connection abnormal; The step of identifying the top beam connection status of the support based on the rate of change of support height and the rate of change of column pressure includes: When the rate of change of the support height is greater than the first rate of change of the height and the rate of change of the column pressure is less than the first rate of change of the pressure, it is identified as the unconnected state. When the rate of change of the support height is less than the first rate of change of the height and the rate of change of the column pressure is greater than the first rate of change of the pressure, it is identified as the top connection transition state. When the absolute value of the support height change rate is less than the second height change rate threshold, the column pressure reaches the target initial support force, and the absolute value of the column pressure change rate is continuously less than the second pressure change rate threshold within a first preset time, it is identified as the jacking state. When the absolute value of the support height change rate is less than the second height change rate threshold but the column pressure does not reach the target initial support force within the second preset time, or the absolute value of the column pressure change rate is continuously greater than the third pressure change rate threshold and the change direction alternates within the third preset time, or the column pressure change rate is negative and its absolute value is continuously greater than the fourth pressure change rate threshold within the fourth preset time, it is identified as the abnormal connection state.

3. The method for predicting the initial support force trend and controlling the attitude of the stepping-type advanced hydraulic support according to claim 1, characterized in that, The step of determining the remaining column lifting time required to reach the target initial support force based on the current column pressure and the pressure change rate includes: The remaining column raising time is calculated using the following formula: in, Let be the rate of change of column pressure at time k. The initial support force for the target is... Let the current column pressure be at time k. δ This is the minimum pressure growth rate constant. This represents the remaining time for the column to rise.

4. The method for predicting the initial support force trend and controlling the attitude of the stepping-type advanced hydraulic support according to claim 1, characterized in that, The calculation of the attitude reliability of the support based on the pitch angle, roll angle, and sensor health status includes: in, The confidence level of the posture is... The health status of the sensor, The pitch angle, This is the roll angle. The allowable limit for the pitch angle. This refers to the permissible limit for the roll angle. η For the stability margin of the pressure center, D fp The force-position coupling consistency residual, aθ The penalty coefficient corresponding to the pitch angle, a The penalty coefficient corresponding to the roll angle. aη for η Corresponding penalty coefficient, ar for D fp The corresponding penalty coefficient.

5. The method for predicting the initial support force trend and controlling the attitude of the stepping-type advanced hydraulic support according to claim 1, characterized in that, The adjustment of the column lifting valve control strategy based on the top contact state, remaining column lifting time, and attitude reliability includes: The current column raising stage is determined based on the top contact status, the liquid supply base for this control cycle is determined based on the remaining column raising time, and the liquid supply correction coefficient for this control cycle is determined based on the attitude reliability. When the top connection state is not connected, the column inlet valve is controlled to open in a continuous liquid supply mode; When the connection status is either in the transition phase or already connected, the opening duration of the column inlet valve is adjusted based on the remaining column lifting time and the attitude reliability.

6. The method for predicting the initial support force trend and controlling the attitude of the stepping-type advanced hydraulic support according to claim 5, characterized in that, The adjustment of the column inlet valve opening duration based on the remaining column rise time and the attitude reliability includes: The opening duration of the column inlet valve is adjusted using the following formula: in, The duration of the column inlet valve's opening during this column raising operation is given by , where 'sat' is the limiting function. Based on the duration of activation, This is a correction factor for the remaining column raising time. This represents the remaining time for the column to rise. For reference, the remaining time for the column to rise, This is a correction coefficient for attitude reliability. Assuming the credibility of the current posture, As a reference attitude confidence threshold, This is the lower limit of the opening duration. This is the upper limit of the opening duration.

7. A device for predicting the initial support force trend and controlling the attitude of a stepping-type advanced hydraulic support, characterized in that, include: The acquisition unit is used to acquire the target initial support force and safety pressure threshold in response to the support being in the column raising stage, as well as the support data collected by sensors during the column raising stage and the sensor health status of each sensor; the support data includes column pressure, support height, pitch angle and roll angle; the support is a stepping type advanced hydraulic support. The identification unit is used to determine the column pressure change rate based on the column pressure, determine the support height change rate based on the support height, and identify the top beam connection status of the support according to the support height change rate and the column pressure change rate. The determining unit is used to determine the remaining column lifting time required to reach the target initial support force based on the current column pressure and the pressure change rate. The first calculation unit is used to calculate the attitude reliability of the support based on the pitch angle, roll angle, and sensor health status. The second calculation unit is used to calculate the force-position coupling consistency residual based on the force-position physical mapping relationship between the column pressure and the support height, pitch angle and roll angle. The adjustment unit is used to adjust the column lifting valve control strategy according to the top connection status, remaining column lifting time, and attitude reliability; the column lifting valve control strategy includes controlling the opening duration of the column inlet valve during the column lifting action; The control unit is used to close the liquid inlet valve when the column pressure reaches the target initial support force and the attitude reliability meets the preset conditions, and to monitor whether the column pressure remains stable during the pressure holding time. If it remains stable, the column lifting is confirmed to be completed. The stop unit is used when the column pressure, pitch angle, roll angle, force... If any item in the bit coupling consistency residual does not meet its corresponding preset condition, the column raising operation will be stopped and an alarm signal will be output.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

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

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