CN-122014315-A - Hydraulic support lifting control method and device based on flow proportion and gesture feedback

CN122014315ACN 122014315 ACN122014315 ACN 122014315ACN-122014315-A

Abstract

The application relates to the technical field of fully mechanized mining automation control and discloses a hydraulic support lifting control method and device based on flow proportion and gesture feedback, wherein the method comprises the steps that a controller establishes a physical parameter model, and the controller calculates the target flow of an upright post oil cylinder and the target flow of a bottom lifting oil cylinder according to a kinematic coupling model; the controller executes a feedforward and fuzzy PID composite control strategy, the controller generates a feedforward instruction and combines a feedback control quantity to synthesize a final valve control instruction, the controller drives the electrohydraulic control valve group to act, the controller monitors the synchronous error of adjacent hydraulic supports and corrects the final valve control instruction, the controller monitors the speed matching state and executes gesture priority correction, the controller judges whether the lifting frame is completed or not according to the displacement of the stand column oil cylinder, the displacement of the lifting bottom oil cylinder and the pitch angle of the hydraulic supports, and the controller executes valve port smooth closing logic. The application improves the tracking precision and dynamic response speed of the lifting track, ensures the action synchronism and the gesture stability, and eliminates the hydraulic impact.

Inventors

ZHANG TONG
Yi Bingding
ZHAO TIELIN
HU BIN
SUN XIAODONG
YANG JIANWEI
JI LEI
WANG QI
Fan Zimo
HUANG ZIMING

Assignees

中煤科工开采研究院有限公司
天地(榆林)开采工程技术有限公司

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (10)

1. The hydraulic support lifting control method based on flow proportion and gesture feedback is characterized by comprising the following steps of: S1, a controller establishes a physical parameter model of a hydraulic support, and the controller calculates a target flow of an upright post cylinder and a target flow of a bottom lifting cylinder according to a hydraulic support lifting process parameter and a kinematic coupling model; S2, the controller executes a composite control strategy based on feedforward and fuzzy PID, generates a feedforward valve control opening instruction according to the target flow of the stand column oil cylinder and the target flow of the bottom lifting oil cylinder, generates a feedback control quantity according to real-time state data acquired by a sensor, synthesizes a final valve control instruction and drives an electrohydraulic control valve group to act; S3, the controller executes cooperative control and abnormal correction of the group brackets, monitors synchronous errors between adjacent hydraulic brackets in the process of driving the electrohydraulic control valve group to act, corrects the final valve control instruction according to the synchronous errors, monitors the speed matching state of the upright post oil cylinder and the bottom lifting oil cylinder, executes gesture priority correction, and continuously drives the hydraulic brackets to act by utilizing the corrected final valve control instruction; and S4, the controller executes lifting frame ending judgment and steady-state control, the controller acquires the displacement of the stand column oil cylinder, the displacement of the bottom lifting oil cylinder and the pitch angle of the hydraulic support, which are driven by the final valve control instruction to change, judges whether lifting frame actions are finished according to the displacement of the stand column oil cylinder, the displacement of the bottom lifting oil cylinder and the pitch angle of the hydraulic support, and executes valve port smooth closing logic when the lifting frame actions are finished.
2. The hydraulic support lifting control method based on flow rate proportion and attitude feedback according to claim 1, wherein in the step S1, the specific step of the controller establishing a physical parameter model of the hydraulic support comprises the following steps: the controller determines the effective area of the rodless cavity of the upright post cylinder according to the cylinder diameter of the upright post cylinder; The controller determines the effective area of a rod cavity of the upright post oil cylinder according to the cylinder diameter of the upright post oil cylinder and the rod diameter of the upright post oil cylinder; The controller determines the effective area of the bottom lifting oil cylinder extending out of the cavity according to the cylinder diameter of the bottom lifting oil cylinder; The controller determines the effective area of an oil return cavity of the bottom lifting oil cylinder according to the cylinder diameter of the bottom lifting oil cylinder and the rod diameter of the bottom lifting oil cylinder; the controller transmits the effective area of the rodless cavity of the stand column oil cylinder, the effective area of the rod cavity of the stand column oil cylinder, the effective area of the extending cavity of the bottom lifting oil cylinder and the effective area of the oil return cavity of the bottom lifting oil cylinder to a target flow calculation link.
3. The hydraulic support lifting control method based on flow proportion and gesture feedback according to claim 2, wherein in the step S1, the specific step of calculating the target flow of the stand cylinder and the target flow of the bottom lifting cylinder by the controller according to the hydraulic support lifting process parameter and the kinematic coupling model comprises the following steps: The controller constructs a geometric constraint relation for describing the change of the height of the top beam of the hydraulic support and the pitch angle of the hydraulic support along with the displacement of the stand column oil cylinder and the displacement of the bottom lifting oil cylinder; The controller executes differential operation on the geometric constraint relation with respect to time, and a coupled differential equation set of the action speed of the oil cylinder and the state change rate of the bracket is established; and the controller solves the coupled differential equation set by utilizing an inverse kinematics solving algorithm according to the top beam target height track curve, the base target curve and the allowed gesture change interval to obtain the target speed of the stand column oil cylinder and the target speed of the bottom lifting oil cylinder.
4. The hydraulic support lifting control method based on flow proportion and gesture feedback according to claim 3, wherein the specific step of calculating the target flow of the upright cylinder and the target flow of the bottom lifting cylinder by the controller further comprises: the controller calculates the target flow of the upright post oil cylinder according to the effective area of the rodless cavity of the upright post oil cylinder and the target speed of the upright post oil cylinder; The controller calculates the target flow of the bottom lifting oil cylinder according to the effective area of the oil return cavity of the bottom lifting oil cylinder and the target speed of the bottom lifting oil cylinder; and the controller sets the target flow of the upright post oil cylinder and the target flow of the bottom lifting oil cylinder as flow control references.
5. The hydraulic bracket lifting control method based on flow rate proportion and attitude feedback according to claim 1, wherein in the step S2, the specific step of generating a feedforward valve control opening instruction by the controller includes: The controller calls pre-stored flow characteristic data of the electro-hydraulic control valve bank to construct a reverse valve port flow model, wherein the reverse valve port flow model is an inverse function of a valve port flow characteristic curve of the electro-hydraulic control valve bank; substituting the target flow of the upright post oil cylinder into the reverse valve port flow model by using the target flow of the upright post oil cylinder as input by the controller, and calculating to obtain an upright post oil cylinder feedforward valve control instruction; Substituting the target flow of the bottom lifting oil cylinder as input into the reverse valve port flow model by the controller, and calculating to obtain a feedforward valve control instruction of the bottom lifting oil cylinder; And the controller transmits the feedforward valve control instruction of the stand column oil cylinder and the feedforward valve control instruction of the bottom lifting oil cylinder as the feedforward valve control opening degree instruction to a final valve control instruction synthesis link.
6. The hydraulic bracket lifting control method based on flow rate proportion and attitude feedback according to claim 1, wherein in the step S2, the specific step of generating the feedback control amount by the controller includes: the controller calculates a flow error according to the target flow and the actual flow of the upright cylinder, and calculates a flow error change rate according to the flow error; The controller calculates an attitude error according to the target pitch angle and the actual pitch angle; The controller constructs a fuzzy inference system, and the fuzzy inference system receives the flow error, the flow error change rate and the attitude error as input variables; the controller utilizes the fuzzy inference system to online regulate the proportional coefficient, the integral coefficient and the differential coefficient of the PID controller; The controller calculates the feedback control amount according to the adjusted proportional coefficient, the integral coefficient and the differential coefficient.
7. The hydraulic bracket lifting control method based on flow rate proportion and attitude feedback according to claim 1, wherein in the step S3, the specific step of monitoring the synchronization error between adjacent hydraulic brackets by the controller includes: The controller defines the hydraulic support currently executing the lifting action as the first A hydraulic support, defining and said first The adjacent hydraulic support of the hydraulic support is the first A hydraulic support; in the synchronous monitoring mode based on the column stroke, the controller is based on the first Column cylinder displacement of the hydraulic support and the first Calculating the synchronization error by the displacement of the upright post oil cylinder of the hydraulic support; In the synchronous monitoring mode based on the posture of the bracket, the controller is based on the first Calculating the synchronization error between the pitch angle of the hydraulic bracket and the reference pitch angle; in the step S3, the specific step of the controller correcting the final valve control instruction according to the synchronization error includes: The controller compares and judges the absolute value of the synchronous error with a preset synchronous error threshold value; When the synchronization error is greater than the synchronization error threshold, the controller generates a deceleration correction factor to reduce the first The value of the final valve control instruction of the hydraulic bracket; When the synchronization error is less than the negative synchronization error threshold, the controller generates an acceleration correction factor to increase the first The value of the final valve control command for the hydraulic rack.
8. The hydraulic support lifting control method based on flow rate proportion and gesture feedback according to claim 1, wherein in the step S3, the specific steps of the controller monitoring the speed matching state and executing gesture priority correction include: The controller calculates the speed ratio according to the actual rising speed of the upright post cylinder and the actual retracting speed of the bottom lifting cylinder; the controller judges whether the speed ratio is smaller than a speed ratio safety threshold, and if the speed ratio is smaller than the speed ratio safety threshold, the controller reduces the final valve control instruction for the bottom lifting oil cylinder; The controller monitors the attitude error, when the absolute value of the attitude error exceeds the attitude limit threshold, the controller triggers an attitude priority deviation correcting mode, and the controller pauses the adjusting function of the synchronous error and preferentially adjusts the liquid inlet flow of the upright post cylinder.
9. The hydraulic bracket lifting control method based on flow rate proportion and posture feedback according to claim 1, wherein in the step S4, the specific step of executing lifting end judgment and valve port smooth closing logic by the controller comprises the following steps: The controller judges whether the displacement of the stand column oil cylinder is larger than or equal to the target stroke of the stand column oil cylinder, judges whether the absolute value of the difference value between the displacement of the bottom lifting oil cylinder and the target stroke of the bottom lifting oil cylinder is smaller than or equal to the in-place allowable error of the bottom lifting oil cylinder, and judges whether the pitch angle of the hydraulic support is positioned between the minimum allowable pitch angle and the maximum allowable pitch angle; when the judging conditions are met at the same time, the controller judges that the lifting frame ending logic state value is true; And when the lifting frame ending logic state value is true, the controller gradually reduces the value of the final valve control instruction according to a preset linear attenuation slope by taking the final valve control instruction at the current moment as a reference until the final valve control instruction is zero.
10. The hydraulic support lifting control device based on flow rate proportion and gesture feedback, which is characterized by comprising the following components: The liquid supply amount calculation module is used for calculating the effective acting areas of the upright post oil cylinder and the bottom lifting oil cylinder according to pre-stored geometric structure parameters, and transmitting the effective acting areas to a target flow calculation link to generate a flow control reference; The feedforward control module is used for receiving the flow control reference and calculating a feedforward valve control opening instruction by combining prestored electrohydraulic control valve group flow characteristic data; the fuzzy PID feedback control module is used for receiving the real-time state data acquired by the sensor group and calculating the feedback control quantity according to the fuzzy reasoning system; the controller is used for synthesizing the feedforward valve control opening instruction and the feedback control quantity into a final valve control instruction; The cooperative adjustment logic module is used for receiving the synchronous errors between adjacent hydraulic supports and generating correction coefficients according to the synchronous errors to correct the final valve control instruction; And the electrohydraulic control valve group is used for responding to the final valve control instruction output by the controller and driving the upright post oil cylinder and the bottom lifting oil cylinder to act.

Description

Hydraulic support lifting control method and device based on flow proportion and gesture feedback Technical Field The invention relates to the technical field of fully mechanized mining automation control, in particular to a hydraulic support lifting control method and device based on flow proportion and gesture feedback. Background The hydraulic support is a key device of the fully mechanized mining face, and the main function of the hydraulic support is to provide effective roof support on the face. In an automatic coal mining process, the hydraulic support needs to frequently execute actions such as lifting, moving and descending, wherein the lifting action is a key link for ensuring timely and effective roof grafting of the hydraulic support. The hydraulic support lifting control mode in the prior art has some defects. Conventional lifting control mostly adopts simple open-loop control or closed-loop control based on single-position feedback. The open loop control mode can not deal with load change, so that the action speed of the hydraulic support is unstable, and the lifting posture is difficult to control accurately. Although the closed loop control of single position feedback can improve the positioning accuracy, the parameters of the conventional PID controller are difficult to adapt to complex working condition changes due to inherent nonlinearity, time-varying property and load disturbance of a hydraulic system, so that the dynamic response of the system is lagged, and the control overshoot and oscillation easily occur when the load of a top plate is suddenly changed, thereby influencing the track tracking accuracy. In addition, the cooperative action of the column cylinder and the bottom lifting cylinder in the existing control method is not considered enough. In the lifting process, the pitching posture of the hydraulic support is directly affected by the speed coordination of the extension of the upright post oil cylinder and the retraction of the bottom lifting oil cylinder. The prior art lacks the effective constraint to the action speed proportion of two oil cylinders, and the problem that the back end of a support base is excessively lifted due to the fact that a bottom lifting oil cylinder is retracted too fast easily occurs, so that the dangerous posture of downward bundling of the front end of a top beam is caused, and the supporting effect is affected. In the scene of grouped propulsion of a plurality of hydraulic supports, the prior art also lacks an effective cooperative control mechanism. The independent action of each hydraulic support is easy to generate accumulated errors, so that the posture of the support group is inconsistent, the straightness of a working face is damaged, and the operation of a subsequent scraper conveyor and a coal mining machine is influenced. Meanwhile, the existing lifting frame ending judgment is mostly dependent on a single travel switch or pressure signal, the judgment condition is single, and the hydraulic support is difficult to ensure to be in a correct supporting posture when reaching the target height. The abrupt closing of the valve port can also cause strong hydraulic shock, compromising the life of the hydraulic components and affecting system stability. Therefore, the invention provides a hydraulic support lifting control method and device based on flow proportion and gesture feedback, which solve the defects in the prior art. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a hydraulic support lifting control method and a hydraulic support lifting control device based on flow proportion and gesture feedback, solves the problem that the track tracking precision and dynamic response speed are difficult to be considered under nonlinear load disturbance working conditions in the existing control mode, solves the problem of instability of the gesture of the hydraulic support caused by lack of action coordination of an upright post oil cylinder and a lifting oil cylinder, and solves the technical problems of low synchronous action precision among groups of hydraulic supports and large valve port closing hydraulic impact. In order to achieve the above purpose, the invention is realized by the following technical scheme: The invention provides a hydraulic support lifting control method based on flow proportion and attitude feedback, which comprises the following steps: s1, a physical parameter model of the hydraulic support is established by the controller, and the controller calculates the target flow of the stand column oil cylinder and the target flow of the bottom lifting oil cylinder according to the hydraulic support lifting process parameter and the kinematic coupling model. In the step, the controller determines the effective area of a rodless cavity of the upright post cylinder, the effective area of a rod cavity of the upright post cylinder, the effective area of an extension cavity of the bottom liftin