CN112524109A - Four-point hoisting balance method for hydraulic support - Google Patents
Four-point hoisting balance method for hydraulic support Download PDFInfo
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- CN112524109A CN112524109A CN202011406111.4A CN202011406111A CN112524109A CN 112524109 A CN112524109 A CN 112524109A CN 202011406111 A CN202011406111 A CN 202011406111A CN 112524109 A CN112524109 A CN 112524109A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 26
- 230000001939 inductive effect Effects 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/26—Hydraulic or pneumatic control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
本发明公开了一种液压支架四点起吊平衡的方法，包括对现有的四个液压缸进行柔性控制；保证四个液压缸在运动或停止时的各个瞬间都保持相同的位移量，起吊或下降过程中不断调整液压缸的相对位置；选用先导式位移—电反馈比例方向节流阀，电液比例节流阀的输入和主阀芯的位移输出通过感应式位移传感器形成自身闭环控制。本发明基于电液比例技术进行液压支架安拆机起吊同步控制系统的设计，具有成本低、同步精度高、工作环境适应性好等特点，为进一步设计与试验奠定了基础。
The invention discloses a method for hoisting and balancing a hydraulic support at four points. During the descending process, the relative position of the hydraulic cylinder is continuously adjusted; the pilot displacement-electric feedback proportional directional throttle valve is selected, and the input of the electro-hydraulic proportional throttle valve and the displacement output of the main spool form its own closed-loop control through the inductive displacement sensor. Based on the electro-hydraulic proportional technology, the invention designs the hoisting synchronization control system of the hydraulic support mounting and dismantling machine, and has the characteristics of low cost, high synchronization accuracy, good adaptability to the working environment and the like, which lays a foundation for further design and testing.
Description
Technical Field
The invention belongs to the technical field of hydraulic support lifting devices, and particularly relates to a four-point lifting balance method for a hydraulic support.
Background
The hydraulic lifting system of the hydraulic support mounting and dismounting machine at the present stage mainly comprises four main lifting hydraulic cylinders for completing independent movement and stop of four lifting hooks, the control system of the hydraulic support mounting and dismounting machine at the present stage is mainly a four-cylinder independent control system, and due to the difference of manual control, the asynchronization of the four hydraulic cylinders is caused by the influences of factors such as leakage of the hydraulic system, nonlinear friction resistance among moving elements, non-uniformity and dynamic change of hydraulic support load and the like, so that the stable operation of the mounting and dismounting machine in lifting is influenced.
Disclosure of Invention
Based on the defects of the prior art, the technical problem to be solved by the invention is to provide a four-point hoisting balance method for the hydraulic support, which has the advantages of low cost, high synchronization precision, good environmental adaptability and stable posture during hoisting of the hydraulic support during installation, removal and hoisting.
In order to solve the technical problem, the invention provides a four-point lifting balance method for a hydraulic support, which comprises the following steps:
s1, flexibly controlling the four existing hydraulic cylinders to enable each executing element to automatically adjust the movement speed and displacement of the executing element in real time according to the respective working state, so as to realize the synchronization of the four hydraulic cylinders;
s2, ensuring that the four hydraulic cylinders keep the same displacement at each moment when moving or stopping, and continuously adjusting the relative positions of the hydraulic cylinders in the lifting or descending process;
and S3, selecting a pilot type displacement-electric feedback proportional direction throttle valve, and forming self closed-loop control by the input of the electro-hydraulic proportional throttle valve and the displacement output of the main valve element through an inductive displacement sensor.
Optionally, in step S2, the output of one of the hydraulic cylinders is used as an ideal output, and the remaining hydraulic cylinders are controlled to track the selected ideal output and achieve synchronous driving, and a fuzzy PID correction link is added.
Further, in step S3, the inductive displacement sensor feeds back the detected displacement signal to the input terminal of the proportional amplifier, and establishes a transfer function of the electro-hydraulic proportional throttle valve from the input voltage signal of the proportional amplifier to the output displacement of the main spool.
Therefore, compared with the prior art, the four-point lifting balance method of the hydraulic support has at least the following beneficial effects:
the hydraulic support mounting and demounting machine lifting synchronous control method based on the electro-hydraulic proportional technology is used for designing a hydraulic support mounting and demounting machine lifting synchronous control system based on the electro-hydraulic proportional technology, has the characteristics of low cost, high synchronous precision, good working environment adaptability and the like, and lays a foundation for further design and test.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given in conjunction with the preferred embodiments, together with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
Fig. 1 is a block diagram of a four-cylinder synchronous control system of the present invention.
FIG. 2 is a diagram of a four cylinder synchronous hydraulic circuit of the present invention.
Fig. 3 is a schematic diagram of the fuzzy PID controller of the present invention.
FIG. 4 is a block diagram of the electro-hydraulic proportional control system of the present invention.
FIG. 5 is a schematic diagram of a pilot proportional directional throttle of the present invention.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which form a part of this specification, and which illustrate, by way of example, the principles of the invention. In the referenced drawings, the same or similar components in different drawings are denoted by the same reference numerals.
The invention provides a design idea and a research method of a hydraulic support mounting and dismounting machine lifting synchronous control system based on an electro-hydraulic proportional technology by analyzing the working state and the motion characteristic of a hydraulic oil cylinder, and particularly deduces a mathematical model of elements such as an electro-hydraulic proportional valve, an asymmetric hydraulic cylinder and the like, establishes the mathematical model of the electro-hydraulic proportional synchronous control system, provides a static and dynamic analysis method of the system and a system correction method, and is a precondition for one-step design and test.
As shown in fig. 1 and 2, although the movement systems of the four lifting hydraulic cylinders of the hydraulic support mounting and dismounting machine have different loads due to the change of the type of the hydraulic support, the implementation results are the same, a uniform synchronous control mode can be adopted, and only corresponding control parameter setting and software design are required to be carried out according to the difference of the loads.
The defects that the requirement on the operation precision of the mounting and dismounting machine is too high, the synchronization precision is low, and particularly the rollover danger is easy to occur when the inclination angle of the hydraulic support is too large caused by the independent control mode of the four lifting hydraulic cylinders are overcome, and the flexible control mode is adopted, so that the motion speed and the displacement of each executing element can be automatically adjusted in real time according to the respective working state, and the four-cylinder synchronization is realized.
In order to ensure that all the hydraulic cylinders keep the same displacement at all moments when moving or stopping, the relative positions of the four hydraulic cylinders 19, 20, 21 and 22 are continuously adjusted in the hoisting or descending process, and a synchronous circuit of the four hydraulic cylinders is determined to be a closed-loop valve control cylinder synchronous control circuit. The electro-hydraulic proportional directional throttle valves 11, 12, 13 and 14 which can realize high precision, high response, low cost and relatively low requirement on the oil environment are selected for control by comprehensively considering the precision requirement of the system and the influence of the underground special working environment.
In order to reduce the implementation difficulty, the closed-loop synchronous control system adopts a control strategy of a master-slave mode, the electro-hydraulic proportional valve 14 adjusts the displacement of the master cylinder 22 by receiving the magnitude and the positive and negative of an input signal, the displacement of the master cylinder 22 is taken as an ideal output and is synchronously transmitted to other three loops through a displacement sensor 30 on the electro-hydraulic proportional valve, and the other three electro-hydraulic proportional valves 27, 28 and 29 adjust the corresponding hydraulic cylinders 19, 20 and 21 according to the received signals so as to track the selected ideal output 22, and finally synchronous driving is achieved. And through adding fuzzy PID correction links 15, 16, 17, 18, the structural principle is shown in fig. 3, wherein input parameters Δ KP, Δ KI, Δ KD of the controller are the results obtained after the fuzzy algorithm is completed by the initial input numerical value, so that the input parameters can be continuously corrected and processed through the fuzzy theory, wherein the specific correction algorithm is as follows: KP ═ KP ' + Δ KP, KI ═ KI ' + Δ KI, KD ═ KD ' + Δ KD. KP, KI and KD are known numerical values which are preset in advance, and finally after the fuzzy calculation process and the PID controller, voltage signals acting on the electro-hydraulic proportional valve are output to complete synchronous regulation so as to improve the performance of the synchronous control system.
Referring to fig. 4 and 5, a pilot type displacement-electric feedback proportional direction throttle valve is selected in the system, the input of the electro-hydraulic proportional throttle valves 11, 12, 13 and 14 and the displacement output of the main valve element form self closed-loop control through induction type displacement sensors 27, 28, 29 and 30, the displacement sensors feed detected displacement signals back to the input end of a proportional amplifier, and the transmission scheme of the electro-hydraulic proportional throttle valves is established from the input voltage signals of the proportional amplifier to the output displacement of the main valve element.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406111.4A CN112524109A (en) | 2020-12-02 | 2020-12-02 | Four-point hoisting balance method for hydraulic support |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406111.4A CN112524109A (en) | 2020-12-02 | 2020-12-02 | Four-point hoisting balance method for hydraulic support |
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| CN112524109A true CN112524109A (en) | 2021-03-19 |
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| CN202011406111.4A Pending CN112524109A (en) | 2020-12-02 | 2020-12-02 | Four-point hoisting balance method for hydraulic support |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3906738A (en) * | 1972-03-16 | 1975-09-23 | Gewerk Eisenhuette Westfalia | Control systems for use with mineral mining apparatus |
| CN101699218A (en) * | 2009-11-04 | 2010-04-28 | 三一重型装备有限公司 | Hydraulic support and height measuring device thereof |
| CN102410035A (en) * | 2011-11-25 | 2012-04-11 | 刘混举 | A advance support crawler-type hydraulic support for fully mechanized coal mining face |
| CN103470283A (en) * | 2013-08-26 | 2013-12-25 | 焦作欣扬程煤矿设备有限公司 | Novel upright assembling and disassembling device for upright columns of hydraulic support |
| CN104533496A (en) * | 2014-12-26 | 2015-04-22 | 中国矿业大学 | Grouping pushing-sliding control system and method for intelligent hydraulic supports |
| CN106706349A (en) * | 2015-11-15 | 2017-05-24 | 富强 | Hydraulic bracket test bench synchronous control system based on electric-hydraulic proportional technology |
| US20170298731A1 (en) * | 2014-10-06 | 2017-10-19 | Sandvik Intelectual Property Ab | Device for the installation of rock bolts and cutting apparatus |
-
2020
- 2020-12-02 CN CN202011406111.4A patent/CN112524109A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3906738A (en) * | 1972-03-16 | 1975-09-23 | Gewerk Eisenhuette Westfalia | Control systems for use with mineral mining apparatus |
| CN101699218A (en) * | 2009-11-04 | 2010-04-28 | 三一重型装备有限公司 | Hydraulic support and height measuring device thereof |
| CN102410035A (en) * | 2011-11-25 | 2012-04-11 | 刘混举 | A advance support crawler-type hydraulic support for fully mechanized coal mining face |
| CN103470283A (en) * | 2013-08-26 | 2013-12-25 | 焦作欣扬程煤矿设备有限公司 | Novel upright assembling and disassembling device for upright columns of hydraulic support |
| US20170298731A1 (en) * | 2014-10-06 | 2017-10-19 | Sandvik Intelectual Property Ab | Device for the installation of rock bolts and cutting apparatus |
| CN104533496A (en) * | 2014-12-26 | 2015-04-22 | 中国矿业大学 | Grouping pushing-sliding control system and method for intelligent hydraulic supports |
| CN106706349A (en) * | 2015-11-15 | 2017-05-24 | 富强 | Hydraulic bracket test bench synchronous control system based on electric-hydraulic proportional technology |
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Application publication date: 20210319 |