Intelligent cooperative control of hydraulic support inspired by driveless car
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摘要: 针对综采工作面液压支架控制精度低、协同性差、推移不齐等问题，借鉴汽车无人驾驶技术，提出了一种液压支架智能协同控制方法。将综采工作面每台液压支架看作是一辆“汽车”，该“汽车”靠移架动作向前行驶，靠底调、侧护板调整行驶方向，液压支架群组就像排成一排的“汽车”按照一定顺序前行，并保持排列队形。每台液压支架都有固定的目标行程，并受左右侧支架的位置约束，能够关注前方采煤机运行情况，兼顾邻架的状况，从而实现液压支架智能协同控制。该方法从液压支架精准推移控制、平行移架控制、护帮板控制、自动跟机闭环控制等方面探讨了液压支架智能协同控制，为解决综采工作面液压支架控制问题提供了一个思路。Abstract: For problems such as low control accuracy, poor coordination and uneven pushing of hydraulic support in fully-mechanized coal mining face, an intelligent cooperative control method of hydraulic support is proposed based on driverless car technology . Each hydraulic support is regarded as a "car" in fully mechanized mining face. The "car" moves forward by moving support and adjusts driving direction by bottom adjustment and side guard plate adjustment. The group of hydraulic support is like a row of "cars" moving forward in a certain order and maintaining alignment. Each hydraulic support has a fixed target travel, and is constrained by position of left and right side supports, so it can pay attention to operation of shearer in front and take into account status of the neighboring support, so as to realize intelligent cooperative control of hydraulic support. The method discusses intelligent cooperative control of hydraulic support from aspects of hydraulic support precise pushing control, parallel advancing control, protection plate control and closed-loop control of automatic following, which provides an idea for solving the control problems of hydraulic support in fully-mechanized coal mining face.
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