Research On Attitude Perception Of Hydraulic Support And Control Of Top Beam Pitch Angle

With the proposal of intelligent and unmanned coal mining face,the intelligentization of coal mine equipment already became the new direction of the current coal industry technology development.As an important supporting equipment in a fully mechanized mining face,the research on attitude perception and control methods of hydraulic supports had became particularly important.In this dissertation,the posture model of the hydraulic support was built,and the correctness of the posture model was verified through the virtual prototype of the hydraulic support.Taking the top beam attitude angle as an example,the calculation method of top beam attitude angle based on Kalman filter and the short-term prediction method of hydraulic support attitude were studied.Finally,the control method of the top beam pitch angle was studied,and the main contents were summarized as follows:(1)Based on the analysis of the structure of the hydraulic support,several typical support postures that may appear in the hydraulic support were introduced and classified.And based on the principle of the transformation of the two-dimensional coordinate system,the posture model of the hydraulic support was established,and the program of the posture model was completed in the MALTAB software.At the same time,a virtual prototype of the hydraulic support was established in the ADAMS software,and the kinematics simulation analysis was performed.The kinematics simulation results were compared with the posture model calculation results.The results showed that the two results were consistent when the base inclination angle was different.The correctness and effectiveness of the posture model built were verified.(2)Research on the top beam attitude calculation method based on Kalman filter.The hydraulic support attitude perception test bed was built,and the attitude sensor was installed on the hydraulic support.Using the data of the attitude angle of the top beam of the hydraulic support under different working conditions,the data collected by the gyroscope and accelerometer module was imported into the MATLAB software for the algorithm.The simulation analysis results showed that the information of gyroscope and accelerometer can be fused by this algorithm,the oscillation of accelerometer can be effectively suppressed,the accumulated error of gyroscope can be reduced,the process noise and measurement noise were reduced to a certain extent,and the attitude sensing accuracy of the hydraulic support was improved.(3)The short-term prediction method of hydraulic support attitude was studied.The time sequence analysis of the sensor data of the top beam elevation under certain conditions was carried out.The AR model was established by using the data of the pitching angle of the top beam.The corresponding program was written by MATLAB software for simulation.The prediction effect of the model in one step and multi-step was analyzed.The simulation results showed that the model can realize the short-term prediction of the jacking beam attitude,and it has a significant prediction effect.(4)The control method of the pitch angle of the top beam of the hydraulic support was studied.Taking the control method of the balance jack as an example,the adaptive fuzzy control method was introduced into the system,and a co-simulation model was established for simulation,and the control effect of the method were analyzed with or without impact load.The simulation results showed that after the introduction of fuzzy control,better adaptability and stability was showed under different working conditions.