Control Method Of Displacement And Initial Support Force For Advance Support Equipment

The collapse of the top-end roadway of the comprehensive roadway is frequent and the efficiency of the excavation is frequent.The supporting equipment is used for temporary support of the roadway.However,it is difficult to ensure that the hydraulic support for the advanced support in this paper is supported in the temporary support process.The accuracy of balance and stress affects the speed and effectiveness of support.Therefore,adjusting the horizontal stability of the hydraulic support and accurately controlling the initial support force is an important guarantee for improving the support quality.This paper is based on the National Key Basic Research and Development Program “Study on the principles and methods for the safe and efficient support of deep coal seams”(Subproject No.2014CB046306-2).The study is based on the review and investigation of many literature materials.Combining field research,simulation analysis,and other methods,the method of supporting the control of the hydraulic support for the stepped forward support was studied.The main work includes:(1)An synchronous active disturbance rejection balance controller is proposed for keeping platform balance in this paper.First,based on the traditional four-cylinders synchronous control method of platform,a asynchronous control method of adjusting gradually the height in two coordinates is proposed.The expected value of decoupling of each column cylinder displacement is set by this method.Then,according to the characteristics of column cylinder displacement control system,an active disturbance rejection controller is designed to ensure that the displacement of each column cylinder can reach the expected value precisely under complicated working conditions.Third,the proposed method is applied to level the stepping-type advanced hydraulic support in a fully-mechanized roadway,and the simulation system based on Matlab and AMESim is established.The simulation results show that the proposed method maintains the balance of the hydraulic support platform,and has a better dynamic performance than the traditional PI controller and GM(1,1)gray prediction controller when the load and the inclination angle change abruptly.(2)An adaptive sliding mode control method for the initial support force based on a state observer is proposed.Firstly,according to the composition of the pressure control system of the step support hydraulic support platform,a generalized controlled object model of the system is established.Then based on the characteristics of the pressure control system of the support column cylinder,an adaptive observer based state observer is designed.The mold controller ensures accurate control of the pressure of each column cylinder;finally,the proposed method is applied to the selection and control of the initial support force for the hydraulic support of the step-by-step advance support in the coal mining tunnel,and the column cylinder pressures of MATLAB and AMESim are established.Control simulation system,simulation results show that the proposed method has superior dynamic and steady state performance for different roof rock masses.