Central Machinery Factory, Datong Electromechanical Equipment Co., Ltd., Jinneng Holding Equipment Manufacturing Group

针对液压支架在自动控制过程中,传统控制方式无法有效保证支架移动的直线度和位移精度,影响着煤矿支护效果和采煤工作面安全问题,提出自适应控制方法在液压支架控制系统的应用。通过对液压支架姿态、受力情况、位置信息进行实时采集,利用自适应控制技术进行实时动态调整。实际测试结果表明:不同采煤速度下支架位移距离精度和直线度较原PID控制方式,控制精度提高了15%,相邻支架直线度偏差低于15mm,满足采煤工作面支护要求,有效提高煤矿采煤速度,达到降本增效的目的。

In view of the problem of traditional control methods inability to effectively ensure the straightness and displacement accuracy of bracket movements of hydraulic brackets in automatic control processes, which affects the coal mine support effect and mine safety, an adaptive control method is proposed for the application of hydraulic bracket control systems. By collecting the posture, force bearing situation, and position information of hydraulic brackets in real time, adaptive control technology is used for real-time dynamic adjustment. The actual test results show that under different pushing speeds, the displacement distance accuracy and straightness of the bracket compared with the original PID control method, the control accuracy is improved by 15%. The straightness deviation of adjacent brackets is less than 15 mm, which meets the support requirements of coal mining working face, effectively improves the speed and safety of coal mine pushing and mining, and achieves the purpose of cost reduction and efficiency improvement.