Cooperative Automatic Control for the Canopy Posture of a Four-Leg Hydraulic Support

Abstract

The contact state between the canopy and roof of a hydraulic support considerably influences the bearing capacity and stability of the support. To ensure a secure contact between the canopy and roof in the setting stage, this paper proposes a cooperative double closed-loop automatic control technique for the canopy posture, with MATLAB used to simulate the canopy posture under different roof conditions. First, a cooperative double closed-loop automatic control model was established. Second, the method to determine the target value of the canopy posture and constraint conditions of the rising process were formulated. Finally, by simulating the canopy posture under three roof conditions, the response curve of the canopy posture and the leg length were obtained. The results show that the front and rear legs can rise through either synchronous or asynchronous coordination, and the canopy posture can approach the target value. The presented findings can guide the realization of the automatic control of the canopy posture of hydraulic support.