Abstract
In the study of coal mining, the position and posture, the working status, and the straightness of the hydraulic support are critical to the safety of the coal mine. To detect and control the position of a hydraulic support, a model for solving the self-position and posture and a model for solving the relative position and pose of a hydraulic support based on the principle of three points determining a plane in space were established. Then, with the help of particle swarm optimization algorithm and Bang-Bang control algorithm, the hydraulic support position and the posture detection and control system are constructed. Finally, according to the requirements of sensor data collection and online monitoring of the position and posture of hydraulic support, a hydraulic support posture detection and control system is developed, and the simulation experiments of hydraulic support cylinder movement sample collecting, hydraulic support following motion and hydraulic support independent following machine are carried out on the self-developed three-machine intelligent control simulation experiment platform of the working face. However, the test under this simulation platform did not add the load of the top beam. The results show that the self-pose solution model and the relative-pose solution model of the hydraulic support can be used to quickly monitor the position and posture of the hydraulic support group. In the hydraulic support cylinder following motion movement, the largest following error of each cylinder is the balance cylinder, and its maximum error is 2.6 mm. In the hydraulic support independent following machine simulation, the maximum motion error of the support base is 2.2 mm. The position and posture detection and control system developed for hydraulic support can realize accurate detecting and control the position and posture of hydraulic support, as well as meet the requirements for industrial applications.
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