Research on Velocity Feedforward Control and Precise Damping Technology of a Hydraulic Support Face Guard System Based on Displacement Feedback

Abstract

The hydraulic support face guard system is essential for supporting the exposed coal wall at the working face. However, the hydraulic support face guard system approaching the coal wall may cause impact disturbances, reducing the load-bearing capacity of coal walls. Particularly, the hydraulic support face guard system is characterized by a large turning radius when mining thick coal seams. A strong disturbance and impact on the coal wall may occur if the approaching speed is too fast, leading to issues such as rib spalling. In this paper, a feedforward fuzzy PID displacement velocity compound controller (FFD displacement speed compound controller) is designed. The PID controller, fuzzy PID controller, feedforward PID controller, and FFD displacement speed compound controller are compared in terms of the tracking characteristics of the support system and the impact response of the coal wall, validating the controller’s rationality. The results indicate that the designed FFD displacement speed compound controller has significant advantages. This controller maintains a tracking error range of less than 1% for target displacement with random disturbances in the system, with a response adjustment time that is 34% faster than the PID controller. Furthermore, the tracking error range for target velocity is reduced by 8.4% compared to the feedforward PID controller, reaching 13.8%. Additionally, the impact disturbance of the support system on the coal wall is suppressed by the FFD displacement speed compound controller, reducing the instantaneous contact impact between the support plate and the coal wall by 350 kN. In summary, the FFD compound controller demonstrates excellence in tracking responsiveness and disturbance rejection, enhancing the efficacy of hydraulic supports, and achieving precise control over the impact on the coal wall.