Intelligent cooperative control of hydraulic support inspired by driveless car

Abstract

For problems such as low control accuracy, poor coordination and uneven pushing of hydraulic support in fully-mechanized coal mining face, an intelligent cooperative control method of hydraulic support is proposed based on driverless car technology . Each hydraulic support is regarded as a 'car' in fully mechanized mining face. The 'car' moves forward by moving support and adjusts driving direction by bottom adjustment and side guard plate adjustment. The group of hydraulic support is like a row of 'cars' moving forward in a certain order and maintaining alignment. Each hydraulic support has a fixed target travel, and is constrained by position of left and right side supports, so it can pay attention to operation of shearer in front and take into account status of the neighboring support, so as to realize intelligent cooperative control of hydraulic support. The method discusses intelligent cooperative control of hydraulic support from aspects of hydraulic support precise pushing control, parallel advancing control, protection plate control and closed-loop control of automatic following, which provides an idea for solving the control problems of hydraulic support in fully-mechanized coal mining face.

Keywords

• hydraulic support
• driveless car
• cooperative control
• intelligent control
• precise pushing
• following automatio