【摘要】 针对以液压支架为基准的煤矿综采工作面自动调直存在的误差累积问题,对液压支架调直流程和控制方法进行了研究。通过分析每一个液压支架的调直流程,构建出了每一个液压支架推移公式,并推导出了直线度误差和超调量的数学模型;分别利用理论研究和数值仿真,对调直方法原理和效果进行了验证;在不同推移误差的基础上,对使用不完全补偿的调直方法的调直效果进行了分析,同时分析了不同补偿系数N对直线度误差和超调量的影响。研究结果表明:选取适当的补偿系数可有效地减小推移误差累积,使液压支架的直线度误差和超调量稳定在一定范围内;液压支架直线度误差和超调量稳定范围由液压支架测量误差和推移误差(δ_p,δ_q,δ_o)决定;选择合适的补偿系数N可使直线度误差降低50%,具有更好的调直效果。更多还原

【Abstract】 Aiming at the problem of error accumulation in automatic alignment of comprehensive exploit coal face based on hydraulic support, the straightening process and control method of hydraulic support were studied. By analyzing the straightening process of each hydraulic support, the moving formula of each hydraulic support was constructed, and the mathematical models of straightness error and overshoot were deduced. Through theoretical analysis and numerical simulating, the principle and the effect of this method were verified. And the straightening effect of incomplete compensation straightening method under different displacement errors was compared. The effects of different compensation coefficient N on straightness error and overshoot were analyzed. The results indicate that the rational determination of compensation coefficient is helpful to reduce the error accumulation. The straightness error and overshoot of the hydraulic support are limited a certain range. The range of straightness error is decided by the deviation(δ_p,δ_q,δ_o) of detection error and the advancing error of the hydraulic support. The appropriate compensation coefficient N can reduce the straightness error by 50%, and it has better straightening effect.更多还原