Zhaosheng Meng

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.

A hydraulic support is one of the key pieces of equipment in a fully mechanized coal-mining face. The shaft is seriously worn due to repeated support shifting in coal-mining operations, and the hydraulic support bears a large amount of impact load in the support process, leading to a threat to its dynamic stability. In order to study the impact load on the posture and dynamics of a hydraulic support, and considering the joint clearance of the hydraulic-support hinge point, based on the dynamics software Adams, the equivalent variable-stiffness damping system is used to replace the column, and the impact analysis model of the hydraulic support with joint clearance is established. The roof pressure is vertically applied to the load balance area of the top beam by static load, and the impact load is vertically applied to the top beam downward. Based on the above model, considering the different distributions of joint clearance, research about the influence of joint clearance on the posture and dynamic characteristics of the hydraulic support is carried out. The results show that when there is joint clearance on both sides of the hydraulic support, when the top beam bears the impact load, the X-axis PMR (position movement ratio) at different positions of the top beam is more than 80%, and the forward-tilt posture is obvious. When the hydraulic support has only unilateral clearance, the front end of the top beam bears the impact load, and the front end of the top beam moves laterally, while the rear end of the top beam mainly moves longitudinally. When the end of the top beam bears the impact load, the vertical PMR of the top beam is less than 1%. When the impact load acts on the side with joint clearance, the top beam has a certain degree of lateral offset, and the offset directions on both sides of the top beam are inconsistent. At this time, the top beam presents a torsional-bearing posture. When the front end of the top beam is loaded, the mechanical curve of each hinge point is higher than the rear-end load. For the hinge point on the side without clearance, the maximum load-fluctuation coefficient reaches 1.04, while for the hinge point on the side with clearance, the minimum load is 0 kN, which will mean some hinge points cannot to play a supporting role. The analysis results will be helpful to research hydraulic supports considering joint clearance.

The pose variations of the hydraulic support have significant influence on its performance. And the pose adjusting operations are required to be fast and precise, while they have typical mechanical-electric-hydraulic coordination...