5
In the movement of the hydraulic support, the hydrau-
lic cylinder plays a key role. Through the liquid pressure in
the hydraulic cylinder, the hydraulic cylinder rod extends
or retract outwards, thus driving the lifting of the support
body. The hydraulic support diagram is shown in Figure 4.
In the lifting motion, the base is fixed, and the hydraulic
support extends out of the first column to the highest posi-
tion, and then extends out of the second column to the
highest position. In this process, the lifting height of the
top beam is relative to the height l3 of the base, as shown
in equation (1):
sin sin l L1 L2
3 1 i i2 =+(1)
where,
L1 =the length of the cover beam are fixed
q2 =the Angle between the shield beam and the plane
where the base is located can be obtained by read-
ing the inclination sensor
L2 =the rear connecting rod in the four-link structure
has a fixed length
q1 =The Angle between the rear connecting rod and
the base plane can be obtained by reading the
inclination sensor.
The length of the secondary column is shown in
Formula (2): (Because the primary column takes the base
column as the parent object, the available length indicates
the real-time status of the support, the same below)
sin l l l l
5 3 3 8 4 i =--(2)
l4, the height of the first level column is shown in
Formula (3):
sin l l3 l8
4 i3 =-(3)
In the working process of hydraulic support, the pro-
tection plate is a very important part, and its motion state
directly affects the stability of the coal wall and the safety
of the shearer driver. In the working process, the protection
plate is controlled by the hydraulic cylinder. Specifically,
the piston rod of the hydraulic cylinder is connected with
the guard plate, and the hydraulic oil of the hydraulic cyl-
inder controls the expansion and expansion of the piston
rod, so as to realize the rotation of the guard plate around
the top beam and the hinge of the guard plate. The angle of
the guard plate can be obtained by installing an inclination
sensor, and the extension of the piston rod connected with
the guard plate l7 is shown in Formula (4) :
cos
sin
l
L
L3
2
2
7
3 4
4 $
i i r
i r =
`i
`j
j
Z
[
\
]
]]
(4)
where,
L3 =the distance between the upper side plate and the
top beam and the upper side plate and the piston
rod is a fixed value
q4 =Angle between the beam and the guard plate can
be obtained by reading the sensor.
Collection of Attitude and Load Information of
Hydraulic Support Model
Attitude Information Acquisition of Hydraulic Support
In the digital twin system, it is often necessary to collect
the position and attitude information of physical objects
through sensors, and reflect it in real time in the digital
twin system, so as to achieve the purpose of accurately sim-
ulating the real world.
Figure 3. Hydraulic support model
Figure 4. hydraulic support profile diagram
In the movement of the hydraulic support, the hydrau-
lic cylinder plays a key role. Through the liquid pressure in
the hydraulic cylinder, the hydraulic cylinder rod extends
or retract outwards, thus driving the lifting of the support
body. The hydraulic support diagram is shown in Figure 4.
In the lifting motion, the base is fixed, and the hydraulic
support extends out of the first column to the highest posi-
tion, and then extends out of the second column to the
highest position. In this process, the lifting height of the
top beam is relative to the height l3 of the base, as shown
in equation (1):
sin sin l L1 L2
3 1 i i2 =+(1)
where,
L1 =the length of the cover beam are fixed
q2 =the Angle between the shield beam and the plane
where the base is located can be obtained by read-
ing the inclination sensor
L2 =the rear connecting rod in the four-link structure
has a fixed length
q1 =The Angle between the rear connecting rod and
the base plane can be obtained by reading the
inclination sensor.
The length of the secondary column is shown in
Formula (2): (Because the primary column takes the base
column as the parent object, the available length indicates
the real-time status of the support, the same below)
sin l l l l
5 3 3 8 4 i =--(2)
l4, the height of the first level column is shown in
Formula (3):
sin l l3 l8
4 i3 =-(3)
In the working process of hydraulic support, the pro-
tection plate is a very important part, and its motion state
directly affects the stability of the coal wall and the safety
of the shearer driver. In the working process, the protection
plate is controlled by the hydraulic cylinder. Specifically,
the piston rod of the hydraulic cylinder is connected with
the guard plate, and the hydraulic oil of the hydraulic cyl-
inder controls the expansion and expansion of the piston
rod, so as to realize the rotation of the guard plate around
the top beam and the hinge of the guard plate. The angle of
the guard plate can be obtained by installing an inclination
sensor, and the extension of the piston rod connected with
the guard plate l7 is shown in Formula (4) :
cos
sin
l
L
L3
2
2
7
3 4
4 $
i i r
i r =
`i
`j
j
Z
[
\
]
]]
(4)
where,
L3 =the distance between the upper side plate and the
top beam and the upper side plate and the piston
rod is a fixed value
q4 =Angle between the beam and the guard plate can
be obtained by reading the sensor.
Collection of Attitude and Load Information of
Hydraulic Support Model
Attitude Information Acquisition of Hydraulic Support
In the digital twin system, it is often necessary to collect
the position and attitude information of physical objects
through sensors, and reflect it in real time in the digital
twin system, so as to achieve the purpose of accurately sim-
ulating the real world.
Figure 3. Hydraulic support model
Figure 4. hydraulic support profile diagram