Pose Adjusting Simulation of Hydraulic Support Based on Mechanical-Electrical-Hydraulic Coordination

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 characteristics which are challenging to simulate. In view of these problems, a method has been proposed in this work for accurately monitoring and controlling the pose of the hydraulic support, and using a suitable multi-software co-simulation model to simulate it. A mathematical model for pose monitoring and control was initially established.A teaching-learning-based optimization algorithm (TLBO) was then introduced to obtain the numerical solution of the nonlinear equations. Finally, a numerical model based on mechanical-electrical-hydraulic co-simulation was established. The model was tested and validated by using different pose signals. The results indicate that the pose controller developed in this paper can control the support pose well (iteration time less than 1 s and cumulative error less than 1.5 mm). Moreover, the multi-software co-simulation approach was effective for describing the complex system. The co-simulation platform proposed in this study can benefit the virtual monitoring technology for hydraulic supports. The research provides theoretical basis and technical guidance for the automation and unmanned control of underground mining.