Asynchronous coupling approach for leveling control of self-shifting temporary support

Firstly,a new self-moving advanced support equipment for a fully mechanized roadway is designed and its equipment composition and technological principle are expounded. To realize the support target fast and effectively,an asynchronous coupling multi-cylinder leveling control method is proposed for self-shifting temporary support. Consider- ing the non-horizontal floor conditions caused by uneven geological composition of coal roadway and the structural characteristics of self-moving temporary support,the asynchronous control method of adjusting gradually the height in two coordinates is adopted which is more suitable for self-shifting temporary support. The expected displacement of the supporting hydraulic cylinders of self-moving temporary support are calculated by using the principle of three-dimen- sional Euler angle method. Then to balance the weight ratio of synchronization error between adjacent hydraulic cylin- ders during attitude leveling,the adjacent cross coupling control structure is adopted under multi-cylinder driving and a coupling control method is proposed based on the weighting factor regulator,which can complete the optimization of synchronization error for adjacent hydraulic cylinders. Finally,the scene interaction between AMESim and MATLAB /Simulink is realized though the Interface Block module,which makes the semi-physical joint simulation concluding the asynchronous coupling leveling control model proceeded smoothly. The simulation results show that using the asyn- chronous coupling leveling control method can make the synchronization error between the four hydraulic cylinders of self-moving temporary support more precise from ±4 mm to ±1 mm than that of the fuzzy PID control method. At the same time,the fluctuation amplitude of synchronization error is more uniform and gentle,which means the tremor phe- nomenon is rare to happen. The above results verify the feasibility and advancement of the asynchronous coupling lev- eling control method.