Control Technology Research of the Underground Hydraulic Support Motion Simulation

摘要

Motion simulation of hydraulic support (HS) is the key issue of the coalface scene simulation. These collaborative movement relationships among the components of HS are difficult to be described for its complex structure. A movement simulation method by generating key frames is proposed in this paper, which extracts these relationships between HS's space position and movement time, and describes the complex cyclical movement. A collaborative control algorithm mused in controlling HS movement is proposed according to the geometric structure and motion relations among these components, which includes the movement model of the steady among adjacent frames and cooperative movement models of the other parts. The movement simulation of HS is implemented by the above two algorithms on OSG graphics platform, the experimental result is real-time and accuracy.