本文選題：懸臂式掘進(jìn)機(jī) + 數(shù)字液壓缸　； 參考：《燕山大學(xué)》2015年碩士論文

【摘要】：目前,我國(guó)的采煤行業(yè)正處于高速發(fā)展中,所以對(duì)懸臂式掘進(jìn)機(jī)挖掘煤巖巷道的能力要求也越來(lái)越高。由于煤巖巷道的巖層硬度分布參差不齊,這就導(dǎo)致挖掘難度增大,挖掘過程中無(wú)效損耗的產(chǎn)生,并且工人的操控難度增加,準(zhǔn)確度也相應(yīng)下降,這就對(duì)懸臂式掘進(jìn)機(jī)的負(fù)載反饋調(diào)速的能力提出了更高的要求。本文就是針對(duì)這種現(xiàn)實(shí)情況,并且結(jié)合EBZ132型懸臂式掘進(jìn)機(jī)的具體結(jié)構(gòu)介紹和相關(guān)參數(shù),通過一些參數(shù)和巷道斷面的尺寸關(guān)系建立數(shù)學(xué)模型。通過和傳統(tǒng)液壓缸行程檢測(cè)和控制的比較分析,提出了使用數(shù)字液壓缸的方案,通過它來(lái)控制掘進(jìn)機(jī)截割機(jī)構(gòu)的行程。根據(jù)煤巖共存這種特殊工況,提出了根據(jù)工況調(diào)整水平回轉(zhuǎn)油缸和升降油缸進(jìn)給速度的方案,從而實(shí)時(shí)控制懸臂擺動(dòng)速度,以此達(dá)到負(fù)載反饋調(diào)速的目的,并且最終保持截割電動(dòng)機(jī)的額定功率恒定。本文通過介紹對(duì)比單純的PID控制和模糊控制的優(yōu)缺點(diǎn),提出了將其兩者特點(diǎn)相結(jié)合的模糊PID控制的控制方案,該方案可以取得參數(shù)在線自整定的效果,然后通過穩(wěn)定邊界法以及一些經(jīng)驗(yàn)公式對(duì)其初始參數(shù)進(jìn)行了估算確定�？刂频幕舅悸肥枪β时３趾愣ǖ那闆r下,當(dāng)負(fù)載硬度小的時(shí)候,提高進(jìn)給速度,降低進(jìn)給力;負(fù)載硬度大時(shí),則減小進(jìn)給速度,提高進(jìn)給力。用MATLAB的模糊控制模塊進(jìn)行模擬仿真,對(duì)其進(jìn)行動(dòng)靜態(tài)研究,分析此負(fù)載反饋調(diào)速系統(tǒng)的可行性。結(jié)果表明,使用了模糊PID控制的截割機(jī)構(gòu)的響應(yīng)速度更快,精度更高,工作效率也得到了很大提升,并且降低了功率損失。從而提高了懸臂式掘進(jìn)機(jī)對(duì)復(fù)雜多變環(huán)境的適應(yīng)能力,為進(jìn)一步改進(jìn)我國(guó)掘進(jìn)機(jī)的負(fù)載反饋調(diào)速技術(shù)提供了理論支持和依據(jù)。
[Abstract]:At present, the coal mining industry in our country is developing at a high speed, so the ability to excavate coal and rock roadway by cantilever roadheader is more and more high. Due to the uneven distribution of rock hardness in coal and rock roadway, it is more difficult to excavate, and the invalid loss occurs in the excavation process, and the manipulation difficulty of the workers increases, and the accuracy decreases accordingly. This puts forward higher request to the load feedback speed regulation ability of the cantilever roadheader. In this paper, according to this kind of reality, and combined with the introduction of the structure of EBZ132 type cantilever roadheader and related parameters, the mathematical model is established through some parameters and the dimension relation of roadway section. By comparing with the traditional hydraulic cylinder stroke detection and control, the scheme of using digital hydraulic cylinder to control the stroke of cutting mechanism of roadheader is put forward. According to the coexisting of coal and rock, a scheme of adjusting the feed speed of horizontal rotary cylinder and lift cylinder is put forward to control the swing speed of the cantilever in real time, so as to achieve the purpose of load feedback speed regulation. Finally, the rated power of the cutting motor is kept constant. This paper introduces the advantages and disadvantages of simple pid control and fuzzy control, and puts forward a fuzzy pid control scheme which combines the characteristics of pid control and fuzzy control, which can achieve the effect of on-line self-tuning of parameters. Then the initial parameters are estimated by the stable boundary method and some empirical formulas. The basic idea of the control is to increase the feed speed and reduce the feed force when the load hardness is small while the power is kept constant; when the load hardness is large, the feed speed will be reduced and the feed force will be improved. The fuzzy control module of MATLAB is used to simulate and simulate, and the dynamic and static research is carried out, and the feasibility of the load feedback speed regulating system is analyzed. The results show that the cutting mechanism with fuzzy pid control has faster response speed, higher precision, higher working efficiency and lower power loss. Thus, the adaptability of cantilever roadheader to complex and changeable environment is improved, which provides theoretical support and basis for further improvement of load feedback speed regulation technology of roadheader in China.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TD421.5

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 王丁磊;馮冬青;;基于模糊控制的PID參數(shù)的整定[J];安陽(yáng)工學(xué)院學(xué)報(bào);2006年01期

2 田淑杭,姜麗娟;一種參數(shù)自整定模糊PID控制器的研究[J];電氣傳動(dòng)自動(dòng)化;2003年06期

3 毛君;吳常田;謝苗;;淺談懸臂式掘進(jìn)機(jī)的發(fā)展及趨勢(shì)[J];中國(guó)工程機(jī)械學(xué)報(bào);2007年02期

4 潘峰,丁凡,殷建利,王豐;液壓缸行程測(cè)量國(guó)內(nèi)外現(xiàn)狀和發(fā)展趨勢(shì)[J];工程機(jī)械;2001年04期

5 廉小親;模糊控制技術(shù)[J];電力設(shè)備;2004年01期

6 劉春生;漆利平;趙汗青;;懸臂式掘進(jìn)機(jī)懸臂水平擺動(dòng)機(jī)構(gòu)的建模與仿真[J];黑龍江科技學(xué)院學(xué)報(bào);2008年01期

7 邢繼峰,曾曉華,彭利坤;一種新型數(shù)字液壓缸的研究[J];機(jī)床與液壓;2005年08期

8 李曉豁;吳志強(qiáng);;基于參數(shù)自適應(yīng)模糊PID控制器的掘進(jìn)機(jī)恒功率調(diào)速系統(tǒng)[J];制造業(yè)自動(dòng)化;2009年01期

9 余會(huì)挺;;EBZ-132SH型掘進(jìn)機(jī)液壓系統(tǒng)的改進(jìn)設(shè)計(jì)[J];煤礦機(jī)電;2011年06期

10 熊雙輝;任中全;陳磊;;數(shù)字液壓缸在懸臂掘進(jìn)機(jī)行程控制中的應(yīng)用[J];煤礦機(jī)械;2008年11期

，

本文編號(hào)：2106407