悬臂式掘进机截割机构液压调速系统研究

发布时间：2018-07-07 21:59

本文选题：悬臂式掘进机 + 数字液压缸　；参考：《燕山大学》2015年硕士论文

【摘要】：目前,我国的采煤行业正处于高速发展中,所以对悬臂式掘进机挖掘煤岩巷道的能力要求也越来越高。由于煤岩巷道的岩层硬度分布参差不齐,这就导致挖掘难度增大,挖掘过程中无效损耗的产生,并且工人的操控难度增加,准确度也相应下降,这就对悬臂式掘进机的负载反馈调速的能力提出了更高的要求。本文就是针对这种现实情况,并且结合EBZ132型悬臂式掘进机的具体结构介绍和相关参数,通过一些参数和巷道断面的尺寸关系建立数学模型。通过和传统液压缸行程检测和控制的比较分析,提出了使用数字液压缸的方案,通过它来控制掘进机截割机构的行程。根据煤岩共存这种特殊工况,提出了根据工况调整水平回转油缸和升降油缸进给速度的方案,从而实时控制悬臂摆动速度,以此达到负载反馈调速的目的,并且最终保持截割电动机的额定功率恒定。本文通过介绍对比单纯的PID控制和模糊控制的优缺点,提出了将其两者特点相结合的模糊PID控制的控制方案,该方案可以取得参数在线自整定的效果,然后通过稳定边界法以及一些经验公式对其初始参数进行了估算确定。控制的基本思路是功率保持恒定的情况下,当负载硬度小的时候,提高进给速度,降低进给力;负载硬度大时,则减小进给速度,提高进给力。用MATLAB的模糊控制模块进行模拟仿真,对其进行动静态研究,分析此负载反馈调速系统的可行性。结果表明,使用了模糊PID控制的截割机构的响应速度更快,精度更高,工作效率也得到了很大提升,并且降低了功率损失。从而提高了悬臂式掘进机对复杂多变环境的适应能力,为进一步改进我国掘进机的负载反馈调速技术提供了理论支持和依据。
[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.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD421.5

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