履带行走式液压支架立柱动态特性分析
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摘要
为探究履带行走式液压支架对顶板的支护效果及稳定性,以立柱液压系统为研究对象,提出了基于改进PID控制算法的控制策略,利用AMESim软件,对升柱过程、降柱过程及冲击载荷下的立柱液压系统特性进行了仿真分析,得到了升柱过程、降柱过程及冲击载荷下立柱各缸压力、安全阀的压力及流量动态响应曲线;基于仿真分析结果,提出了通过优化控制器、调整安全阀的弹簧刚度等来提高系统稳定性的措施。加积分分离法的改进PID控制策略能较好地处理失控问题,避免出现积分饱和,实现平稳启动、迅速提升、平缓接触的效果;安全阀的弹簧刚度由300 N/mm调整为400 N/mm后,能减弱液压冲击,提高系统的稳定性。
To explore the supporting effect and stability of the crawler walking hydraulic support,taking the hydraulic system of column as the research object,this paper puts forward the control strategy based on improved PID control algorithm,and uses the AMESim software to analyse the process of column rise,fall and under the shock loading.We have acquired the oil cylinder and safety valve's dynamic response curve;based on the results,we put forward a series of measures to improve the system stability by optimizing the controller and adjusting the spring stiffness of the safety valve.The results show that the improved PID control strategy added integral separation can be better to deal with the control problem,avoid integral saturation,and achieve the effect of smoother start,quicker lifting and gentler contact.The spring stiffness can be adjusted from 300 N/mm to 400 N/mm,the hydraulic impaction can be abated and the system stability can be improved.
To explore the supporting effect and stability of the crawler walking hydraulic support,taking the hydraulic system of column as the research object,this paper puts forward the control strategy based on improved PID control algorithm,and uses the AMESim software to analyse the process of column rise,fall and under the shock loading.We have acquired the oil cylinder and safety valve's dynamic response curve;based on the results,we put forward a series of measures to improve the system stability by optimizing the controller and adjusting the spring stiffness of the safety valve.The results show that the improved PID control strategy added integral separation can be better to deal with the control problem,avoid integral saturation,and achieve the effect of smoother start,quicker lifting and gentler contact.The spring stiffness can be adjusted from 300 N/mm to 400 N/mm,the hydraulic impaction can be abated and the system stability can be improved.
引文
[1]王安.连续采煤机房柱式短壁机械化采煤技术的研究与实践[D].阜新:辽宁工程技术大学,2002.Wang A.Study and Practice on the Rooms&Pillars Mining Coal Mining Technology of the Continuous Miners.[D].Fuxin:Liaoning Technology University,2002.
[2]江小军.XZ7000/24.5/46型履带行走支架在神东矿区的应用[J].煤矿机械,2010,31(2):148-151.Jiang X J.Application of Walking Support Type XZ7000/24.5/46 in Shendong Mining Camp[J].Coal Mine Machinery,2010,31(2):148-151.
[3]王国法.工作面支护与液压支架技术理论体系[J].煤炭学报,2014,39(8):1593-1601.Wang G F.Theory System of Working Face Support System and Hydraulic Roof Support Technology[J].Journal of China Coal Socicty,2014,39(8):1593-1601.
[4]梁利闯,田嘉劲,郑辉,等.冲击载荷作用下液压支架的力传递分析[J].煤炭学报,2015,40(11):2522-2527.Liang L C,Tian J J,Zheng H,et al.A Study on Force Transmission in a Hydraulic;Support under Impact Loading on Its Anopy Beam[J].Journal of China Coal Society,2015,40(11):2522-2527.
[5]漆炜,樊建平,蔡全福,等.两柱式液压支架稳定性分析[J].机械科学与技术,2013,32(5):733-738.Qi W,Fan J P,Cai Q F,et al.Analyzing Stability of Hydraulic Support with Two Columns[J].Mechanical Science and Technology for Aerospace Engineering,2013,32(5):733-738.
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[7]江小军.新型履带行走式液压支架在短壁工作面中的应用[J].矿山机械,2009,37(11):32-36.Jiang X J.Application of'the New Crawler Walking Hydraulic Support in the Shortwall[J].Mining&Processing Equipment,2009,37(11):32-36.
[8]王军,赵斌,郝万东.新型履带行走式液压支架液压系统分析[J].煤矿机械,2010,31(5):127-128.Wang J,Zhao B,Hao W D.Hydraulic System Analysis of New Reel Mobile Roof Support[J].Coal Mine Machinery,2010,31(5):127-128.
[9]石岚.履带行走式液压支架行走机构动力学仿真研究[J].煤炭工程,2011,(8):116-118.Shi L.Study on Dynamics Simulation of Walking Mechanism for Crawler-type Hydraulic Powered Support[J].Coal Engineering,2011,(8):116-118.
[10]周凯,李刚,赵帅.短壁开采用履带行走式液压支架研制及应用[J].煤炭科学技术,2013,41(4):85-88.Zhou K,Li G,Zhao S.Development and Application of Crawler Walking Type Hydraulic Powered Support Used for Short-Wall Mining[J].Coal Science and Technology,2013,41(4):85-88.
[11]丁怀青,崔向东.履带行走式液压支架机械仿真研究[J].煤炭技术,2013,32(9):39-40.Ding H Q,Cui X D.Mechanical Simulation Study of Crawler-type Hydraulic Support[J].Coal Technology,2013,32(9):39-40.
[12]王朗朗.新型履带行走式超前支护液压支架开发及关键技术研究[D].太原:太原理工大学,2014.Wang L L.Development and Key Technology Research of New Mobile Forepoling Hydraulic Support[D].Taiyuan:Taiyuan University of Technology,2014.
[13]任锡义.液压支架整体动态特性仿真分析[D].太原:太原理工大学,2010.Ren X Y.The 5imulatian of the Whole Dynamic Charactcristics of Hydraulic Support[D].Taiyuan:Taiyuan University of Technology,2010.
[14]赵斌.履带行走式液压支架液压系统仿真分析[J].煤炭科学技术,2011,39(4):101-105.Zhao B.Simulation Analysis on Hydraulic System of Crawler Waking Type Hydraulic Powered Support[J].Coal Science and Technology,2011,39(4):101-105.
[15]Hao M,Jiang W.AMEsim based simulation on hydraulic experiment rig for assembly of stator components[J].Journal of Shanghai Jiaotong University(Science),2013,18(5):570-576.
[16]王玉勤,许雪艳,蒋全胜.基于免疫PID算法的吊车-双摆系统控制设计[J].控制工程,2016,23(6):895-900.Wang Y Q,Xu X Y,Jiang Q S.Control Design of Crane-double Pendulum System Based on Immune PID Algorithm[J].Control Engineering of China,2016,23(6):895-900.
[17]孔繁镍,马伏花,李燕.低通滤波PID水轮机调速系统设计[J].控制工程,2016,23(2):173-177.Kong F N,Ma F H,Li Y.Design of Low Pass Filter PID Controller for Speed Governing System of Hydro Turbine[J].Control Engineering of China,2016,23(2):173-177.
[18]Tang H J,Wang G D,Chen C Q,et al.A Hybrid of Fuzzy and PIDController for EAST AIA CASK Baking System[J].Journal of Fusion Energy,2015,34(1):42-48.
[19]黄爱文.履带行走式液压支架机械仿真研究[J].中国新技术新产品,2015,(3):77-78.Huang A W.Mechanical Simulation Research on the Crawler Walking Hydraulic Support[J].New Technology&New Products of China,2015,(3):77-78.
[2]江小军.XZ7000/24.5/46型履带行走支架在神东矿区的应用[J].煤矿机械,2010,31(2):148-151.Jiang X J.Application of Walking Support Type XZ7000/24.5/46 in Shendong Mining Camp[J].Coal Mine Machinery,2010,31(2):148-151.
[3]王国法.工作面支护与液压支架技术理论体系[J].煤炭学报,2014,39(8):1593-1601.Wang G F.Theory System of Working Face Support System and Hydraulic Roof Support Technology[J].Journal of China Coal Socicty,2014,39(8):1593-1601.
[4]梁利闯,田嘉劲,郑辉,等.冲击载荷作用下液压支架的力传递分析[J].煤炭学报,2015,40(11):2522-2527.Liang L C,Tian J J,Zheng H,et al.A Study on Force Transmission in a Hydraulic;Support under Impact Loading on Its Anopy Beam[J].Journal of China Coal Society,2015,40(11):2522-2527.
[5]漆炜,樊建平,蔡全福,等.两柱式液压支架稳定性分析[J].机械科学与技术,2013,32(5):733-738.Qi W,Fan J P,Cai Q F,et al.Analyzing Stability of Hydraulic Support with Two Columns[J].Mechanical Science and Technology for Aerospace Engineering,2013,32(5):733-738.
[6]朱俊.液压支架立柱液压系统的仿真研究[D].郑州:郑州大学,2013.Zhu J.The Research on Hydraulic System of the Column of Hydraulic Support[D].Zhengzhou:Zhengzhou University,2013.
[7]江小军.新型履带行走式液压支架在短壁工作面中的应用[J].矿山机械,2009,37(11):32-36.Jiang X J.Application of'the New Crawler Walking Hydraulic Support in the Shortwall[J].Mining&Processing Equipment,2009,37(11):32-36.
[8]王军,赵斌,郝万东.新型履带行走式液压支架液压系统分析[J].煤矿机械,2010,31(5):127-128.Wang J,Zhao B,Hao W D.Hydraulic System Analysis of New Reel Mobile Roof Support[J].Coal Mine Machinery,2010,31(5):127-128.
[9]石岚.履带行走式液压支架行走机构动力学仿真研究[J].煤炭工程,2011,(8):116-118.Shi L.Study on Dynamics Simulation of Walking Mechanism for Crawler-type Hydraulic Powered Support[J].Coal Engineering,2011,(8):116-118.
[10]周凯,李刚,赵帅.短壁开采用履带行走式液压支架研制及应用[J].煤炭科学技术,2013,41(4):85-88.Zhou K,Li G,Zhao S.Development and Application of Crawler Walking Type Hydraulic Powered Support Used for Short-Wall Mining[J].Coal Science and Technology,2013,41(4):85-88.
[11]丁怀青,崔向东.履带行走式液压支架机械仿真研究[J].煤炭技术,2013,32(9):39-40.Ding H Q,Cui X D.Mechanical Simulation Study of Crawler-type Hydraulic Support[J].Coal Technology,2013,32(9):39-40.
[12]王朗朗.新型履带行走式超前支护液压支架开发及关键技术研究[D].太原:太原理工大学,2014.Wang L L.Development and Key Technology Research of New Mobile Forepoling Hydraulic Support[D].Taiyuan:Taiyuan University of Technology,2014.
[13]任锡义.液压支架整体动态特性仿真分析[D].太原:太原理工大学,2010.Ren X Y.The 5imulatian of the Whole Dynamic Charactcristics of Hydraulic Support[D].Taiyuan:Taiyuan University of Technology,2010.
[14]赵斌.履带行走式液压支架液压系统仿真分析[J].煤炭科学技术,2011,39(4):101-105.Zhao B.Simulation Analysis on Hydraulic System of Crawler Waking Type Hydraulic Powered Support[J].Coal Science and Technology,2011,39(4):101-105.
[15]Hao M,Jiang W.AMEsim based simulation on hydraulic experiment rig for assembly of stator components[J].Journal of Shanghai Jiaotong University(Science),2013,18(5):570-576.
[16]王玉勤,许雪艳,蒋全胜.基于免疫PID算法的吊车-双摆系统控制设计[J].控制工程,2016,23(6):895-900.Wang Y Q,Xu X Y,Jiang Q S.Control Design of Crane-double Pendulum System Based on Immune PID Algorithm[J].Control Engineering of China,2016,23(6):895-900.
[17]孔繁镍,马伏花,李燕.低通滤波PID水轮机调速系统设计[J].控制工程,2016,23(2):173-177.Kong F N,Ma F H,Li Y.Design of Low Pass Filter PID Controller for Speed Governing System of Hydro Turbine[J].Control Engineering of China,2016,23(2):173-177.
[18]Tang H J,Wang G D,Chen C Q,et al.A Hybrid of Fuzzy and PIDController for EAST AIA CASK Baking System[J].Journal of Fusion Energy,2015,34(1):42-48.
[19]黄爱文.履带行走式液压支架机械仿真研究[J].中国新技术新产品,2015,(3):77-78.Huang A W.Mechanical Simulation Research on the Crawler Walking Hydraulic Support[J].New Technology&New Products of China,2015,(3):77-78.