迈步式超前支护装置降架过程控制方法
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摘要
为降低降架时超前支护装备对顶板稳定性的影响,提高支护效果,在分析支护结构和力学分析的基础上,建立超前支护装备升降架过程的力学模型;根据超前支护降架过程的力学要求,即保证支撑力缓慢减小的同时,对多液压缸进行同步控制,由此提出了降架过程位移-压力的双闭环控制方法,借助Simulink和力学模型对控制系统进行建模并仿真.最后,将研究内容应用到超前支护装备的实验样机中,实验结果表明:降架过程的最大同步误差10 mm,可控最高精度达到5 mm.
In order to reduce the effect of advanced supporting equipment on the roof stability when frame is in process of descending, and increase the supporting effect of support, this paper established the mechanical model of the lift frame of the advanced supporting equipment based on the analysis of the structure and mechanics analysis. According to the mechanical requirements of advanced supporting equipment frame descending process, while ensuring that the supporting force decreases slowly, synchronous control is applied to multi-hydraulic cylinder at same time. Thus, this paper put forward the frame of displacement pressure drop of double closed loop control method. Based on Siumlink and the mechanics model, this paper established the control system model and carried out simulation on it. Finally, the research content was applied to the experimental prototype of the advanced supporting equipment. The experiment results show that the maximum synchronization error of the process of the down frame is 10 mm, and the maximum precision of the control is 5 mm.
In order to reduce the effect of advanced supporting equipment on the roof stability when frame is in process of descending, and increase the supporting effect of support, this paper established the mechanical model of the lift frame of the advanced supporting equipment based on the analysis of the structure and mechanics analysis. According to the mechanical requirements of advanced supporting equipment frame descending process, while ensuring that the supporting force decreases slowly, synchronous control is applied to multi-hydraulic cylinder at same time. Thus, this paper put forward the frame of displacement pressure drop of double closed loop control method. Based on Siumlink and the mechanics model, this paper established the control system model and carried out simulation on it. Finally, the research content was applied to the experimental prototype of the advanced supporting equipment. The experiment results show that the maximum synchronization error of the process of the down frame is 10 mm, and the maximum precision of the control is 5 mm.
引文
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[14]谢苗,刘治翔,鲁启通,等.超前支架迈步过程稳定控制方法研究[J].中国安全科学学报,2015,25(3):54-59.XIE Miao,LIU Zhixiang,LU Qitong,et al.Study on method for controlling stability of advanced support in step process[J].China Safety Science Journal,2015,25(3):54-59.
[2]蔡璐,孟凡雷,李舒驰,等.掘进机机载临时支护技术[J].煤矿机械,2013,34(6):189-191.CAI Lu,MENG Fanlei,LI Shuchi,et al.Temporary support technology of roadheader[J].Coal Mine Machinery,2013,34(6):189-191.
[3]谢苗,刘治翔,毛君.综掘巷道超前支护装备多缸同步控制方法研究[J].工程设计学报,2015,22(2):193-200.XIE Miao,LIU Zhixiang,MAO Jun.Multi-cylinder synchronous control method for advanced support of roadway support equipment[J].Chinese Journal of Engineering Design,2015,22(2):193-200.
[4]任金萍.巷道用自移式辅助支护设备的结构研究[D].阜新:辽宁工程技术大学,2009.
[5]毛君,杨振华,卢进南,等.迈步式超前支护装备过渡过程支撑力控制系统设计[J].工程设计学报,2015,22(4):387-393.MAO Jun,YANG Zhenhua,LU Jinnan,et al.Supporting for control system design for transition process of stepping-type advanced supporting equipment[J].Chinese Journal of Engineering Design,2015,22(4):387-393.
[6]毛君,梁景龙,张睿.超前支护装备-顶板耦合模型建立与分析[J].辽宁工程技术大学学报(自然科学版),2015,34(4):500-504.doi:10.11956/j.issn.1008-0562.2015.04.014.MAO Jun,LIANG Jinglong,ZHANG Rui.Establish and analysis of advanced su-pport equipment-roof coupling system[J].Journal of Liaoning Technical University(Natural Science),2015,34(4):500-504.doi:10.11956/j.issn.1008-0562.2015.04.014.
[7]卢进南,毛君,谢苗,等.巷道超前支架全支撑态动力学模型[J].煤炭学报,2015,40(1):50-57.LU Jinnan,MAO Jun,XIE Miao,et al.Dynamics model of advanced powered support in heading under full support situation[J].Journal of China Coal Society,2015,40(1):50-57.
[8]鲁鼎.多液压缸同步控制技术的研究[D].镇江:江苏科技大学,2013.
[9]周育才,刘少军,黄明辉,等.巨型锻模液压机主动同步系统的鲁棒控制研究[J].机械科学与技术,2011,30(3):502-506.ZHOU Yucai,LIU Shaojun,HUANG Minghui,et al.A Synchronous drive control system for a huge scale press based on a robust regulator[J].Mechanical Science and Technology,2011,30(3):502-506.
[10]许立,庞海军,施志辉,等.基AMESim的液压同步阀集流工况仿真与分析[J].机械科学与技术,2012,31(9):1 536-1 538.XU Li,PANG Haijun,SHI Zhihui,et al.Simulating and analyzing conflux conditions ofhydraulic synchronization valve with AMESi[J].Mechanical Science and Technology,2012,31(9):1 536-1 538.
[11]米建伟,保宏,王从思,等.平面二自由度冗余并联机器人同步控制[J].机械科学与技术,2011,30(2):280-284.MI Jianwei,BAO Hong,WANG Congsi,et al.Synchronization Control of a Planar 2-DOF Robot with Redundant Actuation[J].Mechanical Science and Technology,2011,30(2):280-284.
[12]倪敬.钢管包装电液伺服系统控制策略及其应用研究[D].杭州:浙江大学,2006.
[13]王栋梁,李洪人,张景春.非对称阀控制非对称缸的分析研究[J].济南大学学报,2003,17(6):118-121.WANG Dongliang,LI Hongren,ZHANG Jingchun.Research of asymmetrical valve controlling asymmetrical cylinder[J].Journal of University of Jinan,2003,17(6):118-121.
[14]谢苗,刘治翔,鲁启通,等.超前支架迈步过程稳定控制方法研究[J].中国安全科学学报,2015,25(3):54-59.XIE Miao,LIU Zhixiang,LU Qitong,et al.Study on method for controlling stability of advanced support in step process[J].China Safety Science Journal,2015,25(3):54-59.