煤矿悬臂式掘进机截割头位置精确控制方法
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摘要
针对煤矿悬臂式掘进机截割断面自动成形控制问题,建立了截割头控制系统传递函数模型,并提出了一种基于PID控制的悬臂式掘进机截割头位置精确控制方法。根据悬臂式掘进机截割部结构及其运动学分析,建立了掘进机截割头控制系统传递函数模型。为了验证建立的截割头控制系统传递函数模型的正确性和PID控制方法的效果,进行了仿真实验分析和在悬臂式掘进机实验平台上进行加入PID与否的对比实验验证。实验结果表明:在加入PID反馈控制后,截割头位置控制精度大大提高,竖直截割实验最大误差约为1%,水平截割最大误差约为1.7%,矩形断面截割高度和宽度最大误差均约为1%。因此,根据建立的控制系统传递函数模型和基于PID的控制方法实现了煤矿悬臂式掘进截割头位置的精确控制,对于实现掘进机的智能化和确保煤矿安全高效生产具有重要意义。
In terms of the problem of excavation section automatic cutting shaping control for boom-type roadheader in coal mine,the transfer function model of cutting head control system was established and an accurate control method of boom-type roadheader cutting head position based on PID was proposed. According to the structure of cutting section for roadheader and its kinematic analysis,the transfer function model of cutting head control system for roadheader was established.In order to verify the correctness of transfer function model and PID control method,the simulation experiments were carried out and comparison test is carried out between PID and no PID by the experiment platform of boom-type roadheader.The contrast experiment results show that accuracy of cutting head position control was greatly improved by using the PID control method.The maximum error of vertical cutting is about 1%,the maximum error of horizontal cutting is about 1.7% and the error of height and width is about 1% for rectangular section. Therefore,the precise control of cutting head position was realized by the transfer function model established and the PID control method.It is of significance to realize an intelligent roadheader and ensure the safety and high-efficiency production of coal mine.
In terms of the problem of excavation section automatic cutting shaping control for boom-type roadheader in coal mine,the transfer function model of cutting head control system was established and an accurate control method of boom-type roadheader cutting head position based on PID was proposed. According to the structure of cutting section for roadheader and its kinematic analysis,the transfer function model of cutting head control system for roadheader was established.In order to verify the correctness of transfer function model and PID control method,the simulation experiments were carried out and comparison test is carried out between PID and no PID by the experiment platform of boom-type roadheader.The contrast experiment results show that accuracy of cutting head position control was greatly improved by using the PID control method.The maximum error of vertical cutting is about 1%,the maximum error of horizontal cutting is about 1.7% and the error of height and width is about 1% for rectangular section. Therefore,the precise control of cutting head position was realized by the transfer function model established and the PID control method.It is of significance to realize an intelligent roadheader and ensure the safety and high-efficiency production of coal mine.
引文
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[15]苏杭.悬臂式掘进机巷道断面自动精确成形系统研发[D].威海:山东大学,2015.
[16]李书舟,容慧.离散PID控制在Buck变换器中的应用研究[J].现代电子技术,2014,37(15):133-135.LI Shuzhou,RONG Hui.Application of discrete PID control in buck converter[J].Modern Electronic Technology,2014,37(15):133-135.
[2]王虹.我国综合机械化掘进技术发展[J].煤炭学报,2010,35(11):1815-1820.WANG Hong.The 40 years developmental review of the fully mechanized mine roadway heading technology in China[J].Journal of China Coal Society,2010,35(11):1815-1820.
[3]董磊,任家骏,王喜胜,等.悬臂式掘进机回转机构的建模与动力学仿真[J].煤炭科学技术,2009,37(6):83-85.DONG Lei,REN Jiajun,WANG Xisheng,et al.Model establishing and dynamics simulation of rotary mechanism for boom type roadheader[J].Coal Science and Technology,2009,37(6):83-85.
[4]李旭,顾永正,吴淼.基于微分几何的掘进机工作机构运动学分析[J].煤炭学报,2016,41(12):3158-3166.LI Xu,GU Yongzheng,WU Miao.Kinematics analysis of roadheader’s working mechanism based on differential geometry[J].Journal of China Coal Society,2016,41(12):3158-3166.
[5]田劼,汪胜陆,张立涛,等.悬臂掘进机巷道断面自动成形控制运动学分析[J].煤炭科学技术,2007,35(8):136-138.TIAN Jie,WANG Shenglu,ZHANG Litao,et al.Kinematics analysis on auto profiling control of mine roadway cross section for mine boom type roadheader[J].Coal Science and Technology,2007,35(8):136-138.
[6]商跃进.悬臂式掘进机回转机构虚拟样机优化设计[J].中国工程机械学报,2015,13(2):135-138.SHANG Yuejin.Virtual prototyping and optimization design on rotary mechanism of boom-type roadheaders[J].Chinese Journal of Construction Machinery,2015,13(2):135-138.
[7]NING Shurong,SU Hang,GAO Jun.Research on automatic section precision forming of boom-type roadheader[A].International Conference on Intelligent Systems Research and Mechatronics Engineering(ISRME 2015)[C].2015:1250-1256.
[8]田劼,王苏彧,穆晶,等.悬臂式掘进机空间位姿的运动学模型与仿真[J].煤炭学报,2015,40(11):2617-2622.TIAN Jie,WANG Suyu,MU Jing,et al.Spatial pose kinematics model and simulation of boom-type roadheader[J].Journal of China Coal Society,2015,40(11):2617-2622.
[9]TONG Minming,KANG Dongliang,LIU Peng.Research on automatic section cutting control of roadheader[A].2010 International Conference on Measuring Technology and Mechatronics Automation[C].2010:22-25.
[10]吴淼,贾文浩,华伟,等.基于空间交汇测量技术的悬臂式掘进机位姿自主测量方法[J].煤炭学报,2015,40(11):2596-2602.WU Miao,JIA Wenhao,HUA Wei,et al.Autonomous measurement of position and attitude of boom-type roadheader based on space intersection measurement[J].Journal of China Coal Society,2015,40(11):2596-2602.
[11]杜雨馨,刘停,童敏明,等.基于机器视觉的悬臂式掘进机机身位姿检测系统[J].煤炭学报,2016,41(11):2897-2906.DU Yuxin,LIU Ting,TONG Minming,et al.Pose measurement system of boom-type roadheader based on machine vision[J].Journal of China Coal Society,2016,41(11):2897-2906.
[12]MAO Jun,LI Jiangang,LI Weikang,et al.Kinematics Analysis and simulation of profiling memory cutting for tunnel robot in complex environment[J].Procedia Earth&Planetary Science,2009,1(1):1411-1417.
[13]许益民.电液比例控制系统分析与设计[M].北京:机械工业出版社,2005.
[14]王苏彧.悬臂式掘进机记忆截割及断面边界控制方法研究[D].北京:中国矿业大学(北京),2014.
[15]苏杭.悬臂式掘进机巷道断面自动精确成形系统研发[D].威海:山东大学,2015.
[16]李书舟,容慧.离散PID控制在Buck变换器中的应用研究[J].现代电子技术,2014,37(15):133-135.LI Shuzhou,RONG Hui.Application of discrete PID control in buck converter[J].Modern Electronic Technology,2014,37(15):133-135.