不同倾角巷道下掘进机的防滑控制研究
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摘要
为研究悬臂式掘进机在复杂底板行走时防滑控制的可靠性,基于综掘工作面巷道底板特性分析,得到不同情况下掘进机履带打滑率与牵引力的计算函数。掘进机牵引力因打滑率的增加而迅速减小,从而严重影响掘进机正常掘进,求取不同路况下的掘进机履带期望打滑率计算方法,并通过分析掘进机掘进阻力,建立了倾斜巷道中掘进机掘进动力学模型,提出了基于BP神经网络的PID掘进机履带防滑控制方法。通过Simulink与AMESim建立系统仿真模型与液压模型,基于Matlab得到控制算法,并模拟3种典型底板防滑控制情况。仿真结果表明,BP神经网络PID防滑控制系统具有较高的控制精度、响应速度与环境适应能力,保证掘进机在不同路况下的正常掘进。
In order to study the reliability of anti-skid control of cantilever roadheader when developing on complex floors,based on the analysis of the characteristics of roadway floor in fully mechanized face,the calculation functions of track slip and traction force of the roadheader under different conditions were obtained.The traction force of the roadheader decreases rapidly with the increase of the slippage,which seriously affects the normal excavation of the roadheader.The calculation method of the expected slippage rate of the roadheader under different road conditions was obtained.By analyzing the excavation resistance of the roadheader,the dynamic model of the roadheader in inclined roadway was established,and the anti-slip control method of the track of the PID roadheader based on BP neural network model was put forward.The system simulation model and hydraulic model were established by Simulink and AMESim.The control algorithm was obtained based on matlab,and three typical anti-skid control situations of floor were simulated. The simulation results show that the BP neural network PID anti-skid control system has excellent control accuracy,response speed and environmental adaptability,and this can ensure the normal tunneling of roadheaders under different road conditions.
In order to study the reliability of anti-skid control of cantilever roadheader when developing on complex floors,based on the analysis of the characteristics of roadway floor in fully mechanized face,the calculation functions of track slip and traction force of the roadheader under different conditions were obtained.The traction force of the roadheader decreases rapidly with the increase of the slippage,which seriously affects the normal excavation of the roadheader.The calculation method of the expected slippage rate of the roadheader under different road conditions was obtained.By analyzing the excavation resistance of the roadheader,the dynamic model of the roadheader in inclined roadway was established,and the anti-slip control method of the track of the PID roadheader based on BP neural network model was put forward.The system simulation model and hydraulic model were established by Simulink and AMESim.The control algorithm was obtained based on matlab,and three typical anti-skid control situations of floor were simulated. The simulation results show that the BP neural network PID anti-skid control system has excellent control accuracy,response speed and environmental adaptability,and this can ensure the normal tunneling of roadheaders under different road conditions.
引文
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[17]魏景生,吴淼.中国现代煤矿掘进机[M].北京:煤炭工业出版社,2015:123-132.
[18]孟凡虎,赵素素,于子彭,等.基于AMESim和Simulink联合仿真的阀控马达神经元PID调速系统控制[J].机床与液圧,2016,16(7):83-88.MENG Fanhu,ZHAO Susu,YU Zipeng,et al.Single neural element PID control based on AMESim and simulink cosimulation for speed governing system of valve-control motor[J].Machine Tool&Hydraulics,2016,16(7):83-88.
[19]孙亮,孙启兵.神经元PID控制器在两轮机器人控制中的应用[J].控制工程,2011,18(1):113-115.SUN Liang,SUN Qibing.Application of neural PID controller to two-wheeled robot control[J].Control Engineering of China,2011,18(1):113-115.
[20]汪临伟,彭雪峰,殷侠.单神经元PID的三轴转台控制系统设计[J].液压与气动,2011(5):13-15.WANG Linwei,PENG Xuefeng,YIN Xia.Design of the three-axis turntable control system based on single neural self-adaptive PIDcontrol[J].Chinese Hydraulics&Pneumatics,2011(5):13-15.
[21]SUWANSAWAT Suchatvee,EINSTEIN Herbert H.Artificial neural RKS for predicting the maximum surface settlement caused by EPBshield tunneling[J].Tunneling and Underground Space Technology,2006(21):133-150.
[22]HAN Li,ZHANG Zhenyu.The application of immune genetic algorithm in main steam temperature of PID control of BP network[J].Physics Procedia,2012(24):80-86.
[23]QB/HDDSSG 007-2012,巷道及硐室施工标准[S].
[2]BEKKER M G.Theory of land locomotion[D].Michigan:University of Michigan Press,1956.
[3]BEKKER M G,《地面-车辆系统导论》翻译组.地面-车辆系统导论[M].北京:机械工业出版社,1978.
[4]WONG J Y.Theory of ground vehicles[M].4thedition.Hoboken:John Wiley&Sons,Inc,2008.
[5]张宏,张晓鹍,石涛.连采机履带行走机构动力学特性与疲劳寿命分析[J].煤炭科学技术,2016,44(11):110-115.ZHANG Hong,ZHANG Xiaokun,SHI Tao.Analysis on dynamics features and fatigue life of crawler walking mechanism applied in continuous miner[J].Coal Science and Technology,2016,44(11):110-115.
[6]李力,李庶林.深海表层海泥模拟及地面力学特性研究[J].工程力学,2010,27(11):213-220.LI Li,LI Shulin.Simulation and mechanical characteristics of terramechanics of the surface soil on deep-sea bed[J].Engineering Mechanics,2010,27(11):213-220.
[7]韩庆珏,刘少军.基于动力学分析的深海履带式采矿车行走打滑控制[J].中南大学学报:自然科学版,2013,44(8):3166-3172.HAN Qingjue,LIU Shaojun.Slip control of deep sea tracked miner based on dynamic analysis[J].Journal of Central South University:Science and Technology,2013,44(8):3166-3172.
[8]张海宁.履带采矿车海底斜坡地形转向控制算法研究[D].长沙:中南大学,2010.
[9]JANOSI Z,HANAMOTO B.The analytical determination of drawbar pull as a function of slip for tracked vehicle in deformable solis[C].Proceedings of the 1stInternational Conference on TerrainVehicle Systems,Torino,Italy,1961:707-726.
[10]WONG J Y,PRESTON-Thomas J.On the Characteristics of the shear stress-displacement relationship of the terrain[J].Journal of Terrmechanics,1983,19(4):225-234.
[11]WONG J Y,GARBER M,RADFORTH J R.Characterization of the mechanical properties of muskeg with special reference to vehicle mobility[J].Journal of Terrmechanics,1979,16(4):163-180.
[12]KOGURE K,OHIRA Y,YAMAGUCHI H.Prediction of sinkage and motion resistance of a tracked vehicle using plate penetration test[J].Journal of Terrmechanics,1983,20(3):121-128.
[13]TERAGHI K.Theoretical soil mechanics[M].New York:Wiley,1966.
[14]陈世教.履带式液压挖掘机原地转弯阻力计算[J].建筑机械,1998(4):6-9.CHEN Shijiao.Calculation of steering resistance of crawler hydraulic excavator in place[J].Construction Machinery,1998(4):6-9.
[15]SHILLER Z,SERATE W,HUA M.Trajectory planning of tracked vehicles[C].Proceedings of International conference on robotics and automation,1993.
[16]HAYASHI I.Practical analysis of tracked vehicle steering depending on longitudinal track slippage[C].Proceedings of International Society for Terrain-Vehicle Systems,1975.
[17]魏景生,吴淼.中国现代煤矿掘进机[M].北京:煤炭工业出版社,2015:123-132.
[18]孟凡虎,赵素素,于子彭,等.基于AMESim和Simulink联合仿真的阀控马达神经元PID调速系统控制[J].机床与液圧,2016,16(7):83-88.MENG Fanhu,ZHAO Susu,YU Zipeng,et al.Single neural element PID control based on AMESim and simulink cosimulation for speed governing system of valve-control motor[J].Machine Tool&Hydraulics,2016,16(7):83-88.
[19]孙亮,孙启兵.神经元PID控制器在两轮机器人控制中的应用[J].控制工程,2011,18(1):113-115.SUN Liang,SUN Qibing.Application of neural PID controller to two-wheeled robot control[J].Control Engineering of China,2011,18(1):113-115.
[20]汪临伟,彭雪峰,殷侠.单神经元PID的三轴转台控制系统设计[J].液压与气动,2011(5):13-15.WANG Linwei,PENG Xuefeng,YIN Xia.Design of the three-axis turntable control system based on single neural self-adaptive PIDcontrol[J].Chinese Hydraulics&Pneumatics,2011(5):13-15.
[21]SUWANSAWAT Suchatvee,EINSTEIN Herbert H.Artificial neural RKS for predicting the maximum surface settlement caused by EPBshield tunneling[J].Tunneling and Underground Space Technology,2006(21):133-150.
[22]HAN Li,ZHANG Zhenyu.The application of immune genetic algorithm in main steam temperature of PID control of BP network[J].Physics Procedia,2012(24):80-86.
[23]QB/HDDSSG 007-2012,巷道及硐室施工标准[S].