基于PID控制器的掘进机截割控制系统设计
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摘要
采用结构简单的PID控制器实现对掘进机截割过程的控制,分析了PID控制器的工作原理后将油缸行程和回转台的角度偏差作为PID控制器的输入值。研究了掘进机截割控制系统的硬件组成,主PID控制器负责数据的采集,从PID控制器负责控制执行机构的运动,彼此之间通过CAN总线进行通信。实验结果验证了基于PID控制的掘进机截割系统可以控制截割头准确地完成截割运动。
PID controller which is simple controller was used to control the cutting process of the roadheader. After analyzing the working principle of the PID controller, the deviation of the cylinder stroke and the rotary table angular were taken as the input values of the PID controller. The hardware composition of the roadhead cutting control system was studied. The main PID controller controls the data acquisition and the secondary PID controller is responsible for controlling the movement of the actuators. They communicate with each other through the CAN bus. Experiments results verify that the tunneling system based on PID control can control the cutting head to complete the cutting process accurately.
PID controller which is simple controller was used to control the cutting process of the roadheader. After analyzing the working principle of the PID controller, the deviation of the cylinder stroke and the rotary table angular were taken as the input values of the PID controller. The hardware composition of the roadhead cutting control system was studied. The main PID controller controls the data acquisition and the secondary PID controller is responsible for controlling the movement of the actuators. They communicate with each other through the CAN bus. Experiments results verify that the tunneling system based on PID control can control the cutting head to complete the cutting process accurately.
引文
[1]付晓.掘进机定位断面自动切割系统的研究[D].哈尔滨:哈尔滨工业大学,2013.
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[3]樊金荣.欧姆龙CJ1系列PLC原理与应用[M].北京:机械工业出版社,2008.
[4]王苏彧.悬臂式掘进机记忆截割及自动截割控制方法研究[D].北京:中国矿业大学(北京),2014.
[5]熊双辉.悬臂式掘进机巷道断面成形控制系统研究[D].西安:西安科技大学,2009.
[2]朱业鹏. PID控制器的参数整定及其稳定域研究[D].南京:南京理工大学,2007.
[3]樊金荣.欧姆龙CJ1系列PLC原理与应用[M].北京:机械工业出版社,2008.
[4]王苏彧.悬臂式掘进机记忆截割及自动截割控制方法研究[D].北京:中国矿业大学(北京),2014.
[5]熊双辉.悬臂式掘进机巷道断面成形控制系统研究[D].西安:西安科技大学,2009.