悬臂式掘进机截割部液压系统的设计与分析
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摘要
随着世界煤炭需求量的持续增长,煤炭机械化行业也面临着巨大的挑战。悬臂式掘进机是用来井下采煤工作面巷道作业,是构建综采工作面的先驱设备。由于整个综采设备的复杂性及其在煤矿生产环节中的地位,掘进机的性能和质量直接影响到采煤工作面的建设速度,所以掘进机的产品质量直接决定着整个煤炭行业的效益。
本文是基于实际需要而完成的。论文结合悬臂式掘进机截割部的结构参数,完成了掘进机截割部的液压功能原理设计,并用Pro/E三维设计软件建立了截割部机械部分的三维实体模型,使之可视化。在研究了电液伺服系统及其动力机构的现状与发展情况后,本文采用了符合现场工况要求的阀控非对称液压缸伺服系统。区别于经典的阀控对称液压缸系统的建模方式,本文重新建立了阀控非对称缸的数学模型,并对系统的各个参数进行了详细的推导和求解。在详细了解控制理论相关知识的基础上,对系统采取了模拟PID控制器校正和模糊自适应整定PID控制器校正,改进了系统的动态特性,取得了较好的控制效果,达到了工程上的使用要求。通过两种控制器的对比,可以看出模糊自适应整定PID控制具有控制灵活,自适应性强,控制精度高,稳定性好等特点,其控制效果优于模拟PID控制器,进一步实现了系统的优化。
此外,作者参与了掘进机设备的现场调试及故障诊断,对设计中存在的问题有了更深入的了解,而且,本论文所采用的现代设计方法对提高采掘设备设计水平,实现采掘智能控制,提高产品竞争力有重要的现实意义。
As the continue increase of coal requirement around the world, the industry in coal mechanization is facing severe challenges. Boom-type roadheader is a forerunner facility to be used in coal mining roadway workface under well and constructing fully-mechanized face. Based on its complexity and importance in coal manufacture, the performance and quality of a boom-type roadheader will directly influence the construction velocity of coal mining workface. Consequently, the whole economic benefit of coal industry is determined by the product quality of roadheader.
This paper was completed basing on the actual requirement. With the link of the frame parameters in boom-type roadheader cutting unit, its hydraulic pressure function and principle are designed, and also a 3D solid model of the cutting unit of roadheader by Pro/E, which is easy to see in computer, is established. On the basis of the research of development of the electro-hydraulic servo system and its power system, the valve-controlled nonsymmetrical hydraulic cylinder servo system meeting field demand is adopted. The valve-controlled nonsymmetrical hydraulic cylinder math model which differents from the general valve-controlled symmetrical hydraulic servo system model is rebuilt with deducting and solving parameters of the system. On the basis of knowing the control theory seriously,this paper apply the correction of analog pid controller and fuzzy self adaptive pid controller.This project improves system's dynamic characteristic,obtains better effects and achieves better request in engineer.Compared to analog pid controller the fuzzy self adaptive pid controller has the characteristics of flexible control,strong self adaption,high control precision and good stability.The control effects of fuzzy self adaptive pid congtroller are better than analog pid's.So the fuzzy self adaptive pid contreller optimizes the system further.
Finally, the author made a preliminary analysis of the dynamic characteristic to this systerm, and further discussed various parameters' change along the equipment working process. The feasibility of our function and principle design is proved to be sufficed in real application.
本文是基于实际需要而完成的。论文结合悬臂式掘进机截割部的结构参数,完成了掘进机截割部的液压功能原理设计,并用Pro/E三维设计软件建立了截割部机械部分的三维实体模型,使之可视化。在研究了电液伺服系统及其动力机构的现状与发展情况后,本文采用了符合现场工况要求的阀控非对称液压缸伺服系统。区别于经典的阀控对称液压缸系统的建模方式,本文重新建立了阀控非对称缸的数学模型,并对系统的各个参数进行了详细的推导和求解。在详细了解控制理论相关知识的基础上,对系统采取了模拟PID控制器校正和模糊自适应整定PID控制器校正,改进了系统的动态特性,取得了较好的控制效果,达到了工程上的使用要求。通过两种控制器的对比,可以看出模糊自适应整定PID控制具有控制灵活,自适应性强,控制精度高,稳定性好等特点,其控制效果优于模拟PID控制器,进一步实现了系统的优化。
此外,作者参与了掘进机设备的现场调试及故障诊断,对设计中存在的问题有了更深入的了解,而且,本论文所采用的现代设计方法对提高采掘设备设计水平,实现采掘智能控制,提高产品竞争力有重要的现实意义。
As the continue increase of coal requirement around the world, the industry in coal mechanization is facing severe challenges. Boom-type roadheader is a forerunner facility to be used in coal mining roadway workface under well and constructing fully-mechanized face. Based on its complexity and importance in coal manufacture, the performance and quality of a boom-type roadheader will directly influence the construction velocity of coal mining workface. Consequently, the whole economic benefit of coal industry is determined by the product quality of roadheader.
This paper was completed basing on the actual requirement. With the link of the frame parameters in boom-type roadheader cutting unit, its hydraulic pressure function and principle are designed, and also a 3D solid model of the cutting unit of roadheader by Pro/E, which is easy to see in computer, is established. On the basis of the research of development of the electro-hydraulic servo system and its power system, the valve-controlled nonsymmetrical hydraulic cylinder servo system meeting field demand is adopted. The valve-controlled nonsymmetrical hydraulic cylinder math model which differents from the general valve-controlled symmetrical hydraulic servo system model is rebuilt with deducting and solving parameters of the system. On the basis of knowing the control theory seriously,this paper apply the correction of analog pid controller and fuzzy self adaptive pid controller.This project improves system's dynamic characteristic,obtains better effects and achieves better request in engineer.Compared to analog pid controller the fuzzy self adaptive pid controller has the characteristics of flexible control,strong self adaption,high control precision and good stability.The control effects of fuzzy self adaptive pid congtroller are better than analog pid's.So the fuzzy self adaptive pid contreller optimizes the system further.
Finally, the author made a preliminary analysis of the dynamic characteristic to this systerm, and further discussed various parameters' change along the equipment working process. The feasibility of our function and principle design is proved to be sufficed in real application.
引文
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39.郑笑红.液压系统动态特性数字仿真[J].华北矿业高等专科学校学报,2000(12).
40.刘俊.弯管液压系统动静态特性的研究和仿真[D],重庆大学,2004.
41.林君哲.基于电液液控位置控制的振动出料系统设计与仿真研究[D],东北大学,2007.
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44.王沫然.Simulink4建模及动态仿真[M].北京:电子工业出版社,2002.1.
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2.志淮,王吉安.掘进机掘进技术的发展现状[J].矿山机械,2003(11):11-12
3.王焱金.掘进机切割机构电液伺服系统的分析与研究[J].煤矿机械.1996(5):19-22
4.吴翠艳,黄世功.悬臂式掘进机现状与展望[J].水利采煤与管道运输,1997(9):23-25
5.马跃.谈我国悬臂式掘进机的发展及趋势[J].煤,2006(2):29-32.
6.刘春生.掘进机双速液压进给系统及参数匹配[J].矿山机械.2005(3):26-29
7.王秀香,张珏,刘汉昌,李晓霞.掘进机在我国的应用前景[J].水利水电工程设计,2003.
8.陈同宝,钱沛云,陶峥.我国悬臂式巷道掘进机技术的现状与发展[J].煤矿机电,2000.
9.巴塞尔.掘进机[M].赵殿明译.北京:煤炭工业出版社,1980.
10.谭雪松,甘露萍.Pro/ENGINEER Wildfire基础教程.人民邮电出版社,2005.
11.谢锡纯,李小豁.矿山机械与设备[M].徐州:中国矿业大学出版社,1999.
12.掘进机械化成套设备选型手册编委会.掘进机械化成套设备选型手册[M].北京:煤炭工业出版社,1990.
13.王森浩,胡富国.中国煤炭工业百科全书[M].北京:煤炭工业出版社,1997
14.曹拓.132型掘进机电液控制系统的研究[D].山东:山东科技大学,2005.6
15.孙执书,李缤.采掘机械与液压传动[M].徐州:中国矿业大学出版社,1991
16.王志武,吴志海,王广钊.悬臂式掘进机切割机构调速回路的性能分析[J].矿山机械,2001(6):20-22
17.成大先.机械设计手册(单行本)液压控制[M],北京:化学工业出版社,2004:75-81
18.雷天觉,杨尔庄,李寿刚等,新编液压工程手册[M],北京,1998
19.姜继海,宋锦春,高常识.液压与气压传动[M],北京:高等教育出版社,2001.
20.隗金文,王慧.液压传动[M].沈阳:东北大学出版社,2001.12.
21.孙尚勇.流体力学与流体机械[M].北京:煤炭工程出版社,1991.10.
22.张国强,吴家鸣.流体力学[M].北京:机械工程出版社,2006.
23.http://zhidao.baidu.com/question/532747.html
24.李洪人.液压控制系统[M],北京:国防工业出版社,1981:204-205
25.王传礼,许贤良.阀控非对称液压缸机构建模探讨[J],矿山机械,1998(7):66-68.
26.杨砚佣.液压传动[M],沈阳:东北大学出版社,1994,205-206.
27.徐东光,吴盛等.阀控非对称缸位置伺服系统正反向速度特性的理论分析及试验研究[J],液压与气动,2005(6):35-39.
28.张业建,李洪人.非对称缸系统液压缸两腔压力特性的研究[J],机床与液压,2000(5):63-64
29.柳洪义,原所先.机械工程控制基础[M].沈阳:东北大学出版社,2002,69-79.
30.薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用[M],北京:清华大学出版社,2002.
31.Mohand Mokhtari,Michen Marie Matlab与Simulink工程应用[M],北京:电子工业出版社,2002,15-19
32.王正林,王胜开,陈国顺.MATLAB/Simulink与控制系统仿真[M],北京:电子工业出版社,2005,11-14.
33.Viersma T J.Analysis synthesis and design of hydraulic servo systems and pipelines[J].ESPC.1980.
34.李永堂,雷步芳,高雨茁.液压系统建模与仿真[M],冶金工业出版社,2002.
35.王秋敏.伺服阀控非对称液压缸同步控制系统仿真研究[D],济南山东大学,2005.
36.Stephen J.Chapman.MATLAB programming for engineers[M].北京:科学出版社,2003.
37.李锋,马长林.液压系统动态特性的SIMULINK仿真与优化研究[J].计算机仿真,2003(5),110-112.
38.邱晓林,李天柁,弟宇鸣,肖刚.基于MATLAB的动态模型与系统仿真工具[M].陕西:西安出版社,2003.10.
39.郑笑红.液压系统动态特性数字仿真[J].华北矿业高等专科学校学报,2000(12).
40.刘俊.弯管液压系统动静态特性的研究和仿真[D],重庆大学,2004.
41.林君哲.基于电液液控位置控制的振动出料系统设计与仿真研究[D],东北大学,2007.
42.苏金明,王永利.MATLAB7.0实用指南[M].北京:电子工程出版社,2004.
43.范影乐,杨胜天,李轶.MATLAB仿真应用详解[M].北京:人们邮电出版社,2001.
44.王沫然.Simulink4建模及动态仿真[M].北京:电子工业出版社,2002.1.
45.刘金琨.先进PID控制MATLAB仿真(第2版)[M],北京,电子工业出版社,2004,183-186.
46.张桂香,王辉.计算机控制技术[M],成都:电子科技大学出版社,2001,112-114.
47.蒋大明,戴胜华.自动控制原理[M],北京:清华大学出版社,北方交通大学出版社,2003.
48.陶永华.新型PID控制及其应用[M],北京:机械工业出版社,2000 119-124.
49.韩峻峰,李玉惠.自动控制技术[M],重庆大学出版社,2003 155-163.
50.廉小亲.自动控制技术[M],中国电力出版社出版,2003 55-65.
51.梅晓榕.自动控制原理[M],科学出版社,2002
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