基于模糊PID参数自整定的电动铲运机卷缆同步控制  

Synchronization control on cable reeling of electric LHD based on fuzzy-PID parameter self-tuning

作　　者：左帅[1,2] 胡传正[1,2] 魏彬[1] 徐楠[1] 刘勇[1] 

机构地区：[1]徐工集团江苏徐州工程机械研究院,江苏徐州221000 [2]徐工集团高端工程机械智能制造国家重点实验室,江苏徐州221000

出　　处：《矿山机械》2017年第1期20-23,共4页Mining & Processing Equipment

摘　　要：阐述了电动铲运机卷缆同步中存在的问题及研究意义,分析了卷缆控制系统的工作特点,进行了同步控制策略的研究,提出并讨论了速度匹配、拖放长度保持和张力保持这3种控制方式的利弊。基于张力保持方式设计了模糊PID参数自整定控制系统,并进行了应用测试。结果表明,该控制系统性能优越、响应快速、控制精确,使电缆张力紧密跟随设定目标变化及保持,实现了卷缆与车速的同步,可为相关卷扬类动作的控制提供参考。The paper expounded the problems existing in cable reeling of the electric LHD and its research significance, and analyzed the working features of the cable reeling control system. After studying the synchronization control strategy, it also proposed three control modes such as speed matching, keeping of dragging length and tension keeping, and discussed their pros and cons. And then, fuzzy-PID parameter self- turning control system was designed based on the tension keeping mode, and application test was conducted. The results showed the control system was characterized by excellent performance, rapid response and precise control, which made the cable tension vary and remain with the set goals, thus the synchronization of the cable reeling with the LHD speed realized. The system offered reference for similar winching control.

关 键 词：电动铲运机 卷缆同步 张力控制 模糊PID控制 

分 类 号：TD422.4[矿业工程—矿山机电]