悬臂式掘进机俯仰角调控系统仿真研究  

Simulation research on pitch angle control system of boom roadheader

作　　者：臧富雨 王凯硕 吉晓冬[1] 张敏骏[1] 刘丹 吕馥言 吴淼[1] ZANG Fuyu;WANG Kaishuo;JI Xiaodong;ZHANG Minjun;LIU Dan;LYU Fuyan;WU Miao(School of Mechanical Electronic & Information Engineering,China University of Mining andTechnology (Beijing),Beijing 100083,China;College of Mechanical and ElectronicEngineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083 [2]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《工矿自动化》2019年第5期62-67,共6页Journal Of Mine Automation

基　　金：国家重点基础研究发展计划(973)资助项目(2014CB046306);山东省博士基金项目(ZR2018BEE014)

摘　　要：目前掘进机俯仰角检测误差主要通过人工控制掘进机前铲板、后支撑来补偿,补偿范围十分有限,且效率低下,控制精度与自动化程度较低。针对该问题,建立了悬臂式掘进机俯仰角与执行机构数学模型,确定了通过PID控制器控制掘进机前铲板与后支撑液压缸位移实现掘进机位姿调整的方法;利用AMESim建立掘进机执行机构的完整液压模型,仿真结果表明,俯仰角调控系统响应时间小于3s,液压缸位移控制误差小于2mm,验证了系统的基本性能;Simulink仿真结果验证了俯仰角调控系统响应时间短、跟踪误差小,且具有较好的动态跟踪性能。At present,detection error of pitch angle of roadheader is mainly compensated by manually controlling front blade and rear support of roadheader,the compensation range is very limited,and the efficiency,control precision and automation degree are low.In view of the above problem,mathematical model of pitch angle and actuator of boom roadheader were established,and the method was determined that adjusting position and posture of boom roadheader by using PID controller to control displacement of front shovel and rear support of the roadheader.AMESim was used to establish complete hydraulic model of actuator of the roadheader.The AMESim simulation shows that response time of the system is less than 3 s and the control error of hydraulic cylinder displacement is less than 2 mm,so the basic performance of the pitch angle control system is verified.The Simulink simulation results verify that the pitch angle control system has short response time,small tracking error,and good dynamic tracking performance.

关 键 词：悬臂式掘进机 位姿调控 俯仰角调控 前铲板 后支撑 液压缸位移 

分 类 号：TD632.2[矿业工程—矿山机电]