液压机械臂控制系统的改进研究  

Improvement and research on the control system of mechanical arm of mine vertical shaft drill

作　　者：赵悦[1] ZHAO Yue(Chongqing Vocational Institute of Engineering,Chongqing 400038,China)

机构地区：[1]重庆工程职业技术学院

出　　处：《工业仪表与自动化装置》2020年第1期33-37,60,共6页Industrial Instrumentation & Automation

基　　金：重庆工程职业技术学院科研基金(KJA201806)

摘　　要：针对矿井井筒施工中采矿液压伞钻钻孔位置和姿态调整过程自动化程度低的问题,改进了传统液压系统的控制方式,对动臂油缸和钻臂油缸进行了闭环控制。为减弱机械臂位姿变化时变负载对系统动态性能影响,设计信号校正控制模块,建立阀控液压缸数学模型,使用MATLAB中的SIMULINK仿真模块构建信号校正控制模块仿真模型。根据已有产品参数为模型添加仿真参数,经典PID控制算法和模糊自适应PID控制算法用于校正系统,当输入是步进力信号时系统响应。仿真结果对比表明:两者均可改善系统稳定性,达到预期目标;模糊自适应PID控制方法用于减少过渡期的过冲,校正信号的动态性能优于传统的PID控制方法。In view of the problem of low degree of automation in the process of position and orientation adjustment of mine vertical shaft drill,the traditional drilling hydraulic system is improved and closed loop control of main arm cylinder and drilling arm cylinder is carried out.In order to study the influence of dynamic performance when consider the time-varying load,mathematical model of valve controlled hydraulic cylinder is set up,MATLAB/SIMULINK is used to build closed loop control system simulation model,the classical PID control algorithm and fuzzy adaptive PID control algorithm are used respectively to correct the system.The comparison results show that the fuzzy adaptive PID control algorithm reduces the vibrate in the transition period,and has a better dynamic performance of the system compared with the classical PID control algorithm.

关 键 词：液压机械臂 模糊PID控制 阀控液压缸 SIMULINK仿真 

分 类 号：TH137.9[机械工程—机械制造及自动化]