悬臂式掘进机截割臂摆角跳动消除的控制方法  

Control method for eliminating swing angle runout of cutting arm for boom-type roadheader

作　　者：宗凯 李旭 王鹏江 王旭 Zong Kai;Li Xu;Wang Pengjiang;Wang Xu(Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;Tiandi Science & Technology Co.Ltd., Beijing 100013, China;School of Mechanical Electronic & Information Engineering, China University of Mining & Technology(Beijing), Beijing 100083, China)

机构地区：[1]清华大学机械系,北京100084 [2]天地科技股份有限公司,北京100013 [3]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《黑龙江科技大学学报》2021年第1期48-52,共5页Journal of Heilongjiang University of Science And Technology

基　　金：陕西省自然科学基金项目(2019JQ-712);天地科技股份有限公司科技创新创业资金重点项目(2020-TD-ZD017)。

摘　　要：悬臂式掘进机在截割煤岩的过程中易出现截割臂摆角跳动现象,严重降低截割臂稳定性及巷道掘进效率,提出了消除截割臂摆角跳动的控制方法。采用PID控制理论,设计了PID控制器,建立了截割臂系统的传递函数,运用Simulink方法建立了截割臂摆角跳动的消除控制仿真模型,以不同信号源作为激励,分析了控制系统的响应,以及反馈调节增益关键参数对控制系统性能的影响,求得反馈调节增益最优取值。结果表明:对于不同激励,尤其是一些强冲击激励,控制系统都能得到稳定的输出,控制精度可达98%以上,响应速度为0.2 s左右;反馈调节增益的取值越大,系统的控制精度越高,响应速度也越快,但其最优取值约为100,取值过大则会造成系统震荡,导致整个控制系统失效。该研究为掘进机的智能化控制提供了一定的参考。This paper proposes a control method for eliminating swing angle runout of cutting arm,which is inherent in boom-type roadheader while cutting coal and rock and thus seriously reduces the stability of the cutting arm and the roadway drivage efficiency.The study includes establishing a PID controller based on PID control theory,providing the detailed parameters of the controller,producing the transfer functions of the cutting arm system,developing the simulation model for eliminating control of the swing angle runout by Simulink method,analyzing the response of the control system under excitation of different signal sources,analyzing the influence of the feedback gain key parameter on the performance of the control system,and giving the optimal value of feedback gain.The results show that for different excitations,especially some strong shock excitations,the control system can enable stable output,with control accuracy of over 98%and response speed of about 0.2 s;and larger value of the feedback gain means higher control accuracy and faster response speed,but with the optimal value of about 100,because too large a value tends to cause system shock,resulting in failure of the entire control system.The research could inform the intelligent control of the cutting arm and the whole roadheader.

关 键 词：悬臂式掘进机 截割臂摆角跳动 消除控制 PID控制 SIMULINK仿真 

分 类 号：TD421.5[矿业工程—矿山机电]