基于CNN的掘进机液压缸速度自整定控制方法  

Control Method of Hydraulic Cylinder Speed Self-tuning for Roadheader Based on CNN

作　　者：王娟 张君君 WANG Juan;ZHANG Junjun(Zhengzhou Institute of Technology,Zhengzhou 450000,China;College of Software,Zhengzhou University of Industrial Technology,Zhengzhou 450000,China)

机构地区：[1]郑州理工职业学院,郑州450000 [2]郑州工业应用技术学院软件学院,郑州450000

出　　处：《煤炭技术》2023年第7期168-171,共4页Coal Technology

基　　金：河南省高等学校重点科研支持项目(22B520040)。

摘　　要：为了提升液压缸活塞杆速度控制的效率和响应灵敏度,保证掘进机运行的稳定性。通过分析液压缸的工作原理,运用CNN网络对活塞杆目标速度以及变化率进行调整,根据模糊PID控制理论建立了速度信号的模糊规则表,来实现掘进机液压缸速度自整定控制。并利用Simulink工具箱搭建了CNN-模糊PID模型来验证该方法的有效性。实验结果表明:CNN-模糊PID控制方法的速度追踪用时以及调整用时较短,响应灵敏度较高,满足液压部速度自整定控制要求;CNN-模糊PID控制方法随机速度追踪过程中,发生较大偏差的次数较少,最大偏差值为8.12%,满足实际控制要求。In order to improve the efficiency and response sensitivity of the speed control of the hydraulic cylinder piston rod,and to ensure the stability of the roadheader operation.By analyzing the working principle of the hydraulic cylinder,the target speed of the piston rod and the rate of change are adjusted by using the CNN network.Based on the fuzzy PID control theory,a fuzzy rule table of the speed signal is established to realize the self-tuning control of the hydraulic cylinder speed of the roadheader.A CNN-fuzzy PID model is built with Simulink toolbox to verify the effectiveness of this method.The results show that the CNN-Fuzzy PID control method takes less time to track and adjust the speed,has higher response sensitivity and meets the requirements of the hydraulic speed self-adjusting control.In the process of random speed tracking with CNN-fuzzy PID control method,there are fewer large deviations,the maximum deviation value is 8.12%,which meets the actual control requirements.

关 键 词：CNN 模糊PID 自整定控制 

分 类 号：TD421.5[矿业工程—矿山机电] TH137[机械工程—机械制造及自动化]