隧道维护切割机器人液压系统技术研究  

Research on Hydraulic System Technology of Tunnel Maintenance and Cutting Robot

作　　者：申浩铭 SHEN Haoming(School of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang,Hebei 050043,China)

机构地区：[1]石家庄铁道大学机械工程学院,河北石家庄050043

出　　处：《自动化应用》2023年第15期25-27,33,共4页Automation Application

摘　　要：为了解决隧道在运营中产生的病害和缺陷,本文研制了一种液压伺服控制的隧道维护切割机器人,可以维护隧道,提高隧道运营的安全性。通过使用AMESim和Simulink软件,本文建立了液压系统模型,并利用PID控制和模糊PID控制模型进行了联合仿真,以研究对液压缸的控制性能。经仿真发现,与基于PID控制的隧道维护切割机器人的液压系统相比,基于模糊PID控制的系统更能满足设计要求,尤其在遭遇随机的外部干扰时,模糊PID算法在参数调整方面表现更优,在系统稳定性、精度和时间方面均优于PID算法。In order to solve the diseases and defects that arise during tunnel operation,this paper develops a hydraulic servo controlled tunnel maintenance and cutting robot,which can maintain the tunnel and improve the safety of tunnel operation.A hydraulic system model was established using AMESim and Simulink software,and a joint simulation was conducted using PID control and fuzzy PID control models to study the control performance of hydraulic cylinders.Through simulation,it was found that compared with the hydraulic system of the tunnel maintenance and cutting robot based on PID control,the system based on fuzzy PID control can better meet the design requirements,especially when encountering random external interference.The fuzzy PID algorithm performs better in parameter adjustment,and outperforms the PID algorithm in system stability,accuracy,and time.

关 键 词：切割机器人 液压系统 PID 模糊PID AMESim-Simulink联合仿真 

分 类 号：TH69[机械工程—机械制造及自动化]