基于RBF-PID的掘进机截齿动载荷平稳性控制方法研究  

Research on Stability Control Method of Roadheader Pick Dynamic Load Based on RBF-PID

作　　者：梁嘉楠 田慕琴[1,2] 霍鹏飞 LIANG Jianan;TIAN Muqin;HUO Pengfei(Provincial Joint Engineering Laboratory of Mining Intelligent Electrical Apparatus Technology,Taiyuan University of Technology,Taiyuan 030024,China;Shanxi Key Laboratory of Mining Electrical Equipment and Intelligent Control,Taiyuan University of Technology,Taiyuan 030024,China;Shanxi Keda Automatic Control Co.,Ltd.,Taiyuan 030006,China)

机构地区：[1]太原理工大学矿用智能电器技术国家地方联合工程实验室,太原030024 [2]太原理工大学煤矿电气设备与智能控制山西省重点实验室,太原030024 [3]山西科达自控股份有限公司,太原030006

出　　处：《煤炭技术》2024年第4期264-269,共6页Coal Technology

基　　金：山西省科技重大专项计划“揭榜挂帅”项目(202101020101021)。

摘　　要：依据实际情况,运用有限元仿真对掘进机截割头水平截割、垂直截割与纵向钻进工况进行仿真。通过对仿真结果进行统计,得到了各截齿在截割过程中截割阻力的大小,并运用仿真结果对截割阻力计算公式进行了修正。通过建立多目标优化模型,运用NSGA-Ⅱ算法进行求解,得到了不同煤岩硬度下的最优截割参数。以上述研究为基础,提出了基于RBF-PID的掘进机截齿动载荷平稳性控制方法。采用MATLAB与AMESim联合仿真,搭建了截割头转速与摆速控制模型,通过仿真并分析仿真结果,验证了所提出方法的可靠性。According to the actual situation,the horizontal cutting,vertical cutting and longitudinal drilling of roadheader are simulated by finite element simulation.Through the statistics of the simulation results,the cutting resistance of each pick in the cutting process is obtained,and the calculation formula of cutting resistance is modified by the simulation results.By establishing a multi-objective optimization model and using NSGA-Ⅱ algorithm to solve,the optimal cutting parameters under different hardness of coal and rock were obtained.Based on the above research,a control method of dynamic load stationarity of roadheader pick based on RBF-PID is proposed.The control model of rotation speed and swing speed of cutting head is established by the joint simulation of MATLAB and AMESim.The simulation results verify the reliability of the proposed method.

关 键 词：截齿截割阻力 有限元仿真 多目标优化 RBF-PID控制 联合仿真 

分 类 号：TD421[矿业工程—矿山机电]