基于优化PID算法的掘进机截割头位置控制方法研究  

Research on the Position Control Method of Cutting Head of Tunneling Machine Based on Optimized PID Algorithm

作　　者：常玉祥 CHANG Yuxiang(Mount Taishan Long'an Coal Industry Co.,Ltd.,Jinneng Holding Group,Xinzhou,Shanxi 036600,China)

机构地区：[1]晋能控股集团泰山隆安煤业有限公司,山西忻州036600

出　　处：《自动化应用》2024年第11期102-104,107,共4页Automation Application

摘　　要：针对传统悬臂式掘进机截割头位置控制方法存在精度较低、控制性能较差、输出响应时间较长、系统抗干扰能力较弱等问题,研究了悬臂式掘进机位置控制技术,分析了悬臂式掘进机结构组成,搭建了掘进机截割头运动学模型。提出模糊PID控制并优化PID控制器,在MATLAB中进行仿真研究。结果表明,优化后的PID控制器输出响应时间由0.45 s缩短到0.32 s,系统的响应速度和抗干扰能力都明显提升,采用模糊PID控制算法使得系统输出响应较快、超调量小,系统稳定性大大提高。研究结论可为悬臂式掘进机智能化控制的相关研究提供一定的理论参考。In response to the problems of low accuracy,poor control performance,long output response time,and weak system anti-interference ability in the traditional cantilever tunneling machine cutting head position control method,the cantilever tunneling machine position control technology was studied,the structural composition of the cantilever tunneling machine was analyzed,and a kinematic model of the tunneling machine cutting head was constructed.Propose fuzzy PID control and optimize PID controller,and conduct simulation research in MATLAB.The results show that the optimized PID controller reduces the output response time from 0.45 s to 0.32 s,significantly improving the system's response speed and anti-interference ability.The use of fuzzy PID control algorithm results in a faster output response,smaller overshoot,and greatly improved system stability.The research conclusion can provide a certain theoretical reference for the related research on intelligent control of cantilever tunneling machines.

关 键 词：悬臂式掘进机 截割头 位置控制技术 PID控制 模糊PID控制 

分 类 号：TD632[矿业工程—矿山机电]