基于线性自抗扰防卡压力流量回转系统研究  

Research on pressure flow rotary system based on linear active disturbance rejection and jamming prevention

作　　者：唐光伟 闫政 高有山[1] 孟宏君 王猛[1] TANG Guangwei;YAN Zheng;GAO Youshan;MENG Hongjun;WANG Meng(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;Department of Mechanical Engineering,Jinzhong College,Jinzhong 030619,China;School of Automation and Software,Shanxi University,Taiyuan 030006,China)

机构地区：[1]太原科技大学机械工程学院,山西太原030024 [2]晋中学院机械工程系,山西晋中030619 [3]山西大学自动化与软件学院,山西太原030006

出　　处：《现代电子技术》2024年第22期125-130,共6页Modern Electronics Technique

基　　金：中央引导地方科技发展资金项目(YDZJSX2022C030);山西省重型机械电液控制及健康管理技术创新中心。

摘　　要：针对煤巷锚杆支护时岩石强度复杂多变而出现的卡钻现象,提出一种线性自抗扰控制(LADRC)算法,通过控制比例先导压力阀和变转速伺服电动机,合理匹配钻进时的压力和流量。为验证上述方法的合理性,设定负载端为突变和渐变两种围岩硬度变化工况,在AMESim与Matlab/Simulink中进行模型搭建和联合仿真实验,并与滑模控制(SMC)和PID控制进行比较。结果表明:根据负载变化,采用比例先导压力阀实现回转马达变扭矩输出,可以解决钻进过程卡钻问题;采用转速环和电流环双闭环控制的伺服电动机,可以根据负载变化调节系统流量。提出的LADRC控制电动机和压力阀相较于滑模控制和PID控制,超调量更小,具有更好的响应性和鲁棒性。In allusion to the phenomenon of drilling jamming caused by the complex and variable rock strength during anchor rod support in coal tunnels,a linear active disturbance rejection control(LADRC) algorithm is proposed to reasonably match the pressure and flow rate during drilling by controlling the proportional pilot pressure valve and the variable-speed servomotor.In order to verify the reasonableness of the above method,the load side is set as two kinds of working conditions,namely sudden change and gradual change of surrounding rock hardness.The model construction and joint simulation experiment are conducted in AMESim and Matlab/Simulink,and compared with the sliding mode control(SMC) and PID control.The experimental results indicate that using a proportional pilot pressure valve to achieve variable torque output of the rotary motor based on load changes can solve the problem of stuck drilling during the drilling process.The servo motor with dual closed-loop control of speed loop and current loop can adjust the system flow according to load changes.In comparison with SMC and PID control,the proposed LADRC control motor and pressure valve have smaller overshoot,better responsiveness,and robustness.

关 键 词：煤巷锚杆支护 线性自抗扰控制 压力流量匹配 比例压力控制 变速电动机 双闭环控制 

分 类 号：TN876-34[电子电信—信息与通信工程] TD41[矿业工程—矿山机电]