液压支架群多缸推移系统自适应控制方法研究  

Research on Adaptive Control Method of Hydraulic Support Group Multi-cylinder Pushing System

作　　者：李少飞 王云飞[2] Li Shaofei;Wang Yunfei(Yuwu Coal Industry Co.,Ltd.,Lu’an Chemical Group,Changzhi 046100,China;China University of Mining and Technology,Xuzhou 221116,China)

机构地区：[1]潞安化工集团余吾煤业有限责任公司,山西长治046100 [2]中国矿业大学,江苏徐州221116

出　　处：《煤矿机械》2025年第4期203-207,共5页Coal Mine Machinery

基　　金：国家自然科学基金项目(52404268);中央高校基本科研业务费项目(XJ2021003501);中国矿业大学安全学科群“双一流”建设提升自主创新能力课题项目(2022ZZCX-AQ06)。

摘　　要：综采工作面存在上百架液压支架,多缸推移系统的控制精度直接影响着工作面的直线度。以液压支架群为研究对象,建立了多缸推移系统的数学模型,设计了一种自适应PID控制器以提高系统的控制性能。在Simscape软件搭建了多缸推移系统的仿真模型,分析了油缸速度和运动间隔时间对多缸系统动态特性的影响规律,并对PID控制器和自适应PID控制器的性能开展了对比分析。仿真结果表明,油缸速度对位移误差有较大影响,运动间隔时间对相邻油缸之间的耦合力有较大影响。与传统PID控制器相比,所设计的自适应PID控制器的位移跟踪精度可提高13.01%,耦合力可减少5.86%。There are hundreds of hydraulic supports in fully mechanized mining face,and the control accuracy of the multi-cylinder pushing system directly affects the straightness of the working face.Taking the hydraulic support as research object,the mathematic model of the multi-cylinder pushing system was established,and an adaptive PID controller was designed to improve the control performance of the system.The simulation model of the multi-cylinder pushing system was built in Simscape software,and the influence law of cylinder speed and movement interval time on the dynamic characteristics of the multi-cylinder system was analyzed,and the performances of PID controller and adaptive PID controller were compared and analyzed.The simulation results show that the cylinder speed has a great influence on the displacement error,and the movement interval time has a great influence on the coupling force between adjacent cylinders.Compared with the traditional PID controller,the displacement tracking accuracy of the designed adaptive PID controller can be increased by 13.01%,and the coupling force can be reduced by 5.86%.

关 键 词：液压支架 多缸推移系统 自适应PID 油缸速度 间隔时间 

分 类 号：TD355.4[矿业工程—矿井建设]