竖井掘进机公转系统的旋转角度计算与自适应优化  

Calculation and adaptive optimization of rotation angle of rotary system for shaft boring machine

作　　者：方振宇 赵汉青 简海峰 赵智峰 赵红红 FANG Zhenyu;ZHAO Hanqing;JIAN Haifeng;ZHAO Zhifeng;ZHAO Honghong(Luoyang Mining Machinery Engineering Design Institute Co.,Ltd.,Luoyang 471039,Henan,China;State Key Laboratory of Intlligent Mining Heavy Equipment,Luoyang 471039,Henan,China)

机构地区：[1]洛阳矿山机械工程设计研究院有限责任公司,河南洛阳471039 [2]智能矿山重型装备全国重点实验室,河南洛阳471039

出　　处：《矿山机械》2025年第3期12-15,共4页Mining & Processing Equipment

摘　　要：在复杂的地下环境中,竖井掘进机公转臂的精准位置判断至关重要,而传统方法往往难以达到所需的精度和适应性。提出了一种基于液压传感器和算法程序,用于公转臂旋转角度的计算与自适应优化。通过传感器推算液压缸行程,精确计算公转角度,并引入滑动平均法进行实时补偿值的自适应调整。该自适应优化方法依赖于液压流量的实时监测和传感器反馈,从而在环境或操作条件变化时,不断调整系统参数,以确保控制的精度。集成流量积分算法来实现液压测量的精确性,并采用滑动平均补偿方法减少控制误差,确保设备的平稳、高效运行。结果表明,该方法有效提高了竖井掘进机的控制精度、操作效率和稳定性。In the complex underground environment,it is very important to tell the precise position of the rotary arm of the shaft boring machine,and the traditional method is diffcult to achieve its required accuracy and adaptability.In this paper,a hydraulic sensor and algorithm program was proposed for the calculation and adaptive optimization method of the rotation angle of the rotary arm.The stroke of the hydraulic cylinder was calculated by the sensor,so that the rotation angle was accurately calculated,and then the moving average method was introduced to adjust the real-time compensation value adaptively.The adaptive optimization method relied on real-time monitoring of hydraulic flow and the feedback from sensors to continuously adjust system parameters when the environment or operating conditions changed,so as to ensure the control accuracy.The integrated flow integration algorithm was used to achieve the accuracy of hydraulic measurement,and the moving average compensation method was used to reduce the control error and ensure the smooth and efficient operation of the equipment.The results showed that the control accuracy,operation efficiency and stability of the shaft boring machine were improved by this method.

关 键 词：自适应 掘进装备 液压流量 滑动平均值 

分 类 号：TD421.5[矿业工程—矿山机电]