本文選題：懸臂式掘進機 + 數(shù)字液壓缸�。� 參考：《燕山大學(xué)》2015年碩士論文

【摘要】：目前,我國的采煤行業(yè)正處于高速發(fā)展中,所以對懸臂式掘進機挖掘煤巖巷道的能力要求也越來越高。由于煤巖巷道的巖層硬度分布參差不齊,這就導(dǎo)致挖掘難度增大,挖掘過程中無效損耗的產(chǎn)生,并且工人的操控難度增加,準確度也相應(yīng)下降,這就對懸臂式掘進機的負載反饋調(diào)速的能力提出了更高的要求。本文就是針對這種現(xiàn)實情況,并且結(jié)合EBZ132型懸臂式掘進機的具體結(jié)構(gòu)介紹和相關(guān)參數(shù),通過一些參數(shù)和巷道斷面的尺寸關(guān)系建立數(shù)學(xué)模型。通過和傳統(tǒng)液壓缸行程檢測和控制的比較分析,提出了使用數(shù)字液壓缸的方案,通過它來控制掘進機截割機構(gòu)的行程。根據(jù)煤巖共存這種特殊工況,提出了根據(jù)工況調(diào)整水平回轉(zhuǎn)油缸和升降油缸進給速度的方案,從而實時控制懸臂擺動速度,以此達到負載反饋調(diào)速的目的,并且最終保持截割電動機的額定功率恒定。本文通過介紹對比單純的PID控制和模糊控制的優(yōu)缺點,提出了將其兩者特點相結(jié)合的模糊PID控制的控制方案,該方案可以取得參數(shù)在線自整定的效果,然后通過穩(wěn)定邊界法以及一些經(jīng)驗公式對其初始參數(shù)進行了估算確定。控制的基本思路是功率保持恒定的情況下,當(dāng)負載硬度小的時候,提高進給速度,降低進給力;負載硬度大時,則減小進給速度,提高進給力。用MATLAB的模糊控制模塊進行模擬仿真,對其進行動靜態(tài)研究,分析此負載反饋調(diào)速系統(tǒng)的可行性。結(jié)果表明,使用了模糊PID控制的截割機構(gòu)的響應(yīng)速度更快,精度更高,工作效率也得到了很大提升,并且降低了功率損失。從而提高了懸臂式掘進機對復(fù)雜多變環(huán)境的適應(yīng)能力,為進一步改進我國掘進機的負載反饋調(diào)速技術(shù)提供了理論支持和依據(jù)。
[Abstract]:At present, the coal mining industry in our country is developing at a high speed, so the ability to excavate coal and rock roadway by cantilever roadheader is more and more high. Due to the uneven distribution of rock hardness in coal and rock roadway, it is more difficult to excavate, and the invalid loss occurs in the excavation process, and the manipulation difficulty of the workers increases, and the accuracy decreases accordingly. This puts forward higher request to the load feedback speed regulation ability of the cantilever roadheader. In this paper, according to this kind of reality, and combined with the introduction of the structure of EBZ132 type cantilever roadheader and related parameters, the mathematical model is established through some parameters and the dimension relation of roadway section. By comparing with the traditional hydraulic cylinder stroke detection and control, the scheme of using digital hydraulic cylinder to control the stroke of cutting mechanism of roadheader is put forward. According to the coexisting of coal and rock, a scheme of adjusting the feed speed of horizontal rotary cylinder and lift cylinder is put forward to control the swing speed of the cantilever in real time, so as to achieve the purpose of load feedback speed regulation. Finally, the rated power of the cutting motor is kept constant. This paper introduces the advantages and disadvantages of simple pid control and fuzzy control, and puts forward a fuzzy pid control scheme which combines the characteristics of pid control and fuzzy control, which can achieve the effect of on-line self-tuning of parameters. Then the initial parameters are estimated by the stable boundary method and some empirical formulas. The basic idea of the control is to increase the feed speed and reduce the feed force when the load hardness is small while the power is kept constant; when the load hardness is large, the feed speed will be reduced and the feed force will be improved. The fuzzy control module of MATLAB is used to simulate and simulate, and the dynamic and static research is carried out, and the feasibility of the load feedback speed regulating system is analyzed. The results show that the cutting mechanism with fuzzy pid control has faster response speed, higher precision, higher working efficiency and lower power loss. Thus, the adaptability of cantilever roadheader to complex and changeable environment is improved, which provides theoretical support and basis for further improvement of load feedback speed regulation technology of roadheader in China.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TD421.5

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