摘要
纵轴式掘进机在垂直升降截割过程中,当截割部运动方向发生变化时,作用在截割头的载荷会发生突变,从而引起升降液压缸载荷和活塞运动速度产生极大波动,进而影响截割头受力和截割臂摆速,降低施工精度和掘进机工作稳定性。为了减小升降液压缸载荷与活塞运动速度在换向瞬间的波动程度,在AMESim中建立纵轴式掘进机升降截割系统物理模型,通过加入PID控制对系统进行仿真,对比分析原有系统与PID控制系统升降液压缸在运动方向发生变化时液压缸载荷、活塞运动速度和压力的响应特性。仿真结果表明:PID控制系统与原有系统相比,波动幅度降低,调节速度快;采用PID控制能够有效提高截割部在变换截割方向时压力和速度的控制精度,稳定性好,适应能力强,对掘进机截割臂摆动自动控制具有重要意义。
During the vertical cutting process of longitudinal roadheader,when the moving direction of the cutting part changes,the load acting on the cutting head will change abruptly,which will cause the output force and the piston speed of the lifting hydraulic cylinder to fluctuate greatly,affecting the force of the cutting head and the swing speed of the cutting arm,reducing the construction accuracy and working stability of the roadheader.In order to reduce the fluctuation of the lifting hydraulic cylinder load and the piston movement speed at the moment of commutation,the physical model of the lifting cutting system of a longitudinal roadheader is established in AMESim in this paper.By adding PID control into the original system,a series of simulation are conducted to compare and analyze the response characteristics of cylinder load,piston movement speed,and pressure when the moving direction of the lifting system's hydraulic cylinder changed.Simulation results show that compared with the original system,the PID control system has a lower fluctuation range and a faster adjustment speed.The PID control system is capable of improving the pressure and speed control accuracy of the roadheader effectively when the cutting direction changed,with good stability and strong adaptability.The results are of great significance to the automatic control of the cutting arm swing of the roadheader.
作者
冯君玲
田慕琴
贺颖
王茜
FENG Jun-ling;TIAN Mu-qin;HE Ying;WANG Xi(Institute of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan, Shanxi 030024)
出处
《液压与气动》
北大核心
2020年第9期22-28,共7页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金(U1510112)
山西省重点自然基金(201901D111008(ZD))。
