滚筒截割负载扰动对采煤机调高的影响

摘要/Abstract

摘要： 针对采煤机调高过程中滚筒截割负载扰动对调高机构动态响应特性的影响进行了研究。根据非对称阀控缸模型，建立了调高机构控制传递函数模型。根据采煤机工况分析了滚筒截割负载等效到调高机构的负载模型。使用常规PID和模糊PID控制器对不同滚筒截割载荷和牵引速度情况下的调高机构进行了控制仿真。研究结果表明：使用模糊PID控制器对调高机构进行控制，具有更好的跟踪性能，控制效果受截割阻抗和牵引速度的变化影响更小。

关键词: 采煤机, 调高机构, 模糊PID, 牵引速度, 煤岩截割阻抗

Abstract: Influences of drum cutting load disturbances on dynamic response characteristics of high mechanism during height adjustments of shearers were studied. According to the model of asymmetrical valve controlled cylinder, a transfer function model of height adjustment mechanisms was established. According to the working conditions of shearer, a load model of drum cutting load equivalent to height adjustment mechanism was analyzed. Conventional PID and fuzzy PID controller were used to control the mechanisms of different drum cutting loads and traction speeds. The results show that, fuzzy PID controller has better tracking performance, and the control effectiveness is less affected by cutting impedances and traction speeds.

Key words: shearer, height adjustment mechanism, fuzzy PID, traction speed, coal and rock cutting impedance

中图分类号:

TD421

王慧;宋宇宁. 滚筒截割负载扰动对采煤机调高的影响[J]. 中国机械工程.

WANG Hui;SONG Yuning. Influences of Drum Cutting Load Disturbances on Shearer Height Adjustments[J]. China Mechanical Engineering.

参考文献

[1]刘春生. 滚筒式采煤机理论设计基础[M]. 徐州:中国矿业大学出版社,2003.
LIU Chunsheng. Theoretical Basis of Roller Shearer [M]. Xuzhou: China University of Mining and Technology Press, 2003.
[2]苏秀平,朱楼坤,李威. 采煤机调高系统模拟加载实验台的研制[J].机械设计, 2015, 32(2): 83-86.
SU Xiuping, ZHU Loukun, LI Wei. Development of Loading Experiment Table for Shearer-drum-height Mechanism[J]. Journal of Machine Design, 2015, 32(2): 83-86.
[3]苏秀平.采煤机自动调高控制及其关键技术研究[D].徐州：中国矿业大学，2013.
SU Xiuping. Study on Key Technologies of Auto-height Adjustment for Shearer[D]. Xuzhou：China University of Mining and Technology,2013.
[4]苏秀平,李威,樊启高.采煤机滚筒调高滑模变结构控制策略[J]. 煤炭学报, 2012, 37(12): 2107-2111.
SU Xiuping, LI Wei, FAN Qigao. A Shearer Drum Height Adjusting Strategy Using Sliding-mode Variable Structure Control[J]. Journal of China Coal Society, 2012, 37(12): 2107-2111.
[5]刘鹏,孟磊,王勃,等. 基于位姿测量与煤层DEM的采煤机滚筒自动调高方法[J]. 煤炭学报, 2015, 40(2): 470-475.
LIU Peng, MENG Lei, WANG Bo, et al. An Automatic Height Adjustment Method for Shearer Drums Based on Pose Measurement and Coal Seam DEM[J]. Journal of China Coal Society, 2015, 40(2): 470-475.
[6]周信,王忠宾,谭超,等. 基于双坐标系的采煤机截割路径平整性控制方法[J]. 煤炭学报, 2014, 39(3)：574-579.
ZHOU Xin, WANG Zhongbin, TAN Chao, et al. A Smoothness Controlling Method for the Cutting Path of the Shearer Based on the Double-coordinators[J]. Journal of China Coal Society, 2014, 39(3): 574-579.
[7]张春雨.采煤机滚筒调高电液比例控制系统的研究[D]. 太原：太原理工大学,2014.
ZHANG Chunyu. Research on Shearer Roller's Position Adjustment System That Based on Electro-hydraulic Proportional Control[D]. Taiyuan：Taiyuan University of Technology,2014.
[8]张俊梅,范迅,赵雪松. 采煤机自动调高控制系统研究[J]. 中国矿业大学学报, 2002, 31(4): 415-418.
ZHANG Junmei, FAN Xun, ZHAO Xuesong. Automatic Horizon Control System of Coal Mining Machine[J]. Journal of China University of Mining & Technology, 2002, 31(4): 415-418.
[9]YAO B, BU F, CHID G T C. Nonlinear Adaptive Robust Control of Electro-hydraulic Servo Systems with Discontinuous Projections[C]//Proceedings of IEEE Conf. Decision and Control. Tampa, 1998: 265-270.
[10]刘春生, 杨秋, 李春华. 采煤机滚筒记忆程控截割的模糊控制系统仿真[J]. 煤炭学报, 2008, 33(7): 822-825.
LIU Chunsheng, YANG Qiu, LI Chunhua. Simulation of Shearer Drum Cutting with Memory Program Controlling by Fuzzy Control[J]. Journal of China Coal Society, 2008, 33(7): 822-825.
[11]曾庆良,张海忠,王成龙,等. 采煤机调高系统的机液协同仿真分析[J]. 煤炭科学技术, 2015, 43(1): 86-90.
ZENG Qingliang, ZHANG Haizhong, WANG Chenglong, et al. Analysis on Mechanic and Hydraulic Collaborated Simulation of Height Adjusting System in Coal Shearer [J]. Coal Science and Technology, 2015, 43(1): 86-90.
[12]FAN Qigao, LI Wei, WANG Yuqiao, et al. Control Strategy for an Intelligent Shearer Height Adjusting System[J]. Mining Science and Technology, 2010, 20(6): 908-912.
[13]张修荣. 采煤机滚筒自适应液压调高系统研究[D]. 西安:西安科技大学,2009.
ZHANG Xiurong. Research of Adaptive Hydraulic Shearer Drum System[D]. Xi'an: Xi'an University of Science and Technology, 2009.
[14]王忠宾,徐志鹏,董晓军. 基于人工免疫和记忆切割的采煤机滚筒自适应调高[J]. 煤炭学报, 2009, 34(10): 1405-1409.
WANG Zhongbin, XU Zhipeng, DONG Xiaojun. Self-adaptive Adjustment Height of the Drum in the Shearer Based on Artificial Immune and Memory Cutting[J]. Journal of China Coal Society, 2009, 34(10): 1405-1409.

[1]	丁华, 杨亮亮, 杨兆建, 王义亮, . [数字孪生驱动的智能制造]数字孪生与深度学习融合驱动的采煤机健康状态预测[J]. 中国机械工程, 2020, 31(07): 815-823.
[2]	于今1,2;陈华1,2;刘骏豪1,2. 液压机械无级变速器的变论域模糊PID速比跟踪控制[J]. 中国机械工程, 2019, 30(10): 1226-1232.
[3]	毛君1;杨辛未1;陈洪月1,2,3;宋秋爽4;袁智4. 采煤机液压拉杠力学特性实验[J]. 中国机械工程, 2018, 29(20): 2446-2452.
[4]	成思铭;章青. 大型结构物模块对接新型装置及多缸同步控制[J]. 中国机械工程, 2018, 29(10): 1214-1219,1226.
[5]	赵丽娟;范佳艺. 基于遗传算法的采煤机螺旋滚筒多目标优化设计[J]. 中国机械工程, 2018, 29(05): 591-596.
[6]	颜晗;董跃巍;李铁军. 面向高空幕墙安装的力反馈遥操作系统研究[J]. 中国机械工程, 2017, 28(16): 1977-1986,1993.
[7]	谢苗, 刘治翔, 谢春雪, 毛君. 巷道超前支护装备双缸同步推移控制方法[J]. 中国机械工程, 2017, 28(04): 404-409.
[8]	王大勇, 王慧. 基于变论域模糊控制的车辆半主动悬架控制方法[J]. 中国机械工程, 2017, 28(03): 366-372.
[9]	毛君, 张瑜, 张坤, 陈洪月, 徐健博. 采煤机截割部传动系统的非线性动力学建模及仿真[J]. 中国机械工程, 2017, 28(01): 27-34.
[10]	陈洪月, 张坤, 袁智, 毛君, . 基于阻力测试的采煤机结构受力分析[J]. 中国机械工程, 2016, 27(19): 2646-2651.
[11]	张强, 王海舰 , 李立莹, 闻学震, 阮越宣, . 基于多传感特征信息融合的采煤机截齿失效诊断[J]. 中国机械工程, 2016, 27(17): 2334-2340.
[12]	王洁, 王慧. 采煤机截割部二次调节液压加载试验台[J]. 中国机械工程, 2016, 27(14): 1953-1959.
[13]	毛君, 杨振华, 潘德文. 基于自适应模糊滑模变结构的采煤机自动调高控制策略[J]. 中国机械工程, 2016, 27(03): 360-364.
[14]	张强, 王海舰, 井旺, 毛君, 袁智, 胡登高. 基于模糊神经网络信息融合的采煤机煤岩识别系统[J]. 中国机械工程, 2016, 27(02): 201-208.
[15]	钱立军, 邱利宏, 陈朋. 基于模糊PID扭矩识别的混合动力汽车优化控制[J]. 中国机械工程, 2015, 26(13): 1752-1759.