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采煤机搬运车悬挂系统智能控制与调平策略研究

Research on Intelligent Control and Leveling Strategy for Suspension System of Shearer Carrier
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摘要 为降低采煤机搬运车在装载和运输中倾覆风险,分析常用的位置误差调平法和角度误差调平法的优缺点,在此基础上提出改良的位置误差调平法。通过分析计算求得平台上各点在竖直方向上的坐标;通过计算平台平面方程结合各支撑点几何关系,得出各点竖直方向运动速度,形成了悬挂系统调平控制策略。通过AMESim和Simulink联合仿真建立了悬挂系统的仿真模型,并采用了边界稳定法和试凑法确定比例、积分、微分三项系数及其模糊放大系数,从而利用模糊PID控制器优化了多路阀动态响应特性,减小了响应过程中的超调量。仿真结果表明:在悬挂系统升降过程中,各支撑点间的竖直位移差均不超过2.0 mm,且各悬挂缸压力差小于0.1 MPa,不会出现虚腿现象。最后通过试验分析了悬挂系统的控制性能,结果表明:实际升降过程中的最大位移误差小于5.0 mm;结合采煤机搬运车尺寸计算得到,车身平台在长度方向上的倾角为9.16×10^(-4)rad,在宽度方向上的倾角为1.27×10^(-3)rad,在工作允许范围内,验证了方案的有效性。研究内容为悬挂系统调平策略和克服调平过程中的“虚腿”现象提供了新的思路。 In order to reduce the overturning risk of shearer carrier in loading and transportation,the advantages and disadvantages of common position error leveling method and angle error leveling method were analyzed.On this basis,an improved position error leveling method was proposed.The coordinates of each point on the platform in the vertical direction were obtained by analysis and calculation.By calculating the plane equation of the platform and combining the geometric relationship of each support point,the vertical velocity of each point was obtained,and the leveling control strategy for the suspension system was formed.Through the joint simulation of AMESim and Simulink,the simulation model of the suspension system was established.The stable boundary law and trial-and-error method were used to determine the proportional,integral and differential coefficients and their fuzzy amplification coefficients.Therefore,the dynamic response characteristics of the multiple directional control valve were optimized by using the fuzzy PID controller,and the overshoot in the response process was reduced.The simulation results show that during the lifting process of the suspension system,the vertical displacement difference between each support point does not exceed 2.0 mm,and the pressure difference between each suspension cylinder is less than 0.1 MPa,which means there will be no weak leg.Finally,the control performance of the suspension system was analyzed by experiments.The results show that the maximum displacement error in the actual lifting process is less than 5.0 mm.Combined with the size of the shearer carrier,the inclination angle of the body platform in the length direction is 9.16×10^(-4) rad,and the inclination angle in the width direction is 1.27×10^(-3) rad,which is within the allowable range of work.So,the effectiveness of the scheme is verified.The research content provides a new idea for the suspension system leveling strategy and overcoming the weak leg in the leveling process.
作者 李勇恒 刘航 胡言章 张浩 LI Yongheng;LIU Hang;HU Yanzhang;ZHANG Hao(Shanxi Coal Group Shennan Industrial Development Co.,Ltd.,Yulin Shaanxi 719000,China;Lianyungang Tianming Equipment Co.,Ltd.,Lianyungang Jiangsu 222062,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao Hebei 066004,China)
出处 《机床与液压》 北大核心 2024年第15期95-101,共7页 Machine Tool & Hydraulics
基金 国家自然科学基金(52075469,12173054)。
关键词 采煤机搬运车 位置误差 四点支撑 调平策略 shearer carrier position error four-point supporting leveling strategy
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