井下中深孔装药车退管速度的PID控制

The PID Control for the Speed of Pulling Hose used on Underground Explosive Loading Truck for Upward Middle-Deep Blasting Hole

以电磁比例流量阀作为液压电机的流量控制元件、多圈旋转编码器作为电机转速反馈环节,构成了电液比例阀控电机速度闭环控制系统。为实现对井下中深孔装药车退管速度的稳定控制,提出了PID控制策略对控制系统进行优化设计,针对退管速度的稳定性问题建立了比例阀控电机液压系统数学模型,并利用Math公司的MATLAB软件提供的软件包SIMULINK对系统进行了动态仿真。结果表明:所采用的控制策略比原系统有更快的响应速度、更小的超调量,克服了装药过程中退管速度不稳定的情况,能够满足系统的控制要求。

Based on the proportional flow valve as hydraulic motor flow control element and the multiturn rotary encoder as motor speed feedback link,the closed-loop control system of electro-hydraulic proportional valve controlled motor speed was constituted.For the realization of stability control for the speed of pulling hose,PID control strategy is proposed to optimize the design for control system.Focus on the problems of speed stability,a proportional valve controlled motor hydraulic system mathematical model was established and the software package SIMULINK in the MATLAB software was used to simulated the system dynamic.The results show that the system using control strategy has faster response,less overshoot than the original system,and it has overcome the speed instability during the charge process,which can meet the control requirements.