掘进机履带行走系统液压控制器设计研究

Design of Hydraulic Controller for Roadheader Crawler Track Walking System

介绍了纵轴式掘进机履带行走机构的结构组成,通过建立其行走机构中的张紧油缸液压系统控制模型,编制Matlab程序,利用Matlab软件功能,进行P、PI、PID控制器设计并比较,确立了系统采用PID为最优控制器,并得到了最优控制参数。通过对系统的稳定性进行分析,结果表明,PID控制使系统具有较好的动态性能和较高的稳态精度。

This paper briefly introduces the structure of longitudinal roadheader crawler track walking system.By its tension cylinder hydraulic system control model building,Matlab program writing,using the function of Matlab and designing P,PI,PID controller and comparing,we found that PID controller is an optimum controller and got an optimum control parameter.Through the analysis of the system’s stability show that PID control system has a good dynamic property and high steady accuracy.