综掘巷道超前支护装备多缸同步控制方法研究

Multi-cylinder synchronous control method for advanced support of roadway support equipment

考虑到综掘巷道液压迈步式超前支护装备的工作原理,以及多个液压缸在控制顶梁上升过程中同步性不良的问题,提出了一种等状态交叉耦合模糊同步控制方法.该种方法是以液压缸上升过程中的同步性能和跟踪性能为控制要求,将交叉耦合控制理论及模糊控制理论相结合而提出的一种非线性同步控制方法.为了验证该种控制方法的性能,与使用主从交叉耦合控制方法相比较,对提出的同步控制方法的作用效果进行理论分析和试验研究.分析与实验结果表明,该种同步控制方法能够在超前支护装备顶梁上升过程对多个液压缸进行同步控制,相比于主从交叉耦合控制方法,其同步控制效果更优.

Considering the operational principle of stepping‐type advanced supporting system on fully mechanized tunneling and the dissatisfied synchronization control problem in the process of the top beam raising ,a novel fuzzy synchronous control method based on same state cross‐cou‐plingare was proposed .This method was a nonlinear synchronization control method which had combined the cross‐coupling control theory with fuzzy control theory ,and according to the con‐trol requirements of synchronization performance and tracking performance in the process of hy‐draulic cylinder rising .In order to validate the feasibility of the method ,the application effect of proposed synchronous control method was discussed theoretically and experimentally compared to method by use of the master‐slave cross coupling .Experimental results showed that multiple cyl‐inders in the process of rising could be controlled synchronously by use of the above method ,and the synchronous control effect could be improved effectively by contrast with master‐slave cross coupling method .