巷道超前支护装备双缸同步推移控制方法

Double Cylinder Synchronous Control Method of Advanced Support of Roadway Support

考虑到综合掘进巷道液压迈步式超前支架的前进推移液压缸存在同步性能较低的问题,对双缸的电液伺服同步系统进行了设计,并提出了等状态交叉耦合模糊双缸同步控制方法。等状态交叉耦合模糊双缸同步控制方法是将模糊控制策略与交叉耦合控制进行结合的非线性同步控制策略,它避免了主从交叉耦合控制方法存在的因为上一个系统的信号波动对下一个系统产生影响,而下一个系统的信号波动不会反馈到上一个系统中而带来的系统较大的误差。最后通过实验分析研究了两种同步控制方法的性能,结果表明,等状态交叉耦合模糊双缸同步控制方法具有更好的同步控制性能。

Taking into account the low synchronization performance of advanced support＇s hydraulic cylinder for moving forward,a double cylinder electro-hydraulic servo system was designed and the equality state cross coupling fuzzy dual cylinder synchronous control method was proposed.This method was a nonlinear synchronization control strategy which combined the fuzzy control strategy with the cross coupling control.The main errors of the master-slave cross coupling control method were avoided,because the signal fluctuation of the system was affected by the fluctuation of the system.Finally,the performance of the two kinds of synchronization control methods were studied by experimental analyses.The results show that the proposed method has better synchronization performance.