摘要
本文以KCY-2地下铲运机正转六杆工作机构为研究对象,对铲装工作机构进行建模分析,获得了铲斗斗刃位置与动臂油缸和转斗油缸行程之间的运动关系;对铲装工作机构液压系统进行分析,获得了工作油缸的液压控制模型,基于模糊PID控制理论,设计了动臂油缸和转斗油缸的模糊PID控制器,并对转斗油缸运动轨迹进行仿真分析。仿真结果表明:工作油缸基本能按照设计轨迹运动,误差在合理范围内,铲装工作机构的模糊PID控制器设计合理可靠。
This paper takes KCY-2 underground scraper forward six-bar working mechanism as the research object,carries on the modeling analysis to the scraper working mechanism,obtains the movement relationship between the bucket blade position and the stroke of the boom cylinder and the rotary cylinder.The hydraulic system of shoveling working mechanism is analyzed,and the hydraulic control model of working cylinder is obtained.Based on the theory of fuzzy-PID control,the fuzzy-PID controllers of the boom cylinder and the bucket cylinder are designed,and the motion trajectory of the bucket cylinder is simulated and analyzed.The simulation results show that the working cylinder can basically move according to the designed trajectory,and the error is within a reasonable range.The design of the fuzzy-PID controller of the shoveling mechanism is reasonable and reliable.
作者
郭鑫
付薛洁
严勃
赵晓燕
姜勇
GUO Xin;FU Xuejie;YAN Bo;ZHAO Xiaoyan;JIANG Yong(BGRIMM Technology Group,Beijing 102628,China;Engineering College,Yantai Nanshan University,Yantai 265713,China)
出处
《中国矿业》
北大核心
2019年第A02期451-454,共4页
China Mining Magazine
基金
国家重点研发计划项目“地下金属矿规模化无人采矿关键技术研发与示范”资助(编号：2018YFC0604400)
