掘支锚联合机组双截割部截割轨迹控制方法

Control method of cutting track of double cutting unit of excavation-anchorage-support unit

为实现截割范围大、截割平整度好、截割功效高的巷道断面截割,提出一种基于模糊PID控制的掘支锚联合机组双截割部截割轨迹控制方法,以实现截割部升降油缸及摆动油缸的精确控制.根据掘进机巷道截割工艺和掘支锚联合机组截割影响因素设计了双截割部运动轨迹,结合双截割部结构参数和运动参数特征,建立了双截割部截割运动学模型;以截割部升降油缸、回转油缸位移误差和位移误差变化率为系统输入,选择三角函数为隶属度函数进行模糊化处理,根据PID整理规则分别建立PID参数的模糊推理规则,利用系数加权平均法对系统输出进行反模糊化处理;通过simulink数值模拟仿真,对比分析模糊PID控制算法和传统PID控制算法的轨迹控制效果.结果表明:模糊PID控制算法对截割臂复合运动控制效果更优,跟踪特性优良,能够实现巷道断面截割轮廓的精准成形控制.

In order to realize the cutting of roadway section with large cutting range,good cutting smoothness and high cutting efficiency,a cutting trajectory control method based on fuzzy PID control for the double cutting parts of the excavation-support-anchor combined unit is proposed to realize the precise control of the lifting cylinder and the swing cylinder of the cutting part.According to the cutting technology of roadway of roadway of road header and the cutting influence factors of combined unit of excavation support and anchor,the moving track of double cutting parts is designed.Combining the structural parameters and motion parameters of double cutting parts,the kinematics model of double cutting parts is established.The displacement errors and displacement errors of lifting cylinder and rotary cylinder of cutting parts are input to the system,and the triangular function is selected as the membership function to carry out the model.The fuzzy reasoning rules of PID parameters are established according to the rules of PID finishing,and the output of the system is de-fuzzified by the method of weighted average of coefficients.The trajectory control effects of the fuzzy PID control algorithm and the traditional PID control algorithm are compared and analyzed by the simulation of simulink.The results show that the fuzzy PID control algorithm has better control effect on the compound motion of the cutting arm and good tracking characteristics,which can realize the precise shaping control of the cutting profile of the roadway section.