截割滚筒位置负载敏感PID控制特性研究

Study on Load Sensitive PID Control Characteristics of Cutting Drum Position

提出了采用负载敏感技术的采煤机截割滚筒位置PID闭环控制方法,给出了截割滚筒调高原理,基于AMESIM软件分别搭建了定量控制和变量控制的截割滚筒PID闭环调高系统仿真模型,比较研究了两泵PID滚筒调高动态特性,得到了滚筒位移速度、调高液压缸压力、换向阀压差动态曲线,归纳总结了两泵输出效率及能量,研究结果表明:定量泵调高比变量泵响应较快,滚筒位移超差小,但定量泵调高速度控制上更易受随机负载干扰,定量泵控系统调高液压缸冲击压力大;变量泵控采煤机滚筒调高阶段,换向阀前后压差为2MPa;定量泵调高功率为38kW,约为变量泵调高功率19倍,定量泵调高消耗能量342kJ,约为变量泵调高消耗能量12.2倍,变量泵滚筒调高更节能。

It proposes a PID closed-loop control method for position load sensitivity of the shearer cutting drum.And the drum height adjustment principle is given.Based on the AMESIM software,the simulation model of the PID closed-loop height regulation system of the drum constant displacement pump and the variable displacement pump is built.The dynamic characteristics of two types of the pump PID drum height adjustment are compared.The dynamic curves of the drum displacement,speed,and the hydraulic cylinder pressure and the valve pressure difference are obtained,and the output efficiency and energy of two types of the pump are summarized.The results show that the response of constant displacement pump is faster than the variable displacement pump.The drum displacement overshoot is small.The speed control of constant displacement pump is more susceptible to the random load disturbance.The hydraulic cylinder of the variable displacement pump controlled has high impact pressure.The reversing valve pressure difference between the front and back is 2MPa.The constant displacement pump power is higher and more energy-saving.The constant displacement pump power is 38kW.The power is about 19 times the variable displacement pump power.The energy consumption of constant displacement pump is 342kJ.The energy is about 12.2 times the energy consumption of the variable displacement pump.