矿用应急救援平台调平控制策略研究

Research on leveling control strategy for mining emergency rescue platform

煤矿水害事故发生第一时间需要搭建可靠的设备安装平台,以保障卧式离心泵等大型救灾设备的安装精度。笔者设计了一种矿用应急救援设备安装平台,通过四缸同步自动找平功能,实现救援平台的快速找平。通过AMESim与MATLAB联合仿真,实现救援平台液压系统的动作模拟,验证了多种控制策略的适用性。仿真结果表明,自适应模糊PID控制四缸调平用时1.6s,液压缸之间调平时间误差为0.5s,可以有效实现救援平台快速稳定支撑。该方法可有效缩短水害救援第一时间的设备搭设速度,并延长救援设备的使用时间,对应急救援工作的安全有效开展有着重要的意义。

It was necessary to establish a reliable equipment installation platform as soon as a coal mine water disaster occurred to ensure the installation accuracy of large disaster relief equipment such as horizontal centrifugal pumps,so an installation platform for mine emergency rescue equipment was introduced,which realized the rapid leveling support of the rescue platform through the four-cylinder synchronous automatic leveling function.Then,through the joint simulation of AMESim and MATLAB,the action simulation of the hydraulic system of the rescue platform was realized,so the applicability of various control strategies was verified.The simulation results showed that the adaptive fuzzy PID control four-cylinder leveling took 1.6 s,and the leveling time error of different hydraulic cylinders was 0.5 s,which could effectively realize the rapid and stable support of the rescue platform.This method could effectively shorten the speed of equipment installation in the first time of water disaster rescue and prolong the use time of rescue equipment,which was of great significance to the safe and effective development of emergency rescue work.