摘要
为解决现有井下挖装机工作装置液压系统响应慢、精度和工作效率低问题.将现有液压缸开环控制系统改进成模糊PID自整定控制系统,分析确定了铲斗挖掘阻力,建立了工作装置和液压控制系统联合仿真模型,利用AMESim和Matlab/Simulink联合仿真得出大臂液压缸、小臂液压缸和铲斗液压缸的位移响应,并对液压缸开环控制系统和模糊PID自整定控制系统进行对比分析.研究结果表明:开环控制系统无法对设定位移进行有效跟踪;模糊PID自整定控制系统最大跟踪位移误差仅为0.007 m、0.019 m和0.021 m,滞后时间为0.35 s、0.55 s和0.95 s.改进后的系统液压缸响应快,超调和振荡较小,缩短滞后时间,工作效率可提高41.29%.
In order to solve problems of slow response, low precision and work efficiency of hydraulic system for an existing underground mining loader's manipulator, an existing hydraulic cylinder open-loop control system was improved into a fuzzy PID self-adjusting control system in this paper. The bucket digging resistance was determined, the simulation model of the manipulator and the hydraulic control system was established, the displacement response of big arm, forearm and bucket hydraulic cylinder were obtained by using AMESim and Matlab/Simulink co-simulation, and the open-loop control system and closed-loop PID position control system were relatively analyzed. The results show that open-loop control system can't set the displacement of the track well, and tracking errors of the closed-loop PID position control system are only 0.007 m, 0.019 m and 0.021 m respectively; the lag time are 0.35 s, 0.55 s and 0.95 s. The improved system has the advantages of faster response,smaller overshoot and oscillation, shortening the lag time, and the work efficiency can be increased by 41.29%.
出处
《辽宁工程技术大学学报（自然科学版）》
CAS
北大核心
2013年第12期1691-1694,共4页
Journal of Liaoning Technical University (Natural Science)
基金
国家自然科学基金资助项目(59774033)
中国煤炭工业协会科学技术研究指导性计划基金资助项目(MTKJ2011-325)
辽宁省大型工矿装备重点实验室(辽宁省第二批科学技术计划资助项目)(2008403010)
