【作者】 李楠楠；

【导师】 宋锦春；

【作者基本信息】 东北大学 ， 机械设计及理论， 2009， 硕士

【摘要】 随着世界煤炭需求量的持续增长,煤炭机械化行业也面临着巨大的挑战。悬臂式掘进机是用来井下采煤工作面巷道作业,是构建综采工作面的先驱设备。由于整个综采设备的复杂性及其在煤矿生产环节中的地位,掘进机的性能和质量直接影响到采煤工作面的建设速度,所以掘进机的产品质量直接决定着整个煤炭行业的效益。本文是基于实际需要而完成的。论文结合悬臂式掘进机截割部的结构参数,完成了掘进机截割部的液压功能原理设计,并用Pro/E三维设计软件建立了截割部机械部分的三维实体模型,使之可视化。在研究了电液伺服系统及其动力机构的现状与发展情况后,本文采用了符合现场工况要求的阀控非对称液压缸伺服系统。区别于经典的阀控对称液压缸系统的建模方式,本文重新建立了阀控非对称缸的数学模型,并对系统的各个参数进行了详细的推导和求解。在详细了解控制理论相关知识的基础上,对系统采取了模拟PID控制器校正和模糊自适应整定PID控制器校正,改进了系统的动态特性,取得了较好的控制效果,达到了工程上的使用要求。通过两种控制器的对比,可以看出模糊自适应整定PID控制具有控制灵活,自适应性强,控制精度高,稳定性好等特点,其控制效果优于模拟PID控制器,进一步实现了系统的优化。此外,作者参与了掘进机设备的现场调试及故障诊断,对设计中存在的问题有了更深入的了解,而且,本论文所采用的现代设计方法对提高采掘设备设计水平,实现采掘智能控制,提高产品竞争力有重要的现实意义。更多还原

【Abstract】 As the continue increase of coal requirement around the world, the industry in coal mechanization is facing severe challenges. Boom-type roadheader is a forerunner facility to be used in coal mining roadway workface under well and constructing fully-mechanized face. Based on its complexity and importance in coal manufacture, the performance and quality of a boom-type roadheader will directly influence the construction velocity of coal mining workface. Consequently, the whole economic benefit of coal industry is determined by the product quality of roadheader.This paper was completed basing on the actual requirement. With the link of the frame parameters in boom-type roadheader cutting unit, its hydraulic pressure function and principle are designed, and also a 3D solid model of the cutting unit of roadheader by Pro/E, which is easy to see in computer, is established. On the basis of the research of development of the electro-hydraulic servo system and its power system, the valve-controlled nonsymmetrical hydraulic cylinder servo system meeting field demand is adopted. The valve-controlled nonsymmetrical hydraulic cylinder math model which differents from the general valve-controlled symmetrical hydraulic servo system model is rebuilt with deducting and solving parameters of the system. On the basis of knowing the control theory seriously,this paper apply the correction of analog pid controller and fuzzy self adaptive pid controller.This project improves system’s dynamic characteristic,obtains better effects and achieves better request in engineer.Compared to analog pid controller the fuzzy self adaptive pid controller has the characteristics of flexible control,strong self adaption,high control precision and good stability.The control effects of fuzzy self adaptive pid congtroller are better than analog pid’s.So the fuzzy self adaptive pid contreller optimizes the system further.Finally, the author made a preliminary analysis of the dynamic characteristic to this systerm, and further discussed various parameters’ change along the equipment working process. The feasibility of our function and principle design is proved to be sufficed in real application.更多还原