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针对超前支护装备在降架和升架过程中出现支撑力稳定性差、破坏顶板等一系列问题,采用先进的电液比例控制技术,提出一种基于改进PID控制算法的控制策略,对超前支护装备支撑力进行有效控制。仿真结果表明,改进PID控制算法较好地处理了失控问题,同时避免发生积分饱和现象,符合PID控制系统的各项要求。利用AMESim软件对液压系统模型进行仿真,采用改进PID控制策略对支撑力进行控制,并通过实验模拟实际工况。对比实验和仿真的支撑力可知,改进PID控制的支撑力满足实际工况的需求,验证了系统模型的正确性及改进PID控制策略的合理性。
Aiming at a series of problems such as poor supporting stability, destroying roof and so on during the process of lowering and rising, advanced electro-hydraulic proportional control technology is proposed to provide a control strategy based on improved PID control algorithm, Support equipment support for effective control. The simulation results show that the improved PID control algorithm can better handle the problem of runaway and avoid the phenomenon of integral saturation, which accords with the requirements of PID control system. The AMESim software is used to simulate the hydraulic system model. The improved PID control strategy is adopted to control the supporting force and the actual working condition is simulated through experiments. It can be seen from the contrast between experiment and simulation that the supportive force of PID control can meet the requirement of actual working conditions and the correctness of the system model and the rationality of PID control strategy are verified.