介绍了纵轴式掘进机履带行走机构的结构组成,通过建立其行走机构中的张紧油缸液压系统控制模型,编制Matlab程序,利用Matlab软件功能,进行P、PI、PID控制器设计并比较,确立了系统采用PID为最优控制器,并得到了最优控制参数。通过对系统的稳定性进行分析,结果表明,PID控制使系统具有较好的动态性能和较高的稳态精度。 This paper introduces the structure of the crawler traveling mechanism of longitudinal boring machine, establishes the hydraulic system control model of tensioning cylinder in its traveling mechanism, compiles the Matlab program and makes use of the Matlab software function to design and compare the P, PI and PID controllers, Established the system using PID as the optimal controller, and got the optimal control parameters. Through the analysis of the stability of the system, the results show that PID control makes the system have better dynamic performance and higher steady-state accuracy.