超前支护装备位移与初撑力的控制方法.pdf

硕士学位论文 超前支护装备位移与初撑力的控制方法 Control of Displacement and Initial Support Force for Advance Support Equipment 作 者何勇 导 师巩敦卫 中国矿业大学 二○一八年四月 学位论文使用授权声明学位论文使用授权声明 本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所撰 写的学位论文的使用授权按照学校的管理规定处理 作为申请学位的条件之一， 学位论文著作权拥有者须授权所在学校拥有学位 论文的部分使用权，即①学校档案馆和图书馆有权保留学位论文的纸质版和电 子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为教学和 科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书 馆等场所或在校园网上供校内师生阅读、浏览.另外，根据有关法规，同意中国 国家图书馆保存研究生学位论文。 保密的学位论文在解密后适用本授权书。 作者签名 导师签名 年 月 日 年 月 日 中图分类号 TP301.6 学校代码 10290 UDC 621.3, 密 级 公开 中国矿业大学 硕士学位论文 超前支护装备位移与初撑力的控制方法 Control of Displacement and Initial Support Force for Advance Support Equipment 作 者 何勇 导 师 巩敦卫教授 申请学位 工学硕士 培养单位 信息与控制工程学院 学科专业 控制科学与工程 研究方向 工业过程控制 答辩委员会主席 王雪松 评 阅 人 二○一八年四月 致谢致谢 时间如白驹过隙，三年的研究生学习生涯转眼就要结束了。在这三年年，不 仅学到了许多新的专业知识，更是从老师、师兄、师姐、师弟，以及师妹身上学 到了严谨认真的科研态度、积极乐观的生活态度和恰到得当的为人处世的方式。 感谢我的导师巩敦卫教授在三年里的教育和指导，巩老师教会我了如何做 人、如何研究，以及如何写作。老师待人和蔼、治学端正、作风优良，在这三 年里深深的影响着我，我相信这会一直影响着我，对我以后的生活、学习有着 莫大的帮助。在此，对巩老师表达最崇高的敬意和最衷心的感谢。 感谢郭一楠教授，在每周的课题组讨论会中，针对我科研中存在的问题，她 都耐心地解答我的疑惑并给出细致的建议，避免了在学术道路上的诸多弯路，快 速入门。另外，感谢张扬老师、张勇老师、孙晓燕老师，以及姚香娟老师，在这 三年里对我的帮助也很大，在此，对他们表示感谢，并祝愿老师们在学术上更上 一层楼。 我还记得我刚到课题组的情景，师兄师姐指导我选择课题方向，教我怎么看 论文，科研上遇到难题，我也会请教他们，他们都会认真帮我解答。感谢秦备师 兄、张旭师姐，希望你们在以后的生活中、工作中，万事顺意。感谢我的室友兼 校友程伟，当我遇到一些问题，他都能耐心给我解决，希望他今后工作顺利，家 庭幸福。感谢 973 课题组的其他师弟师妹，在我困惑时，能给我提出宝贵意见， 同时，在生活上，带给我欢乐。 感谢国家重点基础研究发展计划基金委为课题的研究提供资金支持。 感谢我的父母，在我读研的时候给我的支持和关爱，我才能无后顾之忧的大 步向前。 感谢中国矿业大学，感谢信控学院的所有老师对我的谆谆教诲 感谢各位老师和专家在百忙之中评阅论文。 I 摘摘 要要 综掘迎头巷道冒顶、片帮事故频发，且掘进效率低下，采用支护设备对迎头 巷道进行临时支护，然而，本文研究对象迈步式超前支护液压支架在临时支护过 程中，难以保证姿势平衡和初撑力精确，影响了支护的快速性和有效性。因此， 调节液压支架水平和精确控制初撑力成为提高支护质量的重要保证。 本论文围绕 国家重点基础研究发展计划项目“深部煤层机器人化安全高效支护原理及实现方 法”第六子课题子课题编号2014CB046306-2展开研究，在查阅和调研诸多文 献资料的基础上，结合实地调研、仿真分析等相结合的方法，对迈步式超前支护 液压支架支撑控制方法进行了研究，主要工作内容包括 （1）提出了该液压支护平台的异步自抗扰平衡控制方法。首先，借鉴平台 传统四缸同步控制方法，提出逐高双向异步控制方法，基于此方法得到每一立柱 油缸位移解耦后的期望值；然后，根据比例伺服阀控立柱油缸位移系统特性，设 计了自抗扰控制器，保证每一立柱油缸的位移在复杂工况下精确的达到期望值； 最后，将所提方法应用于煤矿综掘巷道迈步式超前支护液压支架调平中，建立了 基于 Matlab 和 AMESim 的仿真系统。不同场景的仿真结果表明，液压支护平台 在负载和倾角突变时，所提方法仍能很好的保持液压支护平台的平衡，且具有比 传统 PI 控制以及 GM1,1灰色预测控制更优越的动态性能。 （2）提出了基于状态观测器的初撑力自适应滑模控制方法。首先，根据迈 步式超前支护液压支架支护平台压力控制系统的组成， 建立系统的广义被控对象 模型；然后根据比例溢流阀控立柱油缸压力系统特性，设计了基于状态观测器的 自适应滑模控制器，保证精确控制每一立柱油缸的压力；将所提方法应用于煤矿 综掘巷道迈步式超前支护液压支架的初撑力选取和控制中，建立了 MATLAB 和 AMESim 的立柱油缸压力控制仿真系统， 仿真结果表明在狭小空间的综掘巷道和 强烈外负载干扰情况下，本文所提方法更有优越的动、稳态性能。 关键词关键词迈步式超前支护液压支架；异步自抗扰控制；状态观测；自适应滑 模控制； II Abstract The collapse of the top-end roadway of the comprehensive roadway is frequent and the efficiency of the excavation is frequent. The supporting equipment is used for temporary support of the roadway. However, it is difficult to ensure that the hydraulic support for the advanced support in this paper is supported in the temporary support process. The accuracy of balance and stress affects the speed and effectiveness of support. Therefore, adjusting the horizontal stability of the hydraulic support and accurately controlling the initial support force is an important guarantee for improving the support quality. This paper is based on the National Key Basic Research and Development Program “Study on the principles and s for the safe and efficient support of deep coal seams” Subproject No. 2014CB046306-2. The study is based on the review and investigation of many literature materials. Combining field research, simulation analysis, and other s, the of supporting the control of the hydraulic support for the stepped forward support was studied. The main work includes 1 An synchronous active disturbance rejection balance controller is proposed for keeping plat balance in this paper. First, based on the traditional four-cylinders synchronous control of plat, a asynchronous control of adjusting gradually the height in two coordinates is proposed. The expected value of decoupling of each column cylinder displacement is set by this . Then, according to the characteristics of column cylinder displacement control system, an active disturbance rejection controller is designed to ensure that the displacement of each column cylinder can reach the expected value precisely under complicated working conditions. Third, the proposed is applied to level the stepping-type advanced hydraulic support in a fully-mechanized roadway, and the simulation system based on Matlab and AMESim is established. The simulation results show that the proposed maintains the balance of the hydraulic support plat, and has a better dynamic perance than the traditional PI controller and GM1,1 gray prediction controller when the load and the inclination angle change abruptly. 2 An adaptive sliding mode control for the initial support force based on a state observer is proposed. Firstly, according to the composition of the pressure control system of the step support hydraulic support plat, a generalized controlled object model of the system is established. Then based on the characteristics of the III pressure control system of the support column cylinder, an adaptive observer based state observer is designed. The mold controller ensures accurate control of the pressure of each column cylinder; finally, the proposed is applied to the selection and control of the initial support force for the hydraulic support of the step-by-step advance support in the coal mining tunnel, and the column cylinder pressures of MATLAB and AMESim are established. Control simulation system, simulation results show that the proposed has superior dynamic and steady state perance for different roof rock masses. Key words Step-by-step advance support hydraulic support; asynchronous active disturbance rejection control； state observation； adaptive sliding mode control； IV 目目 录录 摘摘 要要............................................................................................................................ I 目目 录录......................................................................................................................... IV 图表清单图表清单 ................................................................................................................. VIII 1 绪论绪论............................................................................................................................. 1 1.1 研究目的和意义 ...................................................................................................... 1 1.2 国内外研究现状 ...................................................................................................... 1 1.3 研究内容 .................................................................................................................. 5 1.4 论文结构 .................................................................................................................. 6 2 迈步式超前支护液压支架系统建模迈步式超前支护液压支架系统建模 ........................................................................ 8 2.1 迈步式超前支护液压支架系统组成 ...................................................................... 8 2.2 伺服阀控支护平台位移系统 .................................................................................. 9 2.3 溢流阀控支护平台压力系统 ................................................................................ 17 2.4 本章小结 ................................................................................................................ 25 3 液压支护平台的自抗扰液压支护平台的自抗扰异步异步平衡控制平衡控制 .................................................................. 27 3.1 引言 ........................................................................................................................ 27 3.2 线性自抗扰控制 .................................................................................................... 28 3.3 系统稳定性 ............................................................................................................ 30 3.4 实验 ........................................................................................................................ 32 3.5 本章小结 ................................................................................................................ 37 4 基于状态观测器的液压支架初撑力自适应滑模控制基于状态观测器的液压支架初撑力自适应滑模控制 .......................................... 38 4.1 引言 ........................................................................................................................ 38 4.2 状态观测器 ............................................................................................................ 39 4.3 自适应滑模控制器 ................................................................................................ 40 4.4 系统稳定性 ............................................................................................................ 41 4.5 实验 ........................................................................................................................ 43 4.6 本章小结 ................................................................................................................ 44 5 结论结论........................................................................................................................... 46 5.1 本文工作 ................................................................................................................ 46 V 5.2 本文创新点 ............................................................................................................ 47 5.3 后续工作 ................................................................................................................ 47 参考文献参考文献 ..................................................................................................................... 49 作者简历作者简历 ..................................................................................................................... 54 学位论文原创性声明学位论文原创性声明 ................................................................................................. 55 学位论文数据集学位论文数据集 ......................................................................................................... 56 VI Contents Abstract ........................................................................................................................ II Contents ..................................................................................................................... VI List of Figures and Table ...................................................................................... VIII 1 Introduction ............................................................................................................... 1 1.1 Research Purpose and Significance ......................................................................... 1 1.2 Research Status at Home and Abroad ...................................................................... 1 1.3 Research Contents .................................................................................................... 5 1.4 Structure ................................................................................................................... 6 2 Modeling of Stepped Advanced Hydraulic Support System ............................... 8 2.1 Step-type Advance Support Hydraulic Support System .......................................... 8 2.2 Servo Valve Support Plat Displacement System ........................................... 9 2.3 Relief Valve Control Support Plat Pressure System ...................................... 17 2.4 Conclusions ............................................................................................................ 25 3 Active Disturbance Rejection Asynchronous Balance Control for Hydraulic Support Plats ...................................................................................................... 27 3.1 Introduction ............................................................................................................ 27 3.2 Linear Active Disturbance Rejection Controller ................................................... 28 3.3 System Stability ..................................................................................................... 30 3.4 Experiments ........................................................................................................... 32 3.5 Conclusion .............................................................................................................. 37 4 Self-adaptive Sliding Mode Control for Setting Load of Hydraulic Support Based on Disturbance Observer ............................................................................... 38 4.1 Introduction ............................................................................................................ 38 4.2 State Observer ........................................................................................................ 39 4.3 Adaptive Sliding Mode Controller ......................................................................... 40 4.4 System Stability ..................................................................................................... 41 4.5 Experiments ........................................................................................................... 43 4.6 Conclusion .............................................................................................................. 44 5 Conculsions .............................................................................................................. 46 VII 5.1 Achievements ......................................................................................................... 46 5.2 Innovations ............................................................................................................. 47 5.3 Future Research ..................................................................................................... 47 References ................................................................................................................... 49 Author’s Resume ........................................................................................................ 54 Declaration of Thesis Originality ............................................................................. 55 Thesis Data Collection ............................................................................................... 56 VIII 图表清单图表清单 图表序号 内容 图 2-1 图 2-1 液压副支护平台的组成 9 Figure 2-1 Fig.2-1 The composition of hydraulic sub-support plat 9 图 2-2 图 2-2 支护平台异步控制示意图 9 Figure 2-2 Figure2-2 support plat asynchronous control diagram 9 图 2-3 图 2-3 液压副支护平台的拓扑结构 10 Figure 2-3 Fig.2-3 The Topology of hydraulic sub-support plat 10 图 2-4 图 2-4 立柱油缸位移系统广义被控对象的传递函数方框图 14 Figure 2-4 Fig.2- 4 The transfer function diagram of a servo valve control a hydraulic cylinder displacement control system 14 图 2-5 图 2-5 开环系统 Nyquist 图与 Bode 图 16 Figure 2-5 Fig. 2-5 The Nyquist and the Bode