CN109026860A - Proportional servo valve control hydraulic prop platform column cylinder system and compress control method - Google Patents
Proportional servo valve control hydraulic prop platform column cylinder system and compress control method Download PDFInfo
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- 239000007788 liquid Substances 0.000 claims description 6
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/003—Systems with load-holding valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/001—Servomotor systems with fluidic control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
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Abstract
A kind of proportional servo valve control hydraulic prop platform column cylinder system and compress control method, belong to valve control cylinder mode Pressure Control Technology field.Asynchronous machine is connected with constant displacement pump；Filter, constant displacement pump and proportional servo valve are sequentially connected；Proportional servo valve is sequentially connected with hydraulic lock, column oil cylinder；The input terminal of constant displacement pump is individually connected with fuel tank by filter, and the output end of constant displacement pump is connect with proportional servo valve a port；Proportional pressure control valve is connected between No. 2 ports and No. 4 ports of proportional servo valve；High pressure oil of the hydraulic oil by filter output certain flow, controls column oil cylinder under the action of constant displacement pump；Change proportional servo valve regulation hydraulic fluid flow rate size, controls column oil cylinder working-pressure；Finally, the low pressure oil of column oil cylinder oil outlet returns to fuel tank through proportional servo valve water conservancy diversion.Advantage: accurately controlling the top plate setting load of coal mine full-mechanized roadway gib, and uncertain factor has higher robustness to the adverse effect of control performance in inhibition system.
Description
Technical field
The present invention relates to a kind of valve control cylinder mode Pressure Control Technology field, especially a kind of proportional servo valve draining pressure branch
Protect platform column cylinder system and compress control method.
Background technique
During coal mine roadway comprehensive pick, hydraulic prop platform needs to implement fast and effeciently gib to top plate, from
And be coal mine roadway safe and reliable driving molding lay the foundation, and for one line of coal mine driving personnel life security guarantor is provided
Barrier.Hydraulic prop platform column oil cylinder working-pressure directly affects forepoling hydraulic support to the enabling capabilities of top plate.Hydraulic branch
It is too low to protect platform column oil cylinder working-pressure, the early stage absciss layer of top plate or even top plate is easy to cause to collapse；Excessively high column oil cylinder pressure
Power, can destroy the integrality of top plate, or even cause roof rock mass broken.However, hydraulic prop platform column oil cylinder working-pressure system
There are the interference of many inside/outside portions, require so that dynamic/static cost control performance of system be made to be extremely difficult to desired control, cause pair
The secondary injury of top plate makes the support action of forepoling hydraulic support fail.Therefore, more towards roof rock complicated condition
The coal mine full-mechanized roadway of change designs accurately and effectively hydraulic prop platform column oil cylinder working-pressure control method, to coal mine roadway
High efficient driving and personnel safety guarantee have important research significance.
Currently, the control of hydraulic prop platform column oil cylinder working-pressure is mainly using manually during the comprehensive pick of coal mine roadway
Control mode realizes the on/off of hydraulic oil output by manually controlling electromagnetic valve switch.When column oil cylinder working-pressure is more than overflow
When the high pressure limiting force value of valve setting, overflow valve is automatically opened, and realizes overflow release；Meanwhile solenoid valve is turned off manually, make column
Oil cylinder working-pressure is maintained at high pressure limiting force value.The control mode is easy to operate, is easily achieved, still, since solenoid valve can only be realized
Two of hydraulic oil controls, and the maximum pressure of column oil cylinder is equal to the high limits pressure of overflow valve setting, cause system exist compared with
Big pressure steady-state error, and hydraulic oil consumption is big.
For coal mine full-mechanized roadway gib hydraulic bracket system, (Tian Yanfei branch fills integrated automatic moving type driving to document
The research of forepoling hydraulic support and application [J] coal, 2013, (7): 30-31.) describe JZZ500-I type branch dress one
Change automatic moving type tunneling advance hydraulic support, because its structure is simple and convenient to operate, is suitable for that there is good roof rock item
The roadway support of part；(Cheng Pengcheng, Li Xinbin, Zhuan Tao wait half-discharge step-by-step hydraulic prop: CN, CN2120181 to patent
[P] 1992.) a kind of half-discharge step-by-step hydraulic prop is devised, it can be used under hard or loose roof condition, it is pervasive
Property is strong；Document (the bright of Xu Wen staggeredly take a step automatic moving type tunneling advance device development [J] the energy and energy conservation, 2017 (6):
A kind of improved automatic moving type tunneling advance device of staggeredly taking a step 150-151.) is given, was tunneled suitable for narrow
Journey realizes pick, branch, anchor synchronization job；(Xie Miao, Liu Zhixiang, Mao Jun wait the design of step type advance support system and branch to document
Protect characteristic research [J] mechanical strength, 2016,184 (2): 302-310.) according to structural mechanics and theory of mechanics of materials, it establishes
The supporting pressure of hydraulic support and degree of the disturbing equation of top plate, analysis roof deformation rule, mention for the control of full-mechanized roadway supporting pressure
For instructing foundation.
Lack the research for being directed to hydraulic prop platform column oil cylinder working-pressure control method.Document (Mao monarch, Zheng Guanghui, Xie Miao,
The advance support of equal fuzzy equips support force automatic control system [J] intelligence system journal, 2015,10 (5): 762-
768.) it for hydraulic prop platform column oil cylinder working-pressure control performance requirement in full-mechanized roadway tunneling process, devises fuzzy
PID pressure controller；(Liang Bin, hydraulic support control Experiment Platform Design and column compress control method research [J], machine to document
Bed and hydraulic, 2017,45 (11): 131-135) hydraulic prop platform electrohydraulic control system has been built, and devise based on improvement
The fuzzy pressure controller of genetic algorithm.For the hydraulic system similar with hydraulic prop platform column oil cylinder, document
(Endelt B, Tommerup S, Danckert J.A novel feedback control system controlling
the material flow in deep drawing using distributed blank-holder force[J]
.Journal of Materials Processing Technology, 2013,213 (1): 36-50.) it proposes one kind and is based on
The compress control method of state space and time series；Document (Komsta J, Oijen N V, Antoszkiewicz
P.Integral sliding mode compensator for load pressure control of die-cushion
Cylinder drive [J] .Control Engineering Practice, 2013,21 (5): 708-718.) for presence
The electro-hydraulic drive load pressure control problem of unknown disturbance and uncertain parameter proposes the product of fusion I/O linearization
Divide sliding-mode control.However, coal mine roadway driving narrow space and bad environments, hydraulic prop platform column cylinder system
It is easy to be tunneled and crept into the influence of the mechanical oscillation of equipment and the variation of top plate complex stress, leads to column oil cylinder working-pressure
There are external loading interference and a variety of internal uncertain disturbances for system.
Summary of the invention
The invention aims to provide a kind of proportional servo valve control hydraulic prop platform column cylinder system and pressure control
Method processed solves the interference of inside/outside portion present in proportional servo valve control column cylinder system and unmodeled uncertain factor to control
The unfavorable problem of performance processed.
The object of the present invention is achieved like this: the present invention includes: proportional servo valve control hydraulic prop platform column oil cylinder
System and compress control method.
Proportional servo valve control hydraulic prop platform column cylinder system, comprising: asynchronous machine, fuel tank, constant displacement pump, filtering
Device, proportional pressure control valve, proportional servo valve, hydraulic lock and column oil cylinder；The asynchronous machine is connected with constant displacement pump；Filter,
Constant displacement pump and proportional servo valve are sequentially connected；Proportional servo valve is sequentially connected with hydraulic lock, column oil cylinder；The constant displacement pump
Input terminal be individually connected with fuel tank by filter, No. 1 port of the output end of constant displacement pump and proportional servo valve connects；
Proportional pressure control valve is connected between No. 2 ports and No. 4 ports of proportional servo valve；Asynchronous machine drives constant displacement pump rotation, fixed
High pressure oil of the hydraulic oil by filter output certain flow, successively passes through proportional servo valve, hydraulic lock under the action of amount pump,
Control column oil cylinder；Hydraulic fluid flow rate size is adjusted by changing proportional servo valve spool displacement amount, and then controls column oil cylinder
Pressure；Finally, the low pressure oil of column oil cylinder oil outlet returns to fuel tank through the proportional servo valve water conservancy diversion.
The hydraulic lock is composed of the first check valve and second one-way valve, the forward end and ratio of the first check valve
No. 3 ports of servo valve connect, and the forward end of second one-way valve and No. 4 ports of proportional servo valve connect, the first check valve and
The backward end of second one-way valve is connected；Bridging has oil pipe between the first check valve backward end and second one-way valve forward end,
Bridging has oil pipe between second one-way valve backward end and the first check valve forward end, in the first check valve and second one-way valve
Between the oil pipe that backward end is connected, it is connect by oil pipe with fuel tank.
No. 1 port of the proportional servo valve and the output end of constant displacement pump connect, one end of No. 3 ports and vertical firmly oil cylinder
Oil inlet connection, bridges proportional overflow valve between No. 2 ports and No. 4 ports, meanwhile, No. 2 port connected tanks, No. 4 ports
It is connect with the other end oil inlet of vertical firmly oil cylinder.
Compress control method based on proportional servo valve control hydraulic prop platform column cylinder system, comprising the following steps:
Step 1) establishes proportional servo control hydraulic prop platform column oil cylinder setting load system；
Step 2) combines the obtained valve-controlled cylinder setting load system of step 1), sets specific modeling environment condition, establishes
The mathematical model of proportional servo valve control hydraulic prop platform column oil cylinder setting load system；
Required precision of the step 3) according to setting load control for uncertainty existing for above system, and is based on step
2) system mathematic model constructed, based on integral self-adaptive hydraulic supporting platform column oil cylinder setting load sliding-mode control；
Step 4) builds the joint of hydraulic prop platform column oil cylinder setting load control system based on Matlab and AMESim
Simulation model verifies constructed hydraulic prop platform column oil cylinder setting load control system according to working condition contrived experiment
Validity and reasonability.
The specific steps of proportional servo control hydraulic prop platform column oil cylinder setting load system are established in the step 1) are as follows:
11) in proportional servo valve control hydraulic prop platform column cylinder system, proportional servo valve restriction is smooth and symmetrical；
Systematic quantification pump oil presses constant, return pressure zero, and high pressure oil temperature is constant；Connecting line is shorter, ignores in fluid pressure line
The influence of the pressure loss, fluid mass effect and pipeline dynamic characteristic；Outward leakage is laminar flow in hydraulic cylinder and proportional servo valve；
Hydraulic lock and proportional direction valve are omitted when modeling；Four column oil cylinders of hydraulic support reach top plate simultaneously；
12) remember pressure sensor gain Kf, feedback voltage signal Uf, pressure sensor input signal is Ff, pressure biography
The mathematical model of sensor are as follows: Uf=KfFf；
13) note servo amplifier amplification coefficient is Kp, the output electric current of servo amplifier is I, proportional amplifier input electricity
Pressure is Uc, the mathematical model of servo amplifier are as follows: Kp=I/Uc；
14) displacement for remembering valve core of servo valve is xv, servo valve control electric current is I, and servo valve gain is kxv, servo valve
Intrinsic frequency is ωsv, the damping ratio of servo valve is ξsv, transmission function Laplace operator is s, the mathematical model of servo valve
Are as follows:
15) note proportional servo valve valve port flow is QL, i.e., column oil cylinder inlet flow rate, proportional servo valve flow gain are kq,
Loaded pressure drop is pL, proportional servo valve flow-pressure coefficient is kc, the discharge characteristic model of proportional servo valve are as follows: QL=kqxv-
kcpL；
16) hydraulic cylinder effective area is Ap, hydraulic cylinder piston displacement is xp, it is C that hydraulic cylinder, which always reveals coefficient,tp, hydraulic
Compression volume is Vt, hydraulic oil effective volume elasticity modulus is βe, transmission function Laplace operator is s, does not consider pipeline stream
Amount loss, column Flow of Cylinder is consistent with proportional servo valve valve port flow, characteristic equation are as follows: QL=Apxps+VtpLs/4βe+
CtppL；
17) load force is FL, load quality M, the damped coefficient of load is Bp, the spring rate of load is Ks, do not build
Mould and indeterminate are fL, according to the power output of column oil cylinder and load dynamic balance, column cylinder movement characteristic equation can be obtained
Are as follows: FL=AppL=Mxps2+Bpxps+Ksxp+fL；
It 18) is a quick response system, input-output characteristic in view of proportional servo valve compares general hydraulic system
It can be equivalent to a proportional component, i.e. Kv=xv/ I, KvFor proportional servo valve gain, simultaneous proportional servo valve and column oil cylinder
Discharge model and column cylinder movement characteristic equation, the mathematical model of available column oil cylinder working-pressure system is
It is obtained after Laplace inverse transformationWherein, m1=MVt/4βe, m2
=BpVt/4βe+(Kc+Ctp) M, m3=Ap 2+(Kc+Ctp)Bp+KsVt/4βe, m5=ApKpKqKv(Mp2+Bpp+Ks), m6=Ap 2, m4=(Kc+Ctp)
Ks, column oil cylinder working-pressure system differential equation can be obtained by, which further arranging, isWherein,
a0,a1,a2,b0For differential equation coefficient, a0=-m2/m1, a1=-m3/m1, a2=-m4/m1, b0=m5/m1, c0=m6/m1,
For three order derivatives of load pressure signal,For the second dervative of load pressure signal,It is led for the single order of load pressure signal
Number,For unmodeled and indeterminate first derivative, p is differential operator；
19) state space shape is converted by the differential equation of proportional servo valve control column oil cylinder working-pressure system mathematic model
Formula obtains:In formula, X=[x1,x2,x3]T, x1=FL,To load input pressure signal FL
First derivative,For load pressure signal FLSecond dervative；U=Uc, y=[0,0, FL],
For state matrix, b=[0,0, b0 T] it is control matrix, C=[1,0,0] is output matrix and h (t)=[0 0 d]T,Indeterminate caused by unmodeled factor and external disturbance in expression system, and d is bounded.
The mathematical model of proportional servo valve control hydraulic prop platform column oil cylinder setting load system is established in the step 2)
Hypothesis modeling conditions are as follows:
A) assume that proportional servo valve restriction is smooth and symmetrical；
B) assume that systematic quantification pump oil presses constant, return pressure zero；
C) assume that connecting line is shorter, ignore fluid pressure line internal pressure loss, fluid mass effect and pipeline dynamic characteristic
Influence；
D) assume that outward leakage is considered that laminar flow, oil liquid temperature are set as constant in hydraulic cylinder and proportional servo valve；
E) assume that oil cylinder working-pressure control is little with hydraulic lock, proportional direction valve relationship, therefore, when modeling omission hydraulic lock with
And proportional direction valve；
F) assume that four column oil cylinders of hydraulic support reach top plate simultaneously.
The specific design process of the step 3) is as follows:
31) note column oil cylinder working-pressure given value is Fd, definition systematic error is e=FL-Fd；
32) switching at runtime function is designed are as follows:Wherein, λ0、λ1, k be big
In zero arbitrary constant；
33) it to switching at runtime function derivation, obtains:It enablesBy
This, abbreviation above formula isWhenWhen, to guarantee to reach sliding-mode surface S=0, take constant speed
Reaching LawBy system state space expression formula, haveThen obtain a2x1
+a1x2+a0x3+b0u+d+λ0x3+λ1x2+kx1-kdIt is as follows to obtain control signal u accordingly by F=- α sgn (S):Wherein, α is to setting parameter and α > 0；
34) exterior interference and unmodel parts d are unknown uncertain, can only use corresponding estimated valueInstead of d,For
The estimated value of interference and unmodel parts, it is possible to obtain corresponding self adaptive control rate are as follows:
35) choosing lyapunov energy function isWherein, β be to setting parameter,For d's
Evaluated error, i.e.,So, the differential of lyapunov energy function are as follows:Due toAnd from
Suitable solution rateIt is available
36) adaptive law is designed are as follows:The differential expression for being updated to lyapunov energy function can obtain:Show that above-mentioned sliding formwork has existence and accessibility, shows that system can be realized sliding formwork movement.
The specific method of the step 4) is to build hydraulic prop platform column oil cylinder pressure based on Matlab and AMESim
Power controls combined simulation system；The design parameter of each component and adjusting controller inner parameter in setting system, so that system is missed
Poor asymptotically stability, and according to actual condition, contrived experiment verify the validity and rationally of institute's structure column oil cylinder working-pressure control system
Property.
The utility model has the advantages that the course of work of hydraulic walking advance support bracket mainly includes "top" when full-mechanized roadway operation
" advanced in years " two steps, the jacking displacement by rationally controlling four column oil cylinders realize the effective support to top plate, this hair
It is bright to provide a kind of column oil cylinder proportion servo-control system, and the control of column oil cylinder working-pressure is realized using adaptive sliding-mode observer,
Effectively inhibit the influence of external load shock and high-frequency harmonic column oil cylinder hydraulic system.The present invention is suitable for full-mechanized roadway
In top plate gib, integral adaptive sliding mode controller has in hydraulic prop platform pit prop oil cylinder working-pressure control system
There is preferable control performance, can effectively overcome influence of many uncertain factors to system, robustness present in system
It is stronger, the demand for control of Setting Load of Powered Supports in coal regulation can be better met, to realize step type advance support liquid
Pressure bracket intelligence and robotization lay the foundation.
Solve the interference of inside/outside portion present in proportional servo valve control column cylinder system and unmodeled uncertain factor pair
The unfavorable problem of control performance.The purpose of the present invention is reached.
Advantage: the present invention discloses a kind of proportional servo valve control hydraulic prop platform column cylinder system and pressure controlling party
Method adjusts the flow of support frame column oil cylinder hydraulic oil by proportional servo valve, realizes support frame column to top plate
Pressure control, to meet the supporting requirement of back.The present invention is suitable for coal mine full-mechanized roadway gib, to supporting
The accurate control of bracket upright post pressure, uncertain factor has relatively strong the adverse effect of control performance in effective inhibition system
Robustness.
Detailed description of the invention
Fig. 1 is proportional servo valve control hydraulic prop platform column cylinder system structure chart of the invention.
Fig. 2 is proportional servo valve control column oil cylinder working-pressure system transter block diagram of the invention.
Fig. 3 is the integral adaptive sliding-mode observer block diagram of column oil cylinder of the invention.
Fig. 4 is hydraulic prop Platform Alliance simulation model.
Fig. 5 is the hydraulic prop platform structure figure of implementation of the invention based on column cylinder system.
In figure: 1, column oil cylinder；2, equivalent mass block；3, proportional pressure control valve；4, hydraulic lock；51, the first check valve； 52,
Second one-way valve；6, proportional servo valve；7, asynchronous machine；8, filter；9, fuel tank；10, constant displacement pump；11, stringer；12, horizontal
Beam.
Specific embodiment
Embodiments of the present invention will be further described with reference to the accompanying drawing:
The present invention includes: proportional servo valve control hydraulic prop platform column cylinder system and compress control method.
Proportional servo valve control hydraulic prop platform column cylinder system, comprising: asynchronous machine 7, fuel tank 9, constant displacement pump 10,
Filter 8, proportional pressure control valve 3, proportional servo valve 6, hydraulic lock 4, check valve 5 and column oil cylinder 1；The asynchronous machine 7
It is connected with constant displacement pump 10；Filter 8, constant displacement pump 10 and proportional servo valve 6 are sequentially connected；Proportional servo valve 6 and hydraulic lock
4, column oil cylinder 1 is sequentially connected；The input terminal of the constant displacement pump 10 is individually connected with fuel tank 9 by filter 8, constant displacement pump
10 output end is connect with No. 1 port of proportional servo valve 6；It is connected between No. 2 ports and No. 4 ports of proportional servo valve 6
Proportional pressure control valve 3；The asynchronous machine 7 drives constant displacement pump 10 to rotate, and hydraulic oil passes through filter under the action of constant displacement pump 10
The high pressure oil of 8 output certain flows, successively passes through proportional servo valve 6, hydraulic lock 4, controls column oil cylinder 1；By changing ratio
6 spool displacement amount of servo valve adjusts hydraulic fluid flow rate size, and then controls 1 pressure of column oil cylinder；Finally, column oil cylinder 1 is fuel-displaced
The low pressure oil of mouth returns to fuel tank 9 through 6 water conservancy diversion of proportional servo valve.
The hydraulic lock 4 is composed of the first check valve 51 and second one-way valve 52, the forward direction of the first check valve 51
End is connect with No. 3 ports of proportional servo valve 6, and the forward end of second one-way valve 52 is connect with No. 4 ports of proportional servo valve 6,
First check valve 51 is connected with the backward end of second one-way valve 52；In 51 backward end of the first check valve and second one-way valve 52
Bridging has oil pipe between forward end, and bridging has oil pipe between 51 forward end of 52 backward end of second one-way valve and the first check valve,
Between the oil pipe that the first check valve 51 and 52 backward end of second one-way valve are connected, it is connect by oil pipe with fuel tank 9.
No. 1 port of the proportional servo valve 6 and the output end of constant displacement pump connect, No. 3 ports and the one of vertical firmly oil cylinder 1
Oil inlet connection is held, proportional overflow valve 3 is bridged between No. 2 ports and No. 4 ports, meanwhile, No. 2 port connected tanks, No. 4 ends
Mouth is connect with the other end oil inlet of vertical firmly oil cylinder.
Compress control method based on proportional servo valve control hydraulic prop platform column cylinder system, comprising the following steps:
Step 1) establishes proportional servo control hydraulic prop platform column oil cylinder setting load system；
Step 2) combines the obtained valve-controlled cylinder setting load system of step 1), sets specific modeling environment condition, establishes
The mathematical model of proportional servo valve control hydraulic prop platform column oil cylinder setting load system；
Required precision of the step 3) according to setting load control for uncertainty existing for above system, and is based on step
2) system mathematic model constructed, based on integral self-adaptive hydraulic supporting platform column oil cylinder setting load sliding-mode control；
Step 4) builds the joint of hydraulic prop platform column oil cylinder setting load control system based on Matlab and AMESim
Simulation model verifies constructed hydraulic prop platform column oil cylinder setting load control system according to working condition contrived experiment
Validity and reasonability.
The specific steps of proportional servo control hydraulic prop platform column oil cylinder setting load system are established in the step 1) are as follows:
11) in proportional servo valve control hydraulic prop platform column cylinder system, proportional servo valve restriction is smooth and symmetrical；
Systematic quantification pump oil presses constant, return pressure zero, and high pressure oil temperature is constant；Connecting line is shorter, ignores in fluid pressure line
The influence of the pressure loss, fluid mass effect and pipeline dynamic characteristic；Outward leakage is laminar flow in hydraulic cylinder and proportional servo valve；
Hydraulic lock and proportional direction valve are omitted when modeling；Four column oil cylinders of hydraulic support reach top plate simultaneously；
12) remember pressure sensor gain Kf, feedback voltage signal Uf, pressure sensor input signal is Ff, pressure biography
The mathematical model of sensor are as follows: Uf=KfFf；
13) note servo amplifier amplification coefficient is Kp, the output electric current of servo amplifier is I, proportional amplifier input electricity
Pressure is Uc, the mathematical model of servo amplifier are as follows: Kp=I/Uc；
14) displacement for remembering valve core of servo valve is xv, servo valve control electric current is I, and servo valve gain is kxv, servo valve
Intrinsic frequency is ωsv, the damping ratio of servo valve is ξsv, transmission function Laplace operator is s, the mathematical model of servo valve
Are as follows:
15) note proportional servo valve valve port flow is QL, i.e., column oil cylinder inlet flow rate, proportional servo valve flow gain are kq,
Loaded pressure drop is pL, proportional servo valve flow-pressure coefficient is kc, the discharge characteristic model of proportional servo valve are as follows: QL=kqxv-
kcpL；
16) hydraulic cylinder effective area is Ap, hydraulic cylinder piston displacement is xp, it is C that hydraulic cylinder, which always reveals coefficient,tp, hydraulic
Compression volume is Vt, hydraulic oil effective volume elasticity modulus is βe, transmission function Laplace operator is s, does not consider pipeline stream
Amount loss, column Flow of Cylinder is consistent with proportional servo valve valve port flow, characteristic equation are as follows: QL=Apxps+VtpLs/4βe+
CtppL；
17) load force is FL, load quality M, the damped coefficient of load is Bp, the spring rate of load is Ks, do not build
Mould and indeterminate are fL, according to the power output of column oil cylinder and load dynamic balance, column cylinder movement characteristic equation can be obtained
Are as follows: FL=AppL=Mxps2+Bpxps+Ksxp+fL；
It 18) is a quick response system, input-output characteristic in view of proportional servo valve compares general hydraulic system
It can be equivalent to a proportional component, i.e. Kv=xv/ I, KvFor proportional servo valve gain, simultaneous proportional servo valve and column oil cylinder
Discharge model and column cylinder movement characteristic equation, the mathematical model of available column oil cylinder working-pressure system is
It is obtained after Laplace inverse transformationWherein, m1=MVt/4βe, m2
=BpVt/4βe+(Kc+Ctp) M, m3=Ap 2+(Kc+Ctp)Bp+KsVt/4βe, m5=ApKpKqKv(Mp2+Bpp+Ks), m6=Ap 2, m4=(Kc+
Ctp)Ks, column oil cylinder working-pressure system differential equation can be obtained by, which further arranging, isIts
In, a0,a1,a2,b0For differential equation coefficient, a0=-m2/m1, a1=-m3/m1, a2=-m4/m1, b0=m5/m1, c0=m6/m1,For three order derivatives of load pressure signal,For the second dervative of load pressure signal,For the single order of load pressure signal
Derivative,For unmodeled and indeterminate first derivative, p is differential operator；
19) state space shape is converted by the differential equation of proportional servo valve control column oil cylinder working-pressure system mathematic model
Formula obtains:In formula, X=[x1,x2,x3]T, x1=FL,To load input pressure signal FL
First derivative,For load pressure signal FLSecond dervative；U=Uc, y=[0,0, FL],
For state matrix, b=[0,0, b0 T] it is control matrix, C=[1,0,0] is output matrix and h (t)=[0 0 d]T,Indeterminate caused by unmodeled factor and external disturbance in expression system, and d is bounded.
The mathematical model of proportional servo valve control hydraulic prop platform column oil cylinder setting load system is established in the step 2)
Hypothesis modeling conditions are as follows:
A) assume that proportional servo valve restriction is smooth and symmetrical；
B) assume that systematic quantification pump oil presses constant, return pressure zero；
C) assume that connecting line is shorter, ignore fluid pressure line internal pressure loss, fluid mass effect and pipeline dynamic characteristic
Influence；
D) assume that outward leakage is considered that laminar flow, oil liquid temperature are set as constant in hydraulic cylinder and proportional servo valve；
E) assume that oil cylinder working-pressure control is little with hydraulic lock, proportional direction valve relationship, therefore, when modeling omission hydraulic lock with
And proportional direction valve；
F) assume that four column oil cylinders of hydraulic support reach top plate simultaneously.
The specific design process of the step 3) is as follows:
31) note column oil cylinder working-pressure given value is Fd, definition systematic error is e=FL-Fd；
32) switching at runtime function is designed are as follows:Wherein, λ0、λ1, k be big
In zero arbitrary constant；
33) it to switching at runtime function derivation, obtains:It enablesBy
This, abbreviation above formula isWhenWhen, to guarantee to reach sliding-mode surface S=0, take constant speed
Reaching LawBy system state space expression formula, haveThen obtain a2x1
+a1x2+a0x3+b0u+d+λ0x3+λ1x2+kx1-kdIt is as follows to obtain control signal u accordingly by F=- α sgn (S):Wherein, α is to setting parameter and α > 0；
34) exterior interference and unmodel parts d are unknown uncertain, can only use corresponding estimated valueInstead of d,For
The estimated value of interference and unmodel parts, it is possible to obtain corresponding self adaptive control rate are as follows:
35) choosing lyapunov energy function isWherein, β be to setting parameter,For d's
Evaluated error, i.e.,So, the differential of lyapunov energy function are as follows:Due toAnd it is adaptive
Control rateIt is available
36) adaptive law is designed are as follows:The differential expression for being updated to lyapunov energy function can obtain:Show that above-mentioned sliding formwork has existence and accessibility, shows that system can be realized sliding formwork movement.
The specific method of the step 4) is to build hydraulic prop platform column oil cylinder pressure based on Matlab and AMESim
Power controls combined simulation system；The design parameter of each component and adjusting controller inner parameter in setting system, so that system is missed
Poor asymptotically stability, and according to actual condition, contrived experiment verify the validity and rationally of institute's structure column oil cylinder working-pressure control system
Property.
In embodiment 1: Fig. 1, during the comprehensive pick in tunnel, when development machine driving forward travel distance reaches maximum unsupported back span, pick
It stops working into machine, hydraulic prop platform carries out boosting Bracing Process.Hydraulic prop platform is as shown in figure 5, pass through four independences
Proportional servo valve control the pressure of four groups of column oil cylinders respectively, four groups of column cylinder upper ends are connected with stringer 11 and crossbeam 12；
Startup power supply, according to setting load required for top plate gib, after via controller is adjusted, column oil cylinder reaches specified just support
Power.
The present invention drives constant displacement pump rotation, exports the high pressure oil of certain flow by driving asynchronous machine；Through filter,
Reversal valve, proportional servo valve, driving column oil cylinder rise until reaching specified setting load；After supporting, reversal valve changes liquid
Pressure oil passes in and out direction, the decompression decline of column oil cylinder, and the low pressure oil of proportional servo valve flow back into fuel tank through reversal valve, cooler.
After the present invention uses proportional servo valve control hydraulic prop platform column oil cylinder working-pressure system, the pressure controlling party of use
Method is as follows:
Step 1) establishes proportional servo control hydraulic prop platform column oil cylinder setting load system；
Step 2) analyses in depth proportional servo valve control hydraulic prop platform column oil cylinder working-pressure system performance, establishes the system
Mathematical model.
Firstly, providing following 6 points of hypothesis according to hydraulic prop platform column oil cylinder working-pressure system structure and characteristic:
(1) assume that proportional servo valve restriction is smooth and symmetrical；
(2) assume that systematic quantification pump oil presses constant, return pressure zero；
(3) assume that connecting line is shorter, ignore fluid pressure line internal pressure loss, fluid mass effect and pipeline dynamic characteristic
Influence；
(4) assume that outward leakage is considered that laminar flow, oil liquid temperature are set as constant in hydraulic cylinder and proportional servo valve；
(5) assume that oil cylinder working-pressure control is little with hydraulic lock, proportional direction valve relationship, therefore, when modeling omits hydraulic lock
And proportional direction valve；
(6) assume that four column oil cylinders of hydraulic support reach top plate simultaneously.
Secondly, establishing the mathematics of each integral link of proportional servo valve control hydraulic prop platform column oil cylinder working-pressure system respectively
The transmission function of model, mathematical model is as shown in Figure 2.
2.1) remember pressure sensor gain Kf, feedback voltage signal Uf, pressure sensor input signal is Ff, pressure biography
The mathematical model of sensor are as follows: Uf=KfFf；
2.2) note servo amplifier amplification coefficient is Kp, the output electric current of servo amplifier is I, proportional amplifier input electricity
Pressure is Uc, the mathematical model of servo amplifier are as follows: Kp=I/Uc；
2.3) displacement for remembering valve core of servo valve is xv, servo valve control electric current is I, and servo valve gain is kxv, servo valve
Intrinsic frequency be ωsv, the damping ratio of servo valve is ξsv, transmission function Laplace operator is s, the mathematical model of servo valve
Are as follows:
2.4) note proportional servo valve valve port flow is QL, i.e. column oil cylinder inlet flow rate, proportional servo valve flow gain be
kq, loaded pressure drop pL, proportional servo valve flow-pressure coefficient is kc, the discharge characteristic model of proportional servo valve are as follows: QL=
kqxv-kcpL；
2.5) hydraulic cylinder effective area is Ap, hydraulic cylinder piston displacement is xp, it is C that hydraulic cylinder, which always reveals coefficient,tp, hydraulic
Compression volume is Vt, hydraulic oil effective volume elasticity modulus is βe, transmission function Laplace operator is s, does not consider pipeline stream
Amount loss, column Flow of Cylinder is consistent with proportional servo valve valve port flow, characteristic equation are as follows: QL=Apxps+VtpLs/4βe+
CtppL；
2.6) load force is FL, load quality M, the damped coefficient of load is Bp, the spring rate of load is Ks, do not build
Mould and indeterminate are fL, according to the power output of column oil cylinder and load dynamic balance, column cylinder movement characteristic equation can be obtained
Are as follows: FL=AppL=Mxps2+Bpxps+Ksxp+fL；
It 2.7) is a quick response system in view of proportional servo valve compares general hydraulic system, input and output are special
Property can be equivalent to a proportional component, i.e. Kv=xv/ I, KvFor proportional servo valve gain, simultaneous proportional servo valve and column oil
The discharge model and column cylinder movement characteristic equation of cylinder, the mathematical model of available column oil cylinder working-pressure system are
It is obtained after Laplace inverse transformationWherein, m1=MVt/4βe, m2
=BpVt/4βe+(Kc+Ctp) M, m3=Ap 2+(Kc+Ctp)Bp+KsVt/4βe, m5=ApKpKqKv(Mp2+Bpp+Ks), m6=Ap 2, m4=(Kc
+Ctp)Ks, column oil cylinder working-pressure system differential equation can be obtained by, which further arranging, is
Wherein, a0,a1,a2,b0For differential equation coefficient, a0=-m2/m1, a1=-m3/m1, a2=-m4/m1, b0=m5/m1, c0=m6/
m1,For three order derivatives of load pressure signal,For the second dervative of load pressure signal,For load pressure signal
First derivative,For unmodeled and indeterminate first derivative, p is differential operator；
2.8) state space shape is converted by the differential equation of proportional servo valve control column oil cylinder working-pressure system mathematic model
Formula obtains:In formula, X=[x1,x2,x3]T, x1=FL,To load input pressure signal FL
First derivative,For load pressure signal FLSecond dervative；U=Uc, y=[0,0, FL],
For state matrix, b=[0,0, b0 T] it is control matrix, C=[1,0,0] is output matrix and h (t)=[0 0 d]T,Indeterminate caused by unmodeled factor and external disturbance in expression system, and d is bounded.
Required precision of the step 3) according to setting load control, for uncertainty existing for above system, based on building
System mathematic model, design is based on integral self-adaptive hydraulic supporting platform column oil cylinder setting load sliding mode controller.Specific method
It is as follows:
Note column oil cylinder working-pressure given value is Fd, definition systematic error is e=FL-Fd；
Design switching at runtime function are as follows:Wherein, λ0、λ1, k be greater than
Zero arbitrary constant；Above formula derivation can obtain:It enablesAs a result, on abbreviation
Formula isWhenWhen, to guarantee to reach sliding-mode surface S=0, take constant speed Reaching LawBy system state space expression formula, haveThen obtain a2x1+a1x2+
a0x3+b0u+d+λ0x3+λ1x2+kx1-kFdIt is as follows to obtain control signal u accordingly by=- α sgn (S):Wherein, α is to setting parameter and α > 0；
Exterior interference and unmodel parts d are unknown uncertain, can only use corresponding estimated valueInstead of d,For interference
And the estimated value of unmodel parts, it is possible to obtain corresponding self adaptive control rate are as follows:
Choosing lyapunov energy function is, wherein β be to setting parameter,For the estimation of d
Error, i.e.,So, the differential of lyapunov energy function are as follows:Due toAnd it is adaptive
Answer control rateIt is available
Adaptive law is designed are as follows:The differential expression for being updated to lyapunov energy function can obtain:Show that above-mentioned sliding formwork has existence and accessibility, shows that system can be realized sliding formwork movement.
Step 4) builds the joint of hydraulic prop platform column oil cylinder setting load control system based on Matlab and AMESim
Simulation model, the accurate parameters that system unit is set, reasonable adjusting controller inner parameter；It is designed according to working condition
The validity and reasonability of constructed hydraulic prop platform column oil cylinder setting load control system are verified in experiment.Based on integral
Self-adaptive hydraulic supporting platform column oil cylinder setting load System with Sliding Mode Controller block diagram, as shown in Figure 3.Based on Matlab and
The hydraulic prop platform column oil cylinder associative simulation model that AMESim is built provides various parts design parameter and adjustment control
Device inner parameter processed, specific see Table 1 for details.
1 valve control column oil cylinder displacement control system partial parameters of table
Claims (8)
1. a kind of proportional servo valve control hydraulic prop platform column cylinder system, it is characterized in that: proportional servo valve control hydraulic prop
Platform column cylinder system, comprising: asynchronous machine, fuel tank, constant displacement pump, filter, proportional pressure control valve, proportional servo valve, hydraulic
Lock and column oil cylinder；The asynchronous machine is connected with constant displacement pump；Filter, constant displacement pump and proportional servo valve are sequentially connected；
Proportional servo valve is sequentially connected with hydraulic lock, column oil cylinder；The input terminal of the constant displacement pump by filter individually with fuel tank phase
Connection, the output end of constant displacement pump and No. 1 port of proportional servo valve connect；Between No. 2 ports and No. 4 ports of proportional servo valve
It is connected with proportional pressure control valve；The asynchronous machine drives constant displacement pump rotation, and hydraulic oil passes through filter under the action of constant displacement pump
The high pressure oil of certain flow is exported, proportional servo valve, hydraulic lock are successively passed through, controls column oil cylinder；By changing proportional servo
Valve core displacement adjusts hydraulic fluid flow rate size, and then controls column oil cylinder working-pressure；Finally, the low pressure of column oil cylinder oil outlet
Oil returns to fuel tank through the proportional servo valve water conservancy diversion.
2. a kind of proportional servo valve control hydraulic prop platform column cylinder system according to claim 1, it is characterized in that: institute
The hydraulic lock stated is composed of the first check valve and second one-way valve, and the 3 of the forward end of the first check valve and proportional servo valve
The connection of number port, the forward end of second one-way valve and No. 4 ports of proportional servo valve connect, the first check valve and second one-way valve
Backward end be connected；Bridging has oil pipe between the first check valve backward end and second one-way valve forward end, unidirectional second
Bridging has oil pipe between valve backward end and the first check valve forward end, in 52 company of backward end institute of the first check valve and second one-way valve
Between the oil pipe connect, it is connect by oil pipe with fuel tank.
3. a kind of proportional servo valve control hydraulic prop platform column cylinder system according to claim 1, it is characterized in that: institute
No. 1 port of the proportional servo valve stated and the output end of constant displacement pump connect, and one end oil inlet of No. 3 ports and vertical firmly oil cylinder connects
Connect, proportional overflow valve bridged between No. 2 ports and No. 4 ports, meanwhile, No. 2 port connected tanks, No. 4 ports and it is vertical live oil cylinder
The other end oil inlet connection.
4. based on the compress control method of proportional servo valve control hydraulic prop platform column cylinder system, it is characterized in that: based on than
The compress control method of example servo valve control hydraulic prop platform column cylinder system, comprising the following steps:
Step 1) establishes proportional servo control hydraulic prop platform column oil cylinder setting load system；
Step 2) combines the obtained valve-controlled cylinder setting load system of step 1), sets specific modeling environment condition, establishes ratio
The mathematical model of servo valve control hydraulic prop platform column oil cylinder setting load system；
Required precision of the step 3) according to setting load control for uncertainty existing for above system, and is based on step 2) structure
The system mathematic model built, based on integral self-adaptive hydraulic supporting platform column oil cylinder setting load sliding-mode control；
Step 4) builds the associative simulation of hydraulic prop platform column oil cylinder setting load control system based on Matlab and AMESim
Model verifies having for constructed hydraulic prop platform column oil cylinder setting load control system according to working condition contrived experiment
Effect property and reasonability.
5. the pressure controlling party according to claim 4 based on proportional servo valve control hydraulic prop platform column cylinder system
Method, it is characterized in that: establishing the specific step of proportional servo control hydraulic prop platform column oil cylinder setting load system in the step 1)
Suddenly are as follows:
11) in proportional servo valve control hydraulic prop platform column cylinder system, proportional servo valve restriction is smooth and symmetrical；System
Constant displacement pump oil pressure is constant, return pressure zero, and high pressure oil temperature is constant；Connecting line is shorter, ignores pressure in fluid pressure line
Loss, the influence of fluid mass effect and pipeline dynamic characteristic；Outward leakage is laminar flow in hydraulic cylinder and proportional servo valve；Modeling
When omit hydraulic lock and proportional direction valve；Four column oil cylinders of hydraulic support reach top plate simultaneously；
12) remember pressure sensor gain Kf, feedback voltage signal Uf, pressure sensor input signal is Ff, pressure sensor
Mathematical model are as follows: Uf=KfFf；
13) note servo amplifier amplification coefficient is Kp, the output electric current of servo amplifier is I, and proportional amplifier input voltage is
Uc, the mathematical model of servo amplifier are as follows: Kp=I/Uc；
14) displacement for remembering valve core of servo valve is xv, servo valve control electric current is I, and servo valve gain is kxv, servo valve it is intrinsic
Frequency is ωsv, the damping ratio of servo valve is ξsv, transmission function Laplace operator is s, the mathematical model of servo valve are as follows:
15) note proportional servo valve valve port flow is QL, i.e., column oil cylinder inlet flow rate, proportional servo valve flow gain are kq, load
Pressure drop is pL, proportional servo valve flow-pressure coefficient is kc, the discharge characteristic model of proportional servo valve are as follows: QL=kqxv-kcpL；
16) hydraulic cylinder effective area is Ap, hydraulic cylinder piston displacement is xp, it is C that hydraulic cylinder, which always reveals coefficient,tp, hydraulic compression body
Product is Vt, hydraulic oil effective volume elasticity modulus is βe, transmission function Laplace operator is s, do not consider that pipeline flow is lost,
Column Flow of Cylinder is consistent with proportional servo valve valve port flow, characteristic equation are as follows: QL=Apxps+VtpLs/4βe+CtppL；
17) load force is FL, load quality M, the damped coefficient of load is Bp, the spring rate of load is Ks, unmodeled and not
Determine that item is fL, according to the power output of column oil cylinder and load dynamic balance, column cylinder movement characteristic equation can be obtained are as follows: FL=
AppL=Mxps2+Bpxps+Ksxp+fL；
It 18) is a quick response system, input-output characteristic can wait in view of proportional servo valve compares general hydraulic system
Effect is a proportional component, i.e. Kv=xv/ I, KvFor proportional servo valve gain, the flow of simultaneous proportional servo valve and column oil cylinder
Model and column cylinder movement characteristic equation, the mathematical model of available column oil cylinder working-pressure system are
It is obtained after Laplace inverse transformationWherein, m1=MVt/4βe, m2=BpVt/4
βe+(Kc+Ctp) M, m3=Ap 2+(Kc+Ctp)Bp+KsVt/4βe, m5=ApKpKqKv(Mp2+Bpp+Ks), m6=Ap 2, m4=(Kc+Ctp)
Ks, column oil cylinder working-pressure system differential equation can be obtained by, which further arranging, isWherein,
a0,a1,a2,b0For differential equation coefficient, a0=-m2/m1, a1=-m3/m1, a2=-m4/m1, b0=m5/m1, c0=m6/m1,For
Three order derivatives of load pressure signal,For the second dervative of load pressure signal,It is led for the single order of load pressure signal
Number,For unmodeled and indeterminate first derivative, p is differential operator；
19) state space form is converted by the differential equation of proportional servo valve control column oil cylinder working-pressure system mathematic model, obtained
It arrives:In formula, X=[x1,x2,x3]T, x1=FL,To load input pressure signal FLSingle order
Derivative,For load pressure signal FLSecond dervative；U=Uc, y=[0,0, FL],For state
Matrix, b=[0,0, b0]TTo control matrix, C=[1,0,0] is output matrix and h (t)=[0 0 d]T,
Indeterminate caused by unmodeled factor and external disturbance in expression system, and d is bounded.
6. the pressure controlling party according to claim 4 based on proportional servo valve control hydraulic prop platform column cylinder system
Method, it is characterized in that: establishing the mathematics of proportional servo valve control hydraulic prop platform column oil cylinder setting load system in the step 2)
The hypothesis modeling conditions of model are as follows:
A) assume that proportional servo valve restriction is smooth and symmetrical；
B) assume that systematic quantification pump oil presses constant, return pressure zero；
C) assume that connecting line is shorter, ignore the shadow of fluid pressure line internal pressure loss, fluid mass effect and pipeline dynamic characteristic
It rings；
D) assume that outward leakage is considered that laminar flow, oil liquid temperature are set as constant in hydraulic cylinder and proportional servo valve；
E) assume that oil cylinder working-pressure control is little with hydraulic lock, proportional direction valve relationship, therefore, omission hydraulic lock and ratio when modeling
Proportional direction valve；
F) assume that four column oil cylinders of hydraulic support reach top plate simultaneously.
7. the pressure controlling party according to claim 4 based on proportional servo valve control hydraulic prop platform column cylinder system
Method, it is characterized in that: the specific design process of the step 3) is as follows:
31) note column oil cylinder working-pressure given value is Fd, definition systematic error is e=FL-Fd；
32) switching at runtime function is designed are as follows:Wherein, λ0、λ1, k be greater than zero
Arbitrary constant；
33) it to switching at runtime function derivation, obtains:It enablesChange as a result,
Simple above formula isWhenWhen, to guarantee to reach sliding-mode surface S=0, take constant speed Reaching LawBy system state space expression formula, haveThen obtain a2x1+a1x2+
a0x3+b0u+d+λ0x3+λ1x2+kx1-kFdIt is as follows to obtain control signal u accordingly by=- α sgn (S):Wherein, α is to setting parameter and α > 0；
34) exterior interference and unmodel parts d are unknown uncertain, can only use corresponding estimated valueInstead of d,For interference
And the estimated value of unmodel parts, it is possible to obtain corresponding self adaptive control rate are as follows:
35) choosing lyapunov energy function isWherein, β be to setting parameter,It is missed for the estimation of d
Difference, i.e.,So, the differential of lyapunov energy function are as follows:Due toAnd from
Suitable solution rateIt is available
36) adaptive law is designed are as follows:The differential expression for being updated to lyapunov energy function can obtain:Show that above-mentioned sliding formwork has existence and accessibility, shows that system can be realized sliding formwork movement.
8. the pressure controlling party according to claim 4 based on proportional servo valve control hydraulic prop platform column cylinder system
The specific method of method, the step 4) is to build the control of hydraulic prop platform column oil cylinder working-pressure based on Matlab and AMESim
Combined simulation system；The design parameter of each component and adjusting controller inner parameter in setting system, so that systematic error is progressive
Stablize, and according to actual condition, contrived experiment verifies the validity and reasonability of institute's structure column oil cylinder working-pressure control system.
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| CN110469357A (en) * | 2019-07-12 | 2019-11-19 | 淮北矿业股份有限公司 | A kind of Setting Load of Powered Supports automatic control device |
| CN110410115A (en) * | 2019-07-22 | 2019-11-05 | 天地科技股份有限公司 | A kind of column pressure adaptive regulator control system |
| CN110410115B (en) * | 2019-07-22 | 2020-11-17 | 天地科技股份有限公司 | Self-adaptive control system for pressure of stand column |
| CN110513358A (en) * | 2019-08-28 | 2019-11-29 | 上海华兴数字科技有限公司 | Emulation mode, system, equipment and the storage medium of loading cylinders virtual prototype |
| CN113757221A (en) * | 2021-07-22 | 2021-12-07 | 浙江大学 | Liquid supply speed and position open-loop control method |
| CN114434448A (en) * | 2022-03-25 | 2022-05-06 | 江苏徐工工程机械研究院有限公司 | Working arm control method and system of forcible entry robot |
| CN114434448B (en) * | 2022-03-25 | 2024-04-30 | 江苏徐工工程机械研究院有限公司 | Control method and control system for working arm of breaking and disassembling robot |
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