Research on hydraulic control system for shield type temporary support robot driving under pressure
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摘要: 护盾式临时支护机器人是适应夹矸与片帮共存的大断面巷道智能掘进机器人系统的重要组成部分，其主要功能是为实现“掘支并行”作业提供安全可靠的工作空间。为加强护盾式临时支护机器人推移行驶过程中对围岩的安全稳定支护，根据护盾式临时支护机器人结构、工作环境与作业需求，建立其带压行驶的推移量与支护力数学模型及带压行驶动力学模型，设计了护盾式临时支护机器人带压行驶液压控制系统。该系统主要由支护液压系统、行驶液压系统组成：静态支护时，支护液压系统需时刻输出大于上盾体自身重力的支护力，行驶液压系统处于待机状态；带压行驶时，支护液压系统和行驶液压系统同时工作，在保证临时支护机器人“减压不离顶”的同时，与顶板时刻带压并稳步前移。提出了基于模糊PID的护盾式临时支护机器人带压行驶精准控制方法：通过集成在推移油缸上的位移传感器与液压回路中的压力传感器实时采集临时支护机器人的压力与位移信号，用于反映临时支护机器人带压行驶途中支护力和行驶位移的变化情况，并根据支护力和推移量的误差和误差率，利用模糊PID算法对支护力和推移量的控制参数进行修正，实现基于模糊PID算法的带压行驶可靠控制。仿真与实验结果均表明，模糊PID控制的效果优于传统PID控制，在模糊PID控制下，护盾式临时支护机器人推移行驶过程中的支护力相对误差小于1%，行驶位移误差小于2 mm，且支护力和推移量控制响应速度快，保证了推移行驶过程中对围岩的安全稳定支护。Abstract: The shield type temporary support robot is an important component of the intelligent excavation robot system for large section roadways that adapts to the coexistence of dirt and debris. Its main function is to provide a safe and reliable workspace for achieving "parallel excavation and support" operations. In order to enhance the safe and stable support of the shield type temporary support robot for surrounding rock during its pushing and driving process, based on the structure, working environment, and operational requirements of the shield type temporary support robot, a mathematical model of its pushing amount and support force during pressurized driving, as well as a dynamic model of pressurized driving, are established. A hydraulic control system for the shield type temporary support robot driving under pressure is designed. The system mainly consists of a support hydraulic system and a driving hydraulic system. During static support, the support hydraulic system needs to constantly output a support force greater than the weight of the upper shield body itself, and the driving hydraulic system is in standby mode. When driving under pressure, the support hydraulic system and the driving hydraulic system work simultaneously, ensuring that the temporary support robot "reducing stress without leaving the roof" while steadily moving forward with the roof under pressure at all times. A precise control method for shield type temporary support robot driving under pressure based on fuzzy PID is proposed. The pressure and displacement signals of the temporary support robot are collected in real time by displacement sensors integrated on the displacement cylinder and pressure sensors in the hydraulic circuit. The signals are used to reflect the changes in support force and driving displacement during the temporary support robot's driving under pressure. Based on the error and error rate of the support force and displacement, the fuzzy PID algorithm is used to modify the control parameters of the support force and displacement, achieving reliable control of driving under pressure based on the fuzzy PID algorithm. Both simulation and experimental results show that the effect of fuzzy PID control is superior to traditional PID control. Under fuzzy PID control, the relative error of support force during the pushing and driving process of the shield type temporary support robot is less than 1%, and the driving displacement error is less than 2 mm. Moreover, the response speed of support force and pushing amount control is fast, ensuring the safe and stable support of the surrounding rock during the pushing and driving process.
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图 1 护盾式掘进机器人系统组成
Figure 1. Composition of shield-type tunneling robot system excavation
图 3 护盾式临时支护机器人工况切换
Figure 3. Working condition switching of shield-type temporary support robot
图 5 护盾式临时支护机器人液压控制系统原理
Figure 5. Hydraulic control system principle of shield-type temporary support robot
图 7 带压行驶液压控制系统联合仿真模型
Figure 7. Joint simulation model of hydraulic control system for driving under pressure
图 8 带压行驶液压控制系统模糊PID控制模型
Figure 8. Fuzzy PID control model of hydraulic control system for driving under pressure
图 9 支撑油缸支护力和位移仿真曲线
Figure 9. Supporting force and displacement simulation curve of supporting cylinder
图 10 阶跃信号下的支护力及其误差仿真曲线
Figure 10. Simulation curves of supporting force and its error under the step signal
图 11 斜坡信号下的支护力及其误差仿真曲线
Figure 11. Simulation curves of the support force and its error under the slope signal
图 13 带压行驶控制实验台
Figure 13. Experimental bench for the control of driving under pressure
图 15 带压行驶装置支撑油缸支护力变化曲线
Figure 15. Supporting force curves of the supporting cylinder of the pressurized driving device
图 17 支撑油缸支护力和位移实验曲线
Figure 17. Experimental curves of supporting force and displacement of supporting cylinder
图 18 阶跃信号下的支护力及其误差实验曲线
Figure 18. Experimental curves of support force and its error under the step signal
图 19 斜坡信号下的支护力及其误差实验曲线
Figure 19. Experimental curves of support force and its error under the slope signal
表 1 护盾式临时支护机器人主要参数
Table 1. Main parameters of shield-type temporary support robot
参数 值 机器人Ⅰ上盾体重力G11/N 5.7×104 机器人Ⅱ上盾体重力G21/N 6.5×104 机器人Ⅰ下盾体重力G12/N 5.1×104 机器人Ⅱ下盾体重力G22/N 2.5×104 机器人Ⅰ上盾体接顶面积S1/m2 27.08 机器人Ⅱ上盾体接顶面积S2/m2 20.31 钻锚平台重力G3/N 5.5×104 电液控平台重力G4/N 4×105 运输系统重力G5/N 1.05×106 
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表 2 模糊控制规则
Table 2. Fuzzy control rule
Δe（Δe'） e（e'） NB NM NS ZO PS PM PB NB PB/NS/PS PB/NB/NS PM/NM/NB PM/NM/NB PS/NS/NB ZO/ZO/NM ZO/ZO/PS NM PB/NB/PS PB/NB/NS PM/NM/NB PS/NS/NM PS/NS/NM ZO/ZO/NS NS/ZO/ZO NS PM/NB/ZO PM/NM/NS PM/NS/NM PS/NS/NM ZO/ZO/NS NS/PS/NS NS/PS/ZO ZO PM/NM/ZO PM/NM/NS PS/NS/NS ZO/ZO/NS NS/PS/NS NM/PM/NS NM/PM/ZO PS PS/NM/ZO PS/NS/ZO ZO/ZO/ZO NS/PS/ZO NS/PS/ZO NM/PM/ZO NM/PB/ZO PM PS/ZO/PB ZO/ZO/NS NS/PS/PS NM/PS/PS NM/PM/PS NM/PB/PS NB/PB/PB PB ZO/ZO/PB ZO/ZO/PM NM/PS/PM NM/PM/PM NM/PM/PS NB/PB/PS NB/PB/PB
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表 3 液压系统主要参数
Table 3. Main parameters of hydraulic system
参数 值 参数 值 液压泵排量/（mL·r−1） 15.75 推移油缸外径/m 0.18 电动机转速/（r·min−1） 1 480 推移油缸内径/m 0.11 支撑油缸外径/m 0.25 推移油缸行程/m 1.2 支撑油缸内径/m 0.125 溢流阀开启压力/MPa 23 支撑油缸行程/m 0.7 油液弹性模量/MPa 700
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表 4 支护力自适应控制仿真和实验结果对比
Table 4. Comparison of simulation and experimental results of adaptive control of support force
% 给定
信号仿真相对误差 实验相对误差 PID 模糊PID PID 模糊PID 阶跃 6.72 0.53 12.51 0.56 斜坡 1.50 0.81 2.11 0.95
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表 5 推拉位移仿真和实验结果对比
Table 5. Comparison of simulation and experimental results of push-pull displacement
s 运动
过程仿真耗时 实验耗时 PID 模糊PID PID 模糊PID 伸出 69.81 60.51 15.56 11.47 缩回 68.79 61.23 15..84 11.85
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