| Citation: |
MA Changqing, LI Feng, HUANG Yubo, et al. Research on adaptive control of self-moving temporary support based on fuzzy PID[J]. Journal of Mine Automation，2024，50（12）：76-84. DOI: 10.13272/j.issn.1671-251x.2024070064
|
To address the issue of poor adaptability of self-moving temporary supports and roofs during roadway excavation, an adaptive control method of self-moving temporary support based on fuzzy PID was proposed. The working principle of self-moving temporary support was analyzed. A pressure adjustment circuit was added to the control circuit of the support hydraulic cylinder to tackle the problem of adapting to changes in roof pressure, and a self-moving temporary support force control system was established. To enable the self-moving temporary support force (i.e., the output force of the support hydraulic cylinder) to quickly and stably track the expected value, a fuzzy PID adaptive control system model was established to enable online adjustment of PID parameters. This achieved adaptive control of self-moving temporary support, enhancing its adaptability to special working conditions such as roof unevenness and inclination. Simulation models of traditional PID control and fuzzy PID adaptive control systems were built in Matlab/Simulink. The simulation results showed that the fuzzy PID-based adaptive control system demonstrated better tracking performance for the surrounding rock roof pressure compared to traditional PID control.The error of the temporary support adaptive control system following the surrounding rock pressure is 0.004 3, which is 86.11% lower than that of the traditional PID control. The adaptive control system of self-moving temporary support based on fuzzy PID stabilized at 0.12 s, whereas traditional PID control stabilized at 8.685 s, indicating a significant advantage in response speed for the fuzzy PID adaptive control. A displacement control system model of the support hydraulic cylinder was established in AMESim and jointly simulated with Matlab/Simulink. During leveling, data from adjacent support hydraulic cylinders were selected for research and analysis. Results indicated that the synchronization error between adjacent hydraulic cylinders was generally controlled within ±5×10−15 m, showing significant precise improvement over traditional PID control method. The curves exhibited uniform and gentle fluctuations with smaller amplitude fluctuation range.
| [1] |
赵亚军,张志男,贾廷贵. 2010—2021年我国煤矿安全事故分析及安全对策研究[J]. 煤炭技术,2023,42(8):128-131.
ZHAO Yajun,ZHANG Zhinan,JIA Tinggui. Analysis of coal mine safety accidents and research on safety countermeasures in China from 2010 to 2021[J]. Coal Technology,2023,42(8):128-131.
|
| [2] |
叶传卫. 巷道掘进临时支护装置在山南井的应用[J]. 江西煤炭科技,2024(2):91-94.
YE Chuanwei. Application of temporary support device for roadway driving in Shannan Shaft[J]. Jiangxi Coal Science & Technology,2024(2):91-94.
|
| [3] |
李瑞, 蒋威, 王鹏江, 等. 自移式临时支架的异步耦合调平控制方法[J]. 煤炭学报,2020,45(10):3625-3635.
LI Rui,JIANG Wei,WANG Pengjiang,et al. Asynchronous coupling approach for leveling control of self-shifting temporary support[J]. Journal of China Coal Society,2020,45(10):3625-3635.
|
| [4] |
杨洋. AI智能视频识别分析技术在智能化掘进的研究与应用[J]. 工矿自动化,2023,49(增刊1):26-28,46.
YANG Yang. Research and application of AI intelligent video recognition analysis technology in intelligent excavation[J]. Journal of Mine Automation,2023,49(S1):26-28,46.
|
| [5] |
王国法,任世华,庞义辉,等. 煤炭工业“十三五”发展成效与“双碳”目标实施路径[J]. 煤炭科学技术,2021,49(9):1-8.
WANG Guofa,REN Shihua,PANG Yihui,et al. Development achievements of China's coal industry during the 13th Five-Year Plan period and implementation path of "dual carbon" target[J]. Coal Science and Technology,2021,49(9):1-8.
|
| [6] |
王步康. 煤矿巷道掘进技术与装备的现状及趋势分析[J]. 煤炭科学技术,2020,48(11):1-11.
WANG Bukang. Current status and trend analysis of readway driving technology and equipment in coal mine[J]. Coal Science and Technology,2020,48(11):1-11.
|
| [7] |
张国锋,曾开华,张春,等. 旗山矿倾斜煤夹层巷道破坏机理及支护设计研究[J]. 采矿与安全工程学报,2011,28(1):22-27.
ZHANG Guofeng,ZENG Kaihua,ZHANG Chun,et al. Failure mechanism and support design of interclated roadway surrounding inclined coal seam in Qishan Coal Mine[J]. Journal of Mining & Safety Engineering,2011,28(1):22-27.
|
| [8] |
康红普,姜鹏飞,高富强,等. 掘进工作面围岩稳定性分析及快速成巷技术途径[J]. 煤炭学报,2021,46(7):2023-2045.
KANG Hongpu,JIANG Pengfei,GAO Fuqiang,et al. Analysis on stability of rock surrounding heading faces and technical approaches for rapid heading[J]. Journal of China Coal Society,2021,46(7):2023-2045.
|
| [9] |
马宏伟,王世斌,毛清华,等. 煤矿巷道智能掘进关键共性技术[J]. 煤炭学报,2021,46(1):310-320.
MA Hongwei,WANG Shibin,MAO Qinghua,et al. Key common technology of intelligent heading in coal mine roadway[J]. Journal of China Coal Society,2021,46(1):310-320.
|
| [10] |
煤矿机器人重点研发目录[EB/OL]. [2024-06-22] https://www.chinamine-safety.gov.cn/xw/zt/2018zt/mkjqryfyy/zyzc/201901/t20190111_223797.shtml.
Key R&D Catalog of Coal Mine Robots [EB/OL]. [2024-06-22] https://www.chinamine-safety.gov.cn/xw/zt/2018zt/mkjqryfyy/zyzc/201901/t20190111_223797.shtml.
|
| [11] |
史文萍. 基于模糊自适应PID控制在液压支架监控中的应用[J]. 煤矿机械,2011,32(1):196-198. DOI: 10.3969/j.issn.1003-0794.2011.01.087
SHI Wenping. Application of controlling system for hydraulic support based on fuzzy adaptive PID control[J]. Coal Mine Machinery,2011,32(1):196-198. DOI: 10.3969/j.issn.1003-0794.2011.01.087
|
| [12] |
马长青,李峰,李先兴. 自移式临时支护结构设计及液压系统研究[J]. 煤炭技术,2024,43(4):229-233.
MA Changqing,LI Feng,LI Xianxing. Design of self-moving temporary support structure and research on hydraulic system[J]. Coal Technology,2024,43(4):229-233.
|
| [13] |
杨科,池小楼,刘帅. 大倾角煤层综采工作面液压支架失稳机理与控制[J]. 煤炭学报,2018,43(7):1821-1828.
YANG Ke,CHI Xiaolou,LIU Shuai. Instability mechanism and control of hydraulic support in fully mechanized longwall mining with large dip[J]. Journal of China Coal Society,2018,43(7):1821-1828.
|
| [14] |
徐亚军,张坤,李丁一,等. 超前支架自适应支护理论与应用[J]. 煤炭学报,2020,45(10):3615-3624.
XU Yajun,ZHANG Kun,LI Dingyi,et al. Theory and application of self-adaptive support for advanced powered support[J]. Journal of China Coal Society,2020,45(10):3615-3624.
|
| [15] |
王保勤. 巷道临时支护支架的液压同步系统设计与试验研究[J]. 矿山机械,2017,45(6):14-18.
WANG Baoqin. Design and test study of hydraulic synchronous system for roadway temporary support bracket[J]. Mining & Processing Equipment,2017,45(6):14-18.
|
| [16] |
任怀伟,李帅帅,李勰,等. 液压支架顶梁位姿调控仿真分析[J]. 工矿自动化,2019,45(10):11-16.
REN Huaiwei,LI Shuaishuai,LI Xie,et al. Simulation analysis of roof beam position and attitude control of hydraulic support[J]. Industry and Mine Automation,2019,45(10):11-16.
|
| [17] |
薛光辉,管健,柴敬轩,等. 基于神经网络PID综掘巷道超前支架支撑力自适应控制[J]. 煤炭学报,2019,44(11):3596-3603.
XUE Guanghui,GUAN Jian,CHAI Jingxuan,et al. Adaptive control of advance bracket support force in fully mechanized roadway based on neural network PID[J]. Journal of China Coal Society,2019,44(11):3596-3603.
|
| [18] |
毛君,郑广辉,谢苗,等. 模糊PID的超前支护装备支撑力自动控制系统[J]. 智能系统学报,2015,10(5):762-768.
MAO Jun,ZHENG Guanghui,XIE Miao,et al. Fuzzy-PID based automatic support force control system of advance supporting equipment[J]. CAAI Transactions on Intelligent Systems,2015,10(5):762-768.
|
| [19] |
何勇,郭一楠,巩敦卫. 液压支护平台的异步自抗扰平衡控制[J]. 控制理论与应用,2019,36(1):151-163.
HE Yong,GUO Yinan,GONG Dunwei. Asynchronous active disturbance rejection balance control for hydraulic support platforms[J]. Control Theory & Applications,2019,36(1):151-163.
|
| [20] |
胡相捧,刘新华,庞义辉,等. 基于BP神经网络PID的液压支架初撑力自适应控制[J]. 矿业科学学报,2020,5(6):662-671.
HU Xiangpeng,LIU Xinhua,PANG Yihui,et al. Adaptive control of setting load of hydraulic support based on BP neural network PID[J]. Journal of Mining Science and Technology,2020,5(6):662-671.
|
| [21] |
曹志强,王英志,胡俊,等. 粒子群模糊PID交叉耦合电机同步控制[J]. 组合机床与自动化加工技术,2022(8):57-61.
CAO Zhiqiang,WANG Yingzhi,HU Jun,et al. Moto synchronous control of fuzzy PID cross coupling based on PSO[J]. Modular Machine Tool & Automatic Manufacturing Technique,2022(8):57-61.
|
Supported by: Beijing Renhe Information Technology Co.,
Ltd. Visits：1152468
DownLoad: