基于交叠协同逻辑的液压支架运行自适应稳压供液控制方法

Self-adaptive control method of fluid feeding with steady pressure for hydraulic support based on overlapping synergetic logic

  • 摘要: 液压支架智能的自动跟机运行是煤矿智能化工作面建设的一项重要目标,针对目前液压支架跟机运行时供液流量适配不合理导致的动作执行速度和精度不足等问题,以液压支架群组跟机适应采煤机速度稳定地运行为液压动力适配目标,提出协同液压支架控制策略的自适应稳压供液控制方法。基于根据支架动作特征提前适配合理供液流量的稳压供液原理,结合多泵+变频供液方式特点,提出供液与支架交叠协同控制逻辑;依据液压传动原理,推导上述逻辑下的液压支架跟机速度、液压系统压力变化率的求解方程,揭示供液流量调控策略与液压支架动作策略对上述两者的耦合作用机理;依据多响应优化问题求解理论,以液压支架跟机适速及其各动作压力平稳为多个目标,构建液压支架运行满意度函数并采用双层规划方法求解,智能决策自适应液压支架运行的供液流量调控策略;利用MATLAB与AMESim联合仿真,模拟相同液压支架运行动作过程的多泵联动、变频恒压、自适应稳压等不同供液控制方法,通过综合对比各方法在液压系统压力均值、压力方差、供液卸载次数、液压支架动作行程平均相对误差、供液作用效率等评价指标,验证了本文提出方法的优势。最后,通过工业级试验验证本文方法,得出自适应稳压供液控制方法具有较好的稳压效果,可行性较高。

     

    Abstract: An important target of intelligent working face construction in coal mines is that the hydraulic supports can follow the shearer at intelligence and automatization level. Aiming at the problems above,the hydraulic supports’ ac- tion execution speed and accuracy are insufficient due to unfitted fluid feeding during moving with the shearer. With the target of the hydraulic power adapting to the hydraulic supports moving after the shearer closely and steadily,an adaptive control method for fluid feeding with steady pressure that cooperating with hydraulic support control strategy is proposed. Based on the principle of fluid feeding with steady pressure which the fluid feeding flow should be pre a- dapted properly according to the action characteristics of hydraulic supports,combining the characteristics of multipump and variable frequency fluid feeding,a synergetic control logic of overlapping fluid feeding and hydraulic support is proposed. According to the principle of hydraulic transmission,the solution equations of hydraulic supports following the velocity and pressure change rate of hydraulic system under the above logic are deduced,which reveals the cou- pling mechanism between the control strategy of fluid feeding flow and the action strategy of hydraulic supports. Based on the multi-response optimization problem solving theory,making the proper moving speed of the hydraulic support following the shearer and the stable pressure of its each action as multiple objectives,the satisfaction function of the hydraulic support moving effect is constructed and solved by the bi-level programming method. Then,the intelligent de- cision-making of self-adaptive control strategy of fluid feeding for the hydraulic supports moving is presented. By the joint simulation of MATLAB and AMESim,the different control methods of hydraulic supply such as the multi-pump joint control,the frequency conversion constant pressure and the self-adaptive fluid feeding with steady pressure are simulated in the same operation process of hydraulic support. The pressure mean,the pressure variance,the number of times of unloading,the average relative error of operational stroke of hydraulic support and the efficiency of fluid feed- ing for these three methods are compared comprehensively,which have verified the advantages of the proposed meth- ods. Finally,the method is validated by industrial tests. The conclusion is that the self-adaptive control method of fluid feeding with steady pressure has better steady pressure effect,which shows it has higher feasibility.

     

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