Shanxi Tiandi Coal Mining Machinery Co. , Ltd.
Department of Mechanics, Jinzhong University

现有的阀控锚杆钻机系统存在严重的节流与溢流损失,导致整机效率低下,为解决这一问题,提出了一种新型闭式泵控锚杆钻机系统。通过理论分析与联合仿真结合的方法,首先,对比研究了新型锚杆钻机与阀控锚杆钻机的能耗特点;其次,设计了一种基于压力反馈的自动调速方法;最后,针对泵控系统非线性严重、控制精度低的缺陷,设计了模糊自适应PID来对推进油缸进行闭环位置控制。结果表明,与传统的阀控锚杆钻机相比,新系统的动力源功率显著降低、整机效率获得了大幅度提高,节能效果显著;回转马达可依据压力的变化实现自动调速,误差不到1%;与PID控制相比,采用所设计的模糊PID,稳态时,可使钻机的定位误差减小70%以上。

There are serious throttling and overflow losses in the existing valve-controlled anchor drill system, which leads to low efficiency of the whole machine. In order to solve this problem, a new type of closed pump-controlled anchor drill system is proposed around the development goals of green and intelligent mining machinery and equipment. The method of theoretical analysis and simulation were used, firstly, the energy consumption characteristics of new type bolter and valve-controlled bolter were compared and studied. Secondly, an automatic speed regulation method based on pressure feedback was designed. Finally, the fuzzy adaptive PID was designed to control the closed-loop position of the propulsion cylinder in view of the serious nonlinear and low control precision of the pump control system. The results show that, compared with the traditional valve- controlled anchor drill, the power source of the new system is significantly reduced, the overall efficiency is greatly improved, and the energy saving effect is remarkable. The rotary motor can realize automatic speed regulation according to the change of pressure, and the error is under 1%. Compared with PID control, the positioning error of drilling rig can be reduced by more than 70% when the fuzzy PID control is used in steady state.

中央引导地方科技发展基金(YDZJSX2022C030)

吕志信,闫政.新型泵控液压锚杆钻机的能耗分析与高精度控制[J].煤炭工程,2024,56(5):218-224.