掘进机截割臂摆速自动控制方法研究

摘要

Because toal and rock in tunneling roadway has phenomenon of sharp hardness change, so it's difficult to change swing speed of cutting arm of roadheader timely and effectively by manual control, then it will affect life of cutting head pick and cutting motor seriously. To solve the problem, the paper proposed an automatic control method of swing speed of cutting arm based on PID by analyzing relationship between swing speed v of cutting arm, cutting motor current / and hardness of coal and rock /, namely takes the difference of cutting motor rated current Io and actual current I as input variable to control current I1 controlling valve port opening of electron-hydraulic proportional valve through linear combination of proportion unit, integration unit and differentiation unit, so as to control swing speed of cutting arm. The paper also proposed 5% control precision standard according to coal industry standard MT/T971-2005. The control method achieves aims of replacing artificial manipulation, protecting cutting head pick and cutting motor and makes cutting motor always work with full-load and constant power.%由于掘进巷道煤岩时有硬度急剧变化现象,人工操控难以及时有效改变掘进机截割臂摆速,会严重影响截割头截齿与截割电动机的使用寿命.针对该问题,在分析截割臂摆速v、截割电动机电流I和煤岩硬度f之间的关系的基础上,提出了基于PID技术的截割臂摆速自动控制方法,即将截割电动机额定电流与实际电流之差值(I0-I)作为输入变量,通过比例单元、积分单元和微分单元的线性组合,对控制电液比例阀阀口开度的电流I1进行控制,从而控制截割臂摆速；依据煤炭行业标准MT/T971-2005,提出了5%的控制精度标准.该控制方法达到了替代人工操控、有效保护截齿和截割电动机,并同时使得截割电动机始终满载恒功率工作的目的.