液压支架试验台电液多轴加载系统耦合调平控制

摘要

According to the complex condition,heavy loads,heavy uneven loads and high-precision motion synchronization characteristic of the vertical loading system for hydraulic support test rig,a mechanical hydraulic multi-physic model and mathematical model was established based on the analysis of the test rig hydraulic synchronic drive loading system design and work mechanism.Aiming at the system heavy uneven load,high inertia,strong coupling,strong nonlinearities,model parameter uncertainty and time-varying characteristics,cross-coupling leveling control algorithm was designed in order to minimize the four-cylinder position synchronization error and achieve precise synchronization driver control,which the four cylinders are controlled by four individual servo valves and each cylinder real-time tracks the platform vertical displacement dynamic and static output expect respectively with four independent synchronous position compensation feed forward velocity PID controllers.The results of AMESim multi-physic modeling and simulation analysis for 30 MN hydraulic support test rigs show that in the situation of the total load 21 600 kN,eccentric load 9 400 kN,the dynamic synchronous error of four plunger-type cylinders is less than 0.65 mm.Synchronization error index of various control strategies validate the rationality,effectiveness and robustness of the designed control system.%针对强力液压支架试验台垂直外加载系统具有工况复杂、大负载、大偏载和高同步精度等特点,通过对试验台机械液压同步驱动加载系统的设计及其工作机理的分析,建立了机械液压多领域物理模型和数学模型;并针对系统运行过程中存在的偏载大、强耦合、强非线性、模型参数不确定以及时变等特点,设计一种耦合同步调平控制算法,即通过4个独立的同步位置补偿速度PID控制器分别实现4个阀控柱塞缸对下平台四角垂直位移期望均值的动态和稳态输出特性的实时跟踪控制,从而实现下平台四角调平的精确同步驱动控制。针对30 MN强力液压支架试验台垂直外加载系统,基于AMESim的多领域建模与仿真分析结果表明,在总负载21 600 kN,偏载9 400 kN情况下,下平台在4个柱塞缸支点处的动态同步误差小于±0.65 mm。各种控制策略的同步误差指数计算结果比较表明,耦合同步调平控制不仅同步精度高,而且具有较强的适应性、通用性和鲁棒性。