凿岩台车多关节机械臂的PID位置控制研究
Research on PID Position Control of Multi-joint Manipulator for Rock Drill Car
作者：罗红波(四川大学 机械工程学院, 四川 成都 610065)；施显阳(四川大学 机械工程学院, 四川 成都 610065)；魏鹏(四川大学 机械工程学院, 四川 成都 610065)；王昊(四川大学 机械工程学院, 四川 成都 610065)
Author：LUO Hongbo(School of Mechanical Eng., Sichuan Univ., Chengdu 610065, China)；SHI Xianyang(School of Mechanical Eng., Sichuan Univ., Chengdu 610065, China)；WEI Peng(School of Mechanical Eng., Sichuan Univ., Chengdu 610065, China)；WANG Hao(School of Mechanical Eng., Sichuan Univ., Chengdu 610065, China)
收稿日期：2018-12-05 年卷（期）页码：2019,51(4):157-162
期刊名称：工程科学与技术
Journal Name：Advanced Engineering Sciences
关键字：液压凿岩台车;电液比例阀;控制器;模糊PID
Key words：hydraulic drilling jumbo;electro-hydraulic proportional valve;controller;Fuzzy PID
基金项目：四川省科技计划重点研发项目（2017GZ0352）
中文摘要
液压凿岩台车在现代隧道掘进施工中发挥了重要作用，现有液压凿岩台车在进行寻找孔位时，需要对6个液压缸和2个液压马达分别进行控制。主要研究了电液比例阀控制液压缸的位置控制系统，以电液比例阀对支臂缸的位置控制为例，其余各个关节控制系统可以以此类推，不进行详细叙述。电液比例阀控制液压缸位置控制系统实际上是一个对液压缸的位移量在钻孔作业中进行实时校正的系统，并对液压缸的期望位移和实际位移产生的偏差进行控制，并在控制环节中添加一个控制器。设计了模糊控制系统的构成，并对模糊PID参数整定的方法与过程进行了论述，然后通过MATLAB的Fuzzy工具箱和SIMULINK模块对电液比例阀控制液压缸的模糊控制器进行设计与仿真。仿真结果显示，在此阀控液压缸控制系统中，模糊PID控制器的抗干扰能力很强，响应速度快，性能也十分稳定。
英文摘要
Hydraulic drilling rigs play an important role in modern tunneling construction. Existing hydraulic drilling rigs need to control 6 hydraulic cylinders and 2 hydraulic motors separately when searching for holes. The electro-hydraulic proportional valve controls the position control system of the hydraulic cylinder. Taking the position control of the arm cylinder by the electro-hydraulic proportional valve as an example, the other joint control systems can be deduced by analogy. The position control system of the hydraulic cylinder controlled by the electro-hydraulic proportional valve is actually a system that corrects the displacement of the hydraulic cylinder in real time during the drilling operation. This system can control the deviation between the desired displacement and the actual displacement of the hydraulic cylinder, which requires adding a controller to the control section. The structure of the fuzzy control system was designed, and the method and process of Fuzzy PID parameter tuning were discussed. Then the fuzzy controller of the electro-hydraulic proportional valve control hydraulic cylinder was designed and simulated by MATLAB’s Fuzzy toolbox and SIMULINK module. The simulation results showed that in this valve-controlled hydraulic cylinder control system, the Fuzzy PID controller has strong anti-interference ability, fast response and stable performance.
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