液压支护平台的异步自抗扰平衡控制
Asynchronous active disturbance rejection balance control for hydraulic support platforms

迈步式超前支护液压支架主要用于煤矿综掘迎头巷道的临时支护, 其关键部件之一是支护平台. 巷道底 板难以保持水平等因素的影响, 使得液压支护平台很难平衡, 从而影响了巷道支护的快速性与有效性. 为了保持液 压支护平台的平衡性, 本文提出了该平台的异步自抗扰平衡控制方法. 首先, 借鉴平台传统四缸同步控制方法, 提 出逐高双向异步控制方法, 基于此方法得到每一立柱油缸位移解耦后的期望值; 然后, 根据立柱油缸位移控制系统 特性, 设计了自抗扰控制器, 保证每一立柱油缸的位移在复杂工况下精确的达到期望值; 最后, 将所提方法应用于煤 矿综掘巷道迈步式超前支护液压支架调平中, 建立了基于MATLAB和AMESim的仿真系统. 不同场景的仿真结果表 明, 液压支护平台在负载和倾角突变时, 所提方法仍能很好的保持液压支护平台的平衡, 且具有比传统PI控制以及 GM(1; 1)灰色预测控制具有更优越的动态性能.
The stepping-type advanced hydraulic support is mainly used for temporary support of the roof in a fullymechanized roadway, and the support platform is one of its key components. The platform has a difficulty in maintaining balance, due to the non-level floor mainly, so that influent the rapidity and the effectiveness of the support negatively. An synchronous active disturbance rejection balance controller is proposed for keeping platform balance in this paper. First, based on the traditional four-cylinders synchronous control method of platform, a asynchronous control method of adjusting gradually the height in two coordinates is proposed. The expected value of decoupling of each column cylinder displacement is set by this method. Then, according to the characteristics of column cylinder displacement control system, an active disturbance rejection controller is designed to ensure that the displacement of each column cylinder can reach the expected value precisely under complicated working conditions. Third, the proposed method is applied to level the stepping-type advanced hydraulic support in a fully-mechanized roadway, and the simulation system based on MATLAB and AMESim is established. The simulation results show that the proposed method maintains the balance of the hydraulic support platform, and has a better dynamic performance than the traditional PI controller and GM(1; 1) gray prediction controller when the load and the inclination angle change abruptly