MSJ5.8/1.6D型竖井掘进机自动纠偏系统研究_中国煤炭行业知识服务平台

MSJ5.8/1.6D型竖井掘进机自动纠偏系统研究

Title

Ｒesearch on automatic rectifying－deviation system of MSJ5．8 /1．6D shaft heading machine
作者

荆国业高峰
Author

JING Guoye ，GAO Feng
单位

北京中煤矿山工程有限公司
Organization

1．Beijing China Coal Mine Engineering Company Ltd．，Beijing ，China; 2．Mine Construction Branch，China Coal Ｒesearch Institute，
Beijing ，China
摘要

为解决MSJ5.8/1.6D型竖井掘进机在凿岩掘进过程中存在的偏斜问题，讨论了竖井掘进机在破岩掘进过程中的姿态检测与控制方式，编制了基于模糊控制理论的纠偏控制器，并根据实际情况，设计了以灰色系统理论为基础的偏斜预测算法，介绍了偏斜预测的相关算法。为了验证纠偏系统的可靠性，进行了调试状态下的模拟纠偏试验，监测和记录了模拟偏斜条件下纠偏系统的输出量。试验结果表明，纠偏系统的输出量符合人工纠偏操作过程，能够满足竖井掘进机在掘进过程中的姿态控制问题。基于模糊控制和灰色预测的自动纠偏系统的成功研发，为竖井掘进机的安全、稳定运行提供了保障。
Abstract

In order to solve the trajectory deflective problem of the shaft heading machine，attitude detection and control mode of the shaft heading machine in the course of driving was discussed，the rectifying controller based on fuzzy control theory was developed，the postural prediction system based on the grey－system theory was designed，and the correlation algorithm was introduced．In order to verify the relia- bility of the automatic rectifying－deviation system，the simulation experiment under laboratory conditions was carried out，and the output of the rectifying system under the simulated deflective conditions was monitored and recorded．The experimental results showed that the output of the rectifying system is in accordance with the manual operation，and the system can control position of shaft heading machine during the heading process．The successful realization of automatic rectifying－deviation system based on combined grey prediction and fuzzy control law ensured the safety and stability of the shaft heading machine．
关键词

竖井掘进机自动纠偏模糊控制灰色预测
KeyWords

shaft－heading machine; automatic rectifying－deviation; fuzzy control; grey prediction
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