首先设计了一种新兴的综掘巷道自移式超前支护装备并阐明了其装备组成及工艺原理,为确保其自移式临时支架在非水平底板环境下实现煤巷顶板的快速有效支护,提出了一种自移式临时支架的异步耦合多液压缸调平控制方法。基于煤巷地质成分不均造成的非水平底板工况与自移式临时支架的结构特性,采用了适用于自移式临时支架的逐最高点双向异步控制方法,并利用三维空间欧拉角法原理解算出了自移式临时支架支撑立柱液压缸的期望位移坐标值。然后针对自移式临时支架顶梁空间姿态调平过程中相邻支撑立柱液压缸之间同步误差的权重失衡问题,采用了多缸驱动下的相邻交叉耦合控制结构并构建了基于变权因子调节器的同步控制器,实现了对自移式临时支架支撑立柱相邻液压缸之间的同步误差精度优化。最终通过Interface Block 模块实现了AMESim 与Matlab/ Simulink 的情景交互,并进行了基于异步耦合调平控制模型的半实体物理联合仿真,仿真结果表明:异步耦合调平控制方法相较于模糊PID 控制,可使得自移式临时支架的4 个液压缸之间的同步误差值从±4 mm 精确到±1 mm 范围内,同时其同步误差的波动幅度更为均匀平缓不易于发生震颤现象,验证了所建立异步耦合调平控制方法的可行性与先进性。

Firstly,a new self-moving advanced support equipment for a fully mechanized roadway is designed and its equipment composition and technological principle are expounded. To realize the support target fast and effectively,an asynchronous coupling multi-cylinder leveling control method is proposed for self-shifting temporary support. Consider- ing the non-horizontal floor conditions caused by uneven geological composition of coal roadway and the structural characteristics of self-moving temporary support,the asynchronous control method of adjusting gradually the height in two coordinates is adopted which is more suitable for self-shifting temporary support. The expected displacement of the supporting hydraulic cylinders of self-moving temporary support are calculated by using the principle of three-dimen- sional Euler angle method. Then to balance the weight ratio of synchronization error between adjacent hydraulic cylin- ders during attitude leveling,the adjacent cross coupling control structure is adopted under multi-cylinder driving and a coupling control method is proposed based on the weighting factor regulator,which can complete the optimization of synchronization error for adjacent hydraulic cylinders. Finally,the scene interaction between AMESim and MATLAB /Simulink is realized though the Interface Block module,which makes the semi-physical joint simulation concluding the asynchronous coupling leveling control model proceeded smoothly. The simulation results show that using the asyn- chronous coupling leveling control method can make the synchronization error between the four hydraulic cylinders of self-moving temporary support more precise from ±4 mm to ±1 mm than that of the fuzzy PID control method. At the same time,the fluctuation amplitude of synchronization error is more uniform and gentle,which means the tremor phe- nomenon is rare to happen. The above results verify the feasibility and advancement of the asynchronous coupling lev- eling control method.

1 自移式临时支架简介

　　1.1 自移式超前支护装备概述

　　1.2 自移式临时支架组成及调平原理

2 支撑立柱异步控制方法

　　2.1 空间坐标系建立与转换

　　2.2 液压缸期望位移解算

3 数学建模与验证

　　3.1 系统构建

　　3.2 模型分析与验证

4 异步耦合调平控制方法

　　4.1 模糊PID控制器设计

　　4.2 同步控制器设计

5 模型建立与结果分析

　　5.1 联合仿真模型

　　5.2 仿真结果分析

6 结论