基于煤机调高液压系统的阀控缸自适应死区补偿控制研究

Study on Adaptive Dead Zone Compensation Control of Valve Controlled Cylinder Based on Coal Machine Height Adjusting Hydraulic System

摘要: 针对煤机调高液压系统中比例阀存在的结构死区引起的跟踪精度不足的问题，本文基于阀控非对称液压缸系统，建立其状态方程，设计了基于比例阀死区模型的自适应补偿控制器。利用Lyapunov稳定性理论设计死区参数自适应律以获得不确定参数实时估计值，最后，通过MATLAB/simulink仿真验证了所提控制方法可以降低煤机调高液压系统跟踪的定位偏差，改善比例阀死区对煤机截割系统性能的影响。

Abstract: Aiming at the problem of insufficient tracking accuracy caused by the structural dead zone of the proportional valve in the hydraulic system of coal machine height adjustment, this paper is based on the valve-controlled asymmetric hydraulic cylinder system, establishes its state equations, and designs an adaptive compensation controller based on the dead zone model of the proportional valve. The Lyapunov stability theory is utilized to design the dead zone parameter adaptive law to obtain the real-time estimation value of the uncertain parameters, and finally, the proposed control method is verified by MATLAB/simulink simulation to reduce the positioning deviation of the tracking of the hydraulic system of the coal machine heightening, and to improve the influence of the dead zone of the proportional valve on the performance of the coal machine cutting system.