Research On Design And Control Strategy Of Anti-extrusion Test Bench

The environment of underground roadway in coal mine is unique and the working condition is bad.There are risks of rollover,collision and extrusion when the trackless transport vehicle is driving in the underground.The vehicle designers installed the rollover protection structure on the vehicle to protect the driver ’s safety when the accident occurred.With the construction of modern coal mines,the functions and types of trackless transportation vehicles in coal mines were diversified.The detection standards and detection equipment of ground earthwork vehicles could no longer meet the development needs of trackless transportation vehicles in coal mines.In this paper,a set of anti-extrusion test bench suitable for trackless transport vehicles in underground coal mines was designed to meet the current testing needs of our hospital and provide equipment support for the formulation of relevant domestic testing standards.In this paper,through the analysis and research of the force feedback control system of the test bench,the PID pressure controller and the fuzzy active disturbance rejection pressure controller were designed and verified by joint simulation and experiment.The main research contents of this paper are as follows :(1)The anti-extrusion test bench was designed.Firstly,according to the detection requirements of trackless transport vehicles in coal mine,the design scheme of antiextrusion test bench was determined.Then,different forms of vehicle driver protection structure test bench at home and abroad was referred,the layout of the antiextrusion test bench was determined,and the main mechanical structure of the antiextrusion test bench was designed.Finally,the hydraulic loading system of the antiextrusion test bench was designed,and the selection and design of hydraulic components were carried out.(2)Mathematical modeling of symmetrical valve-controlled asymmetric cylinder system.The anti-extrusion test bench loading system belongs to the symmetrical valve-controlled asymmetric cylinder system.Considering the influence of various nonlinear factors in the system,the various parts of the system were analyzed and mathematically deduced,and the mathematical model from the proportional solenoid valve to the asymmetric hydraulic cylinder was established.The transfer function of displacement closed-loop control and force closed-loop control was calculated.(3)Control strategy research and simulation analysis of anti-extrusion test bench.Firstly,the principles of PID algorithm,fuzzy PID algorithm,second-order active disturbance rejection control algorithm and fuzzy active disturbance rejection control algorithm were analyzed and the corresponding controllers were designed.Then,according to the established force feedback transfer function equation,the parameters of the four controllers were set.Finally,the electro-hydraulic joint simulation experiment of step signal and slope signal was carried out to verify the control effect of the four controllers.(4)Control system design and experimental verification of anti-extrusion test bench.The electronic control system of the anti-extrusion test bench was designed and the related software was written,and the construction of the anti-extrusion test bench was completed.The lateral,vertical,longitudinal and angular loading tests prove that the test bench meets the design requirements,and the performance of the fuzzy active disturbance rejection controller was verified by the vertical loading tests of 5T,8T and 10 T.