采用扩张状态观测器双闭环复合策略的液压支架新型阀控缸系统平滑精准控制方法

廖瑶瑶; 魏光耀; 张嘉哲; 廉自生

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采用扩张状态观测器双闭环复合策略的液压支架新型阀控缸系统平滑精准控制方法

更新时间：2026-08-11

- 采用扩张状态观测器双闭环复合策略的液压支架新型阀控缸系统平滑精准控制方法
- Smooth and Accurate Control Method for a New Valve-Controlled Cylinder System of Hydraulic Support Adopting Extended State Observer Dual Closed-Loop Compound Strategy
- 西安交通大学学报 2026年
- 作者机构：
  
  1.太原理工大学机械工程学院，030024，太原
  2.智能采矿装备技术全国重点实验室，030024，太原
- 作者简介：
- 基金信息：
- DOI：
  中图分类号： TH137
- 收稿：2026-04-28，
  
  修回：2026-07-30，
  
  录用：2026-07-30，
- 稿件说明：
移动端阅览
廖瑶瑶, 魏光耀, 张嘉哲, 等. 采用扩张状态观测器双闭环复合策略的液压支架新型阀控缸系统平滑精准控制方法[J/OL]. 西安交通大学学报, 2026.

LIAO Yaoyao, WEI Guangyao, ZHANG Jiazhe, et al. Smooth and Accurate Control Method for a New Valve-Controlled Cylinder System of Hydraulic Support Adopting Extended State Observer Dual Closed-Loop Compound Strategy[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026.
廖瑶瑶, 魏光耀, 张嘉哲, 等. 采用扩张状态观测器双闭环复合策略的液压支架新型阀控缸系统平滑精准控制方法[J/OL]. 西安交通大学学报, 2026. DOI：

LIAO Yaoyao, WEI Guangyao, ZHANG Jiazhe, et al. Smooth and Accurate Control Method for a New Valve-Controlled Cylinder System of Hydraulic Support Adopting Extended State Observer Dual Closed-Loop Compound Strategy[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026. DOI：

摘要

针对煤矿井下液压支架因采用高压大流量高水基开关阀控制系统而普遍存在的位姿控制精度低、支护群组直线度差及启停液压冲击大等问题，发明了一款三芯随动式矿用高压大流量水基比例阀，提出了基于线性扩张状态观测器（LESO）的双闭环速度-位置复合控制方法，进而采用改进灰狼算法（IGWO）对PID参数进行离线优化。通过搭建仿真模型与试验平台，分别对开关控制、传统PID控制和所提复合控制进行对比测试。结果表明：位置跟踪最大误差由开关控制方式下的7.5 mm和传统PID控制方式下的4.51 mm降低至速度位置复合控制方式下的1.22 mm，最大位置误差降幅达83.7%；开关阀和比例阀传统PID控制方式下，液压缸启停阶段压力超调量分别为102.1%和48%，而速度位置复合控制方式下，液压缸压力无超调产生。本研究提出的新型水基比例阀及改进灰狼优化的速度位置双闭环复合控制策略，成功实现了液压支架推移缸速度与位置的连续平滑调节，消除了系统液压冲击，提升了控制精度，为煤矿智能开采中液压支架高精度姿态控制、支护群组直线度自动校正提供了有效参考。

Abstract

Aiming at the common problems of low position and attitude control accuracy

poor straightness of support groups

and severe hydraulic impact during start and stop of the hydraulic supports in coal mines due to the use of high-pressure

high-flow

and high water-based switch valve control systems

a three-core follow-up high-pressure

high-flow water-based proportional valve for mining has been invented. A double closed-loop speed-position compound control method using a linear extended state observer (LESO) is then proposed

and PID parameters are optimized offline by an improved grey wolf optimizer (IGWO). By building simulation models and experimental platforms

comparative tests were conducted on switch control

traditional PID control

and the proposed composite control. The results showed that the maximum position tracking error decreased from 7.5 mm under switch control and 4.51 mm under traditional PID control to 1.22 mm under speed-position composite control

with a maximum position error reduction of 83.7%. Under the traditional PID control mode of switch valve and traditional PID control with proportional valve

the pressure overshoot during the start and stop stage of the cylinder is 102.1% and 48%

respectively. However

under the speed-position composite control mode

there is no overshoot in the cylinder pressure. The new water-based proportional valve and IGWO speed-position dual closed-loop composite control strategy proposed in this study have successfully achieved continuous and smooth adjustment of the speed and position of the push cylinder of the hydraulic support

eliminating the hydraulic shock and improving control accuracy. It provides effective reference for high-precision attitude control of hydraulic supports and automatic correction of support group straightness in intelligent mining of coal mines.

关键词

Keywords

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