护盾式临时支护机器人（以下简称临时支护机器人）是本团队研发的护盾式煤矿巷道掘进机器人系统的重要组成部分，为实现“掘支并行”提供了安全可靠的工作空间。针对临时支护机器人推移行驶过程影响围岩的安全稳定支护问题，本文提出“带压行驶，减压不离顶”的行驶方式，研究设计临时支护机器人液压控制系统，旨在提高临时支护机器人的控制精度，保证巷道掘进的安全性和高效性。

研究了临时支护机器人机械结构特征，总结了临时支护机器人的作业需求，分析了“带压行驶，减压不离顶”的行驶控制特征，揭示了临时支护机器人带压行驶过程中推移量与支护力的关系；构建了临时支护机器人带压行驶动力学模型，提出了临时支护机器人的电液闭环控制方案，设计了临时支护机器人液压控制系统，并对主要液压元件进行计算选型。

建立了临时支护机器人液压支护系统与液压行驶系统的数学模型，研究分析了各系统的性能，基于液压弹簧刚度理论与功率匹配原则，解决阀控非对称缸结构对建模准确性带来的影响；利用MAELAB-simulink可视化工具，搭建系统闭环控制模型，采用Bode判据评价了单缸闭环控制系统的稳定性。

借助于AMESim液压仿真软件建立了伺服比例阀仿真模型，对比了所建阀模型仿真结果与实际所选阀样本特性曲线，验证了所建仿真模型的准确性；建立了临时支护机器人单缸闭环控制系统与多缸同步控制系统仿真模型，同步控制方式采用主从控制；分别采用PID控制和模糊PID控制方法控制临时支护机器人液压系统，仿真结果表明，模糊PID控制优于传统PID控制，模糊控制下推移油缸响应时间更快，推移油缸同步误差在1mm以内，支撑油缸支护力输出基本不存在超调，支撑油缸同步误差仅为0.04MPa，

均够满足系统控制要求。

依托实验室电液比例伺服实验台搭建了本文设计的液压控制系统，并研发了带压行驶实验台，验证了液压控制系统的合理性，模糊PID控制方法的有效性，模糊PID控制下支撑油缸压力阶跃控制基本不存在超调，斜坡控制误差仅为0.02MPa，实验结果与仿真结果基本一致，并进行了带压行驶整体实验，验证了临时支护机器人“带压行驶，减压不离顶”的安全性、稳定性和可靠性。

Shield temporary support robot (hereinafter referred to as temporary support robot) is an important part of the shield coal mine tunnel tunneling robot system developed by our team, which provides a safe and reliable working space for the realization of "parallel excavation and support". In view of the safety and stability support of the temporary support robot affecting the surrounding rock, this paper puts forward the driving mode of "driving with pressure, decompression without the top", and studies and designs the hydraulic control system of the temporary support robot, aiming to improve the control accuracy of the temporary support robot and ensure the safety and efficiency of roadway tunneling.

This paper studies the mechanical structure characteristics of temporary support robot, summarizes the operation requirements of temporary support robot, analyzes the driving control characteristics of "driving with pressure, decompression", reveals the relationship between the quantity and force with pressure, constructs the dynamic model, proposes the o-hydraulic closed-loop control scheme of temporary support robot, designs the hydraulic control system of temporary support robot, and selects the main hydraulic components.

The mathematical model of temporary support robot hydraulic support system and hydraulic driving system is established, and the performance of each system is studied and analyzed. Based on the principle of hydraulic spring stiffness, the closed-loop control model was built with the MAELAB-simulink visualization tool, and the stability of single cylinder closed-loop control system was evaluated by Bode criterion.

With the help of the AMESim hydraulic simulation software, By comparing the simulation results of the built valve model with the characteristic curve of the selected valve sample, The accuracy of the built simulation model is verified; The simulation model of single-cylinder closed-loop control system and multi-cylinder synchronous control system is established, Synchronous control mode adopts master and slave control; PID control and fuzzy PID control method to control the hydraulic system of temporary support robot, The simulation results show that, Fuzzy PID control is superior to the traditional PID control, Faster transfer cylinder response time under fuzzy control, The synchronous error of the oil cylinder is within 1mm, Support cylinder support force output is basically no overshoot, The synchronization error of the supporting cylinder is only 0.04MPa,

Are enough to meet the system control requirements.Relying on the laboratory electro-hydraulic ratio servo test bench built the hydraulic control system designed in this paper, and developed the driving test bench with pressure, verify the rationality of the hydraulic control system, fuzzy PID control method, the slope control error is only 0.02MPa. The experimental results and the simulation results, and the safety, stability and reliability of the temporary support robot "driving with pressure, decompression from the top".

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