Fig 1.
50000kN hydraulic support test bench.
Fig 2.
ZY29000/45/100d Hydraulic support model.
Fig 3.
Assembly model of hydraulic support and test bench.
Fig 4.
Logic diagram of three-platform joint simulation.
Fig 5.
AMESim hydraulic system model.
1-Motor;2-Hydraulic Pump;3-Safety Valve;4-Directional Control Valve;5-Hydraulic Bidirectional Lock;6-Hydraulic Cylinder;7-Displacement Sensor;8- Speed Sensor;9-Equivalent Mass Block;10-Force Conversion Module;11- Adams Mechanical Module;12- Simulink Control Module.
Table 1.
Hydraulic system parameters.
Table 2.
Fuzzy rule table of fuzzy PID controller.
Fig 6.
ΔKp ΔKi ΔKd output surface.
Fig 7.
Fuzzy PID parallel control system.
Fig 8.
Fuzzy PID control module.
Fig 9.
Schematic diagram of RBF neural network.
Table 3.
RBF-PID Parameters.
Fig 10.
RBF-PID parallel control system.
Fig 11.
RBF-PID control module.
Fig 12.
Double-cylinder loading displacement curve.
a. RBF-PID control loading displacement curve. b. Fuzzy PID control loading displacement curve.
Fig 13.
Double cylinder synchronization error of two loading schemes.
Fig 14.
Stress nephogram of shield beam No. 1 loading block.
Fig 15.
Stress nephogram of shield beam No. 2 loading block.
Fig 16.
Hydraulic support and test bench.
Fig 17.
Dual machine attitude adjustment.
Fig 18.
Shield beam loading pad.
Fig 19.
Hydraulic support test bench valve assembly.
Fig 20.
Measurement and control system.
Fig 21.
Experimental logic diagram.
Table 4.
RBF-PID parameters in experiment.
Fig 22.
Experimental double-cylinder loading force curve.
Fig 23.
Double cylinder synchronous error curve.
Fig 24.
Displacement curve of experimental double cylinder.