(1. 中南大學 有色金屬成礦預測教育部重點實驗室，長沙 410083;
2. 中南大學 地球科學與信息物理學院, 長沙 410083；
3. 云南華電怒江水電開發(fā)有限公司, 昆明 650228)
摘 要: 由于被灌地層巖體結構面特征、裂隙開度和漿液性能等因素影響，灌漿壓力的變化具有不確定性、時變性和非線性特征。為了實現(xiàn)灌漿壓力的動態(tài)檢測和穩(wěn)定控制，基于控制理論、傳感器技術和微機技術，以80C196 單片機為核心部件，設計了灌漿壓力穩(wěn)定控制系統(tǒng)。該系統(tǒng)采用模糊控制算法來自適應整定PID控制的Kp、Ki和Kd參數(shù)，使PID控制器能夠消除系統(tǒng)動態(tài)耦合、通過改變調(diào)節(jié)信號來控制執(zhí)行機構，從而使灌漿壓力保持穩(wěn)定。仿真試驗結果表明，灌漿壓力穩(wěn)定控制系統(tǒng)可將壓力波動控制在設定壓力值的5%以內(nèi)，控制響應時間為5~6 s，其性能指標優(yōu)于傳統(tǒng)人工控制方式的。
關鍵字: 灌漿壓力；穩(wěn)定性；PID控制；模糊控制
（1. Key Laboratory of Metallogenic Prediction of Nonferrous Metals, Ministry of Education,
Central South University, Changsha 410083, China;
2. School of Geoscience and Info-Physics, Central South University, Changsha 410083, China;
3. Yunnan Huadian Nujiang River Hydropower Development Co., Ltd., Kunming 650228, China）
Abstract:The changes of grouting pressure have the characteristics of uncertainty, time variation and nonlinear because of the influences of structural plane characteristics of rock mass, fracture aperture and grout performance, etc. In order to achieve dynamic measurement and stabilization control on grouting pressure, the grouting pressure stabilization control system is designed based on control theory, sensor and micro-computer technology, while using 80C196 chip as micro-computer. In this control system, Kp, Ki, Kd of PID control are adaptively adjusted by fuzzy control rule, PID controller could eliminate system dynamic coupling and control actuator by changing adjustment signal. Finally, the given grouting pressure can be kept stable. The simulation results prove that the grouting pressure fluctuation can be controlled to less than 5% of the set value in 5~6 s by grouting pressure stabilization control system. These performance indexes are better than those of the manual control.
Key words: grouting pressure; stabilization; PID control; fuzzy control
