(1. 中南大学 有色金属成矿预测教育部重点实验室，长沙 410083;
2. 中南大学 地球科学与信息物理学院, 长沙 410083；
3. 云南华电怒江水电开发有限公司, 昆明 650228)
摘 要: 由于被灌地层岩体结构面特征、裂隙开度和浆液性能等因素影响，灌浆压力的变化具有不确定性、时变性和非线性特征。为了实现灌浆压力的动态检测和稳定控制，基于控制理论、传感器技术和微机技术，以80C196 单片机为核心部件，设计了灌浆压力稳定控制系统。该系统采用模糊控制算法来自适应整定PID控制的Kp、Ki和Kd参数，使PID控制器能够消除系统动态耦合、通过改变调节信号来控制执行机构，从而使灌浆压力保持稳定。仿真试验结果表明，灌浆压力稳定控制系统可将压力波动控制在设定压力值的5%以内，控制响应时间为5~6 s，其性能指标优于传统人工控制方式的。
关键字: 灌浆压力；稳定性；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
