Abstract
Aiming at the shortcomings of the automatic height control of the existing coal shearer drum, the control strategy of the coal shearer drums height adjustment sliding mode based on the variable speed reach law is proposed. Firstly, the mathematical model of the coal shearer height-adjusting cylinder is established, and the sliding mode switching function and its derivative including the deviation variable are derived. The exponential approaching law sliding mode controller is designed. Secondly, the hydraulic simulation of the drum height is established. The model compares and analyzes the control effects of traditional PID control and exponential approach law sliding mode control. The results show that the exponential approach law sliding mode control is superior to PID control in signal tracking dynamic response and steady state error; when the coal shearer is under load, the height of the drum under control of the exponential approaching law is basically unaffected; finally, the method of shifting the approaching law of dynamically adjusting the arrival speed by the fuzzy parameter optimization strategy is used to adjust the drum height. The simulation results show that compared with the traditional control method, the coal shearer control mode of the coal shearer drum based on the variable speed reach law not only ensures faster response speed and higher control precision, but also effectively reduces system chattering. Improve the reliability of the coal shearer cutting drive system.
Highlights
Long-wall mining is a special mining method that has high coal productivity and smooth operation
The biggest problem of automatic drum height adjustment is how to make the coal shearer drum automatically adapt to the fluctuation of the top and bottom of the coal seam to obtain the maximum coal production and avoid cutting the top and bottom rock as much as possible to protect the transmission system, at the same time with efficient economy and safety
Aiming at the problems of poor robustness and low control accuracy of traditional drum height control methods, this paper proposes a sliding mode control method for drum height adjustment based on the variable speed reach law
Summary
Long-wall mining is a special mining method that has high coal productivity and smooth operation. SLIDING-MODE CONTROL FOR COAL SHEARER DRUM HEIGHT ADJUSTMENT BASED ON VARIABLE SPEED REACHING LAW. Fan Qigao proposed a coal mining machine height control method based on dynamic fuzzy neural network to adjust the height of the coal shearer [12]. This paper proposes a sliding mode control strategy with variable speed index reaching law under complex working conditions, which takes the memory cutting information as the coal shearer heightening criterion and has better rapidity, stability and accuracy. The proposed control strategy can effectively overcome the uncertainty of the system and the disturbance of the external loads by means of the adjustment and change of the controller structure, and realize the control of the drum height adjustment with the advantages of fast, stable, quasi-vibration and small chattering
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