Sliding-mode control for coal shearer drum height adjustment based on variable speed reaching law
Sliding-mode control for coal shearer drum height adjustment based on variable speed reaching law
复制标题
DOI：
10.21595/jve.2020.21223
复制
发表时间：
2020-11
影响因子：
1
通讯作者：
Li Wenli;Shuaishuai Ge;Rui Zhao;Jianbo Li;Liu Yongkang;Zhen Wang
中科院分区：
文献类型：
--
作者：
Li Wenli;Shuaishuai Ge;Rui Zhao;Jianbo Li;Liu Yongkang;Zhen Wang
针对现有采煤机滚筒高度自动控制的不足，提出了基于变速到达律的采煤机滚筒高度调节滑模控制策略。首先，建立了采煤机调高油缸的数学模型，推导了包含偏差变量的滑模切换函数及其导数。设计了指数趋近律滑模控制器。其次，建立了转鼓高度的水力仿真模型。该模型对传统的PID控制和指数趋近律滑模控制的控制效果进行了比较分析。结果表明，指数趋近律滑模控制在信号跟踪动态响应和稳态误差方面优于PID控制；采煤机在载荷作用下，指数趋近律控制下的滚筒高度基本不受影响；最后，采用模糊参数优化策略改变动态调节到达速度的趋近律的方法来调整滚筒高度。仿真结果表明，与传统控制方法相比，基于变速趋近律的采煤机滚筒采煤机控制方式不仅保证了更快的响应速度和更高的控制精度，而且有效地减小了系统抖振。提高采煤机截割传动系统的可靠性。
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.