基于GSO-BFA的采煤机双滚筒同步调高控制

Research on Synchronous Height Adjustment for Shearer Drums with Adaptive Fuzzy Differential and Integral SMC Based on GSO-BFA

为研究采煤机滚筒在煤岩混合复杂工况下的调高连续性,依据液压机构的工作原理建立了滚筒调高机构的动力学模型。基于自适应模糊微分积分滑模(AFDI-SMC)鲁棒性强的优点,采用了萤火虫-细菌觅食(GSO-BFA)算法优化滑模控制器参数条件下的滚筒调高控制方案。为保证双滚筒工作时举升高度的一致性,引入偏差-环形耦合同步控制策略补偿位置偏差,同时采用融合算法(CSO-BFA)对外闭环(滚筒高度-电压)控制器参数进行优化,并分析了双滚筒同步调高性能,且与采用遗传算法(GA)优化的系统同步调高精度相比较。仿真结果表明,采用融合算法优化且结合自适应模糊微分积分滑模的滚筒同步调高系统具有良好的鲁棒性及较高的同步精度。

Based on the principle of hydraulic mechanism,a mathematical model of hydraulic drum height adjustment is established for the study of consecutive height adjusting of shearer＇ s drums working under complicated circumstances such as mixed coal and rocks.The adjustment scheme,which adopts the fusion algorithms of glowworm swarm optimization and bacterial foraging algorithm（GSO-BFA） to optimize the parameters of the sliding mode controller,is proposed with the robust advantages of adaptive fuzzy differential and integral sliding mode control（AFDI-SMC） to estimate the exact position of the drum.The deviation-ring coupling strategy complementing the position offset is introduced with GSO-BFA to optimize the parameters of the controller in outer closed loop（the height-voltage loop） to ensure the consistency of each drum＇ s height.The synchronous adjustment characteristics optimized with both GSO-BFA and GA are also analyzed.Simulation results illustrate that the adaptive drum adjustment system with its parameters optimized by fusion algorithm boasts good robustness and high synchronous precision.