掘进机工作装置的自适应控制设计与仿真

Design and Simulation of Adaptive Control for Roadheader Manipulator

悬臂式掘进机工作装置的控制模型具有不确定性和非线性,表现在机构模型的建模简化、液压系统参数的不确定性、负载扰动以及对称阀控制的非对称油缸的特性等方面。基于误差方程多项式的模型参考自适应控制的基本思想是使被控系统的输出渐进一致地跟随参考模型的期望输出,使自适应控制误差随时间的推移趋向于零,确保系统在李雅普诺夫意义下的稳定。设计了悬臂式掘进机工作装置速度的模型参考自适应控制器。仿真研究表明该控制器具有良好的自适应性和鲁棒性。

The control model of the manipulator for the mine boom type roadheader had an uncertainty and nonlinear with the easy modeling,the uncertainty of the hydraulic system parameters,loading disturbance of the mechanism model and asymmetric cylinder controlled by the symmetric valves.Based on the error equation,the basic idea of the multi term model reference adaptive control is to make the output of the controlled system steadily same with the expected output of the reference model,to make the adaptive control ...