采煤机滚筒调高滑模变结构控制策略

A shearer drum height adjusting strategy using sliding-mode variable structure control

针对采煤机自动调高是电液比例伺服控制的情况,通过建立采煤机调高油缸数学模型,得到采煤机调高系统状态空间方程,采用滑模变结构控制策略设计了采煤机自动调高控制器,主要包括根据采煤机调高系统状态方程设计滑模面切换函数和滑模控制规律,得到滑模控制函数。最后,在建立采煤机调高系统状态方程和滑模控制函数的基础上,进行了采煤机调高控制器仿真分析,其结果表明,采用滑模变结构控制能够较好地实现采煤机截割滚筒快、平、稳的自动调整。

As automatic height adjusting of the shearer was achieved by electro-hydraulic proportional servo control,established a height-adjustment cylinder model of the shearer,and deduced state space equation of the shearer height adjusting system,then designed an automatic height adjusting controller,in the controller authors adopted the controller sliding-mode variable structure control strategy,including the sliding function design and sliding control rule analysis.Finally,based on the state equation and the controlling function,authors simulated the shearer height adjusting controller,the results show that with the sliding mode variable structure control strategy,the automatic height adjusting become fast and stable.