摘要
为了实现对采煤机截割滚筒运行轨迹的精确跟踪,根据截割过程的重复性及截割系统难以建立精确数学模型的特点,在采煤机截割滚筒运行轨迹的跟踪控制中采用迭代学习控制算法。首先介绍采煤机记忆截割的工作原理,并简化截割系统的动力学模型得到其动力学方程;其次以采煤机摇臂摆角为控制变量,设计自适应迭代学习控制器完成对记忆截割目标轨迹的精确跟踪。最后通过仿真结果表明,随着迭代学习次数增加,采煤机摇臂摆角的跟踪误差逐渐减小,验证了该控制方法能够精确跟踪记忆截割目标轨迹。
In order to improve the tracking accuracy of the shearer cutting-drum, the iterative learning control algorithm is adopted in the trajectory tracking strategy. Since the shearer cutting process has the characteristic of repeatability, and it is difficult to establish the precise mathematical model for the shearer cutting system. The working principle of the memory cutting technology is presented, and the kinetic equation of the cutting system is obtained by simplifying the dynamic model. Then, the swing-angle of rocker is selected as the control variable, and the adaptive iterative learning controller is designed to track the target trajectory of the memory cutting accurately. The simulations verify the feasibility of the controller, and the tracking error of the swing-angle decreases with the increasing of iterative numbers.
作者
王福忠
高颖
WANG Fu-zhong;GAO Ying(School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China;Department of Electrical Engineering, College of Information and Business, Zhongyuan University of Technology, Zhengzhou 451191, China)
出处
《控制工程》
CSCD
北大核心
2018年第6期966-971,共6页
Control Engineering of China
基金
国家自然科学基金项目(61203065)
关键词
截割系统
记忆截割
轨迹跟踪
自适应迭代学习控制
Cutting system
memory cutting
trajectory tracking
adaptive iterative learning control
