基于DSP+CPLD的悬臂式掘进机智能控制系统设计

Design of Intelligent Control System of Cantilever Roadheader Based on DSP+CPLD

针对掘进机工作载荷突变导致系统稳定性变差和截割效率低的问题,在分析影响掘进机工作载荷因素的基础上,设计了一种基于DSP+CPLD为核心的智能控制系统。通过多传感器技术进行煤岩动态感知,构建基于RBF-PID的自适应截割控制策略和系统结构,完成了截割头转速、截割臂移动速度与工作载荷之间的匹配,从而达到断面截割成形的自适应控制。仿真结果表明:该智能控制系统在工作载荷突变条件下,稳态工作的响应效率达到设定目标值,表明该控制器不仅具有较强的鲁棒性,而且确保了悬臂式掘进机在工况突变状况下的截割稳定性。

In view of the problem that the system stability and cutting efficiency are low due to the sudden change of the working load of the roadheader,an intelligent control system based on DSP+CPLD was designed based on the analysis of the factors affecting the working load of the roadheader.Through the multi-sensor technology for coal and rock dynamic perception,the adaptive cutting control strategy and system structure based on RBF-PID were constructed,and the matching among cutting head speed,cutting arm moving speed and working load were completed,so as to achieve the adaptive control of section cutting forming.The simulation results show that under the condition of sudden change of working load,the steady-state response efficiency of the intelligent control system reaches the set target value,which shows that the controller not only has strong robustness,but also ensures the cutting stability of the cantilever roadheader under the condition of sudden change of working condition.