基于单神经元自适应PID的截割头空间位置控制

Spatial Position Control of Cutting Head Based on Single Neuron Adaptive PID

针对智能化掘进机自动截割问题,推导出截割头在工作面的空间位置和油缸行程间的数学关系,得出截割头控制系统的传递函数,提出了单神经元自适应PID控制策略。在数学工具中编写单神经元PID的S函数,构建单神经元自适应PID控制系统仿真模型。与传统PID控制进行仿真对比,结果表明,单神经元自适应PID控制比传统PID控制超调量减小50%,调节时间明显缩短,能够更加准确地控制截割头的空间位置。

Aiming at the automatic cutting problem of intelligent roadheader, the mathematical relationship between the spatial position of the cutting head in working face and the stroke of the oil cylinder was deduced, the transfer function of the cutting head control system was obtained, and the single neuron adaptive PID control strategy was proposed. The S function of single neuron PID was written in mathematical tools, and the simulation model of single neuron adaptive PID control system was constructed. Compared with the traditional PID control system, the simulation results show that the overshoot of single neuron adaptive PID control is reduced by 50% compared with the traditional PID control, and the adjustment time is significantly shortened, which can more accurately control the spatial position of the cutting head.