采煤机搬运车独立转向高精控制方法研究

Research on High Precision Control Method of Independent Steering of Shearer Carrier

为提高采煤机搬运车转向系统的响应速度和协同性,针对其独立转向特性提出了一种高精度转向控制方法。首先建立了转向系统的数学模型,采用模糊PID控制算法提高系统动态特性,相较于经典PID控制算法,响应时间由1.14 s减小为1.12 s;其次将控制器进行离散化处理,将其应用于实际系统中;最后进行实车实验,通过提高转向控制灵敏度和控制器采样周期,进一步提高了前后车协调转向控制效果。研究内容为其他工程机械独立转向控制的设计提供了参考。

In order to improve the response speed and synergy of the steering system of the shearer carrier,a high-precision steering control method is proposed for its independent steering characteristics.Firstly,the mathematical model of the steering system is established,and the fuzzy PID control algorithm is used to improve the dynamic characteristics of the system.Compared with the classical PID control algorithm,the response time is reduced from 1.14 s to 1.12 s.Secondly,the controller is discretized and applied to the actual system.Finally,the real carrier experiment is carried out.By improving the steering control sensitivity and the controller sampling period,the coordinated steering control effect of the front and rear vehicles is further improved.The research content provides a reference for the design of independent steering control of other construction machinery.