基于变速趋近律的采煤机调高滑模控制研究

Research on Control Method of Sliding Mode Based on The Variable Rate Reaching Law for Shearer Automatic Height Adjusting

为研究采煤机自动调高的控制方法,构建电液比例阀与采煤机调高油缸的耦合数学模型,运用现代控制理论建立采煤机调高系统的状态方程,采用基于变速趋近律的滑模变结构控制方法设计采煤机调高系统控制器,并在Simulink中搭建采煤机调高系统的控制模型,最后以正弦激励和阶跃激励为输入进行控制系统仿真,并将仿真结果与传统滑模控制进行比较,结果表明:采用基于变速趋近律的滑模变结构控制方法与传统方法相比,具有抖振小,控制速度快等优点,能够很好地实现采煤机滚筒快速、平稳的自动调整。

In order to study the automatic height adjustment control method of shearer,the coupling mathematical model for the electro-hydraulic proportional valve and steering cylinder of shearer is set up.The state equation of the shearer height adjusting system is established by using the modem control theory.The controller of the shearer height adjusting system is designed based on the sliding mode structure control method with the variable rate reaching law,and the control model is built in Simulink.Finally,the simulation of the control system is carried out by the sine excitation and step excitation,and the simulation results are compared with the traditional sliding mode control.The results indicate that,compared with the traditional method,the sliding mode structure control method with the variable rate reaching law has the advantages of small chattering,fast control response and so on,it can also achieve the automatic adjustment of the shearer drum quickly and smoothly.