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基于延迟观测器的采煤机自动调高策略研究

Research on Automatic Height Adjustment Strategy of Shearer Based on Delayed Observer
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摘要 针对采煤机调高系统中信号存在的输出延迟问题,对系统控制精度造成的影响,提出基于输出延迟观测器的滑模控制策略。通过分析采煤机自动调高系统的工作原理,建立采煤机滚筒高度和调高油缸数学模型,得到了采煤机滚筒高度和系统空间状态方程,设计了输出延迟观测器,分析了不同延迟时间内的观测误差,采用滑模控制器实现了采煤机滚筒高度的自动调节。仿真结果表明,将延迟观测器与滑模控制相结合,不仅解决了信号输出存在的延迟问题,而且相对于无延迟观测器的控制系统,跟踪误差小、控制效果理想。 In order to eliminate the influence of the output delay of the signal in the height adjustment system of the shearer on the system control precision, a sliding mode control strategy based on the output delay observer is proposed. By analyzing the working principle of the automatic height adjustment system of shearer, the mathematical models of the drum height of shearer and raising of the oil cylinder are established, the shearer drum height and system state space equation are obtained. The output delay observer is designed, and the observation error in different delay time is analyzed, and the automatic adjustment of shearer drum height is realized by sliding mode controller. The simulation results show that combining the delay observer and sliding mode control not only solves the problem of signal output delay, but also has less tracking error and better control effect than the control system without delay observer.
出处 《测控技术》 CSCD 2017年第12期76-80,85,共6页 Measurement & Control Technology
基金 河南省高等学校重点科研项目计划(16A520052)
关键词 输出延迟观测器 采煤机 自动调高 滑模控制 output delay observer coal mining machine automatic height adjustment sliding mode control
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