摘要
刮板输送机是重要的矿用输送设备,其链条张力控制系统具有时变等复杂的特性,被控对象模型无法准确建立,常规的PID控制又依赖系统的准确模型,将无法满足实际日益提高的精度要求。为此,提出的滑模分数阶PID控制器是为提高张力控制系统的性能,同时结合智能控制理论特点而设计。滑模控制通过切换法则来实现间断性控制,且控制系统的设计与干扰无关,具有很强的鲁棒性;分数阶PID控制,比常规PID控制多出2个参数,能够做到更有余量的控制,进而使分数阶滑模控制器能够通过积分系数和微分系数的不同选择和组合,改善控制系统的灵活性,提高系统控制性能,并克服了由于滑模控制而产生的抖振问题。通过仿真模拟实验可以看出,滑模分数阶PID控制下的刮板输送机链条张力控制系统,具有比常规PID控制更优异的性能、更出色的效果和更出色的抗扰动能力。
Scraper conveyor is an important mining conveying equipment.Its chain tension control system has complex characteristics such as time-varying.The controlled object model cannot be established accurately.Conventional PID control depends on the accurate model of the system,which will not meet the actual increasing accuracy requirements.For this reason,sliding mode fractional order PID controller is proposed to improve the performance of tension control system,combined with the characteristics of intelligent control theory.The sliding mode control realizes the discontinuous control through the switching rule,and the design of the control system is independent of the disturbance,so it has strong robustness;the fractional order PID control,which has two more parameters than the conventional PID control,can achieve more margin control,so that the fractional order sliding mode controller can improve the flexibility of the control system,improve the system control performance,and overcome the chattering problem caused by sliding mode control through the different selection and combination of integral coefficient and differential coefficient.Through the simulation experiment,it can be seen that the chain tension control system of scraper conveyor under sliding mode fractional PID control has better performance,better effect and better anti-interference ability than the conventional PID control.
作者
孙利
SUN Li(Beixulou Coal Mine,Shandong Fengyuan Yuanhang Coal Industry Co.,Ltd.,Tengzhou 277517,China)
出处
《煤炭技术》
CAS
北大核心
2023年第9期266-269,共4页
Coal Technology
关键词
刮板输送机
链条张力
非线性
分数阶PID
滑模控制
仿真
scraper conveyor
chain tension
non linear
fractional PID
sliding mode control
simulation
