Research On Automatic Heightening Control Method Of Shearer Drum

This project is a sub-project of the key natural Fund project of Shanxi Province "Shearer vision Reconstruction and cutting feedback multi-information coal and rock interface accurate identification theory research(201901D111008(ZD))".It is proposed for the current shearer drum raising system automation level is low,raising control accuracy is not high.Automatic elevation control technology of shearer drum is the key technology to realize automatic coal mining in fully mechanized face,which can effectively improve the efficiency of coal mining and ensure the safety of coal mining.In the process of coal mining in fully mechanized face,in order to avoid cutting gangue to improve the recovery rate,the drum raising system of shearer needs to control the drum running along the coal-rock interface.However,most of the drum heightening of downhole shearer in China adopts manual operation,and the drum heightening control system has a large heightening error,which is difficult to adapt to the development process of fully mechanized mining face automation.In order to improve the automatic control performance of shearer drum heightening system,this paper studies the electromechanical hydraulic heightening system of shearer,and puts forward the fuzzy PID heightening control strategy of foreseeing-forward compensation.Adopt the method of combining theoretical analysis and experimental research,in Simulink to build the system of shearer drum automatic simulation model of the proposed control method,the simulation experiment and set up a coal mining electromechanical liquid proportion increase experiment platform,completed the higher controller hardware and software design,high control strategy for dispatch by experimental verification,the specific research contents are as follows:The basic principle of drum raising system of shearer is analyzed,and the transfer function of drum raising system is obtained by establishing mathematical model of drum raising hydraulic system and raising mechanism part of shearer.According to the basic principle of PID and fuzzy PID drum raising control method,the simulation model of drum raising system based on PID and fuzzy PID raising control method is built in Simulink,and the simulation experiment of step response and trajectory tracking is carried out.The simulation results show that compared with PID raising control method,the fuzzy PID heightening control strategy is beneficial to reduce the overshoot and heightening error of the drum heightening system.Aiming at the memory cutting system of shearer,the drum target track was introduced to compensate the control quantity of the system according to the foreseeability control principle,and a foreseeability feedforward compensation fuzzy PID control method was designed to optimize the control system of the drum target track.Experiments are carried out in Simulink.The simulation results show that the trajectory tracking error of the elevating system is effectively reduced and the dynamic response performance of the elevating system is improved after the introduction of predictive compensation.The design of hardware circuit is an important link to realize automatic control and information monitoring of drum elevation system.According to the basic requirements of fuzzy-PID heightening control strategy based on foresaw feedforward compensation,the hardware circuit of heightening controller is designed,including the minimum system circuit,electro-hydraulic proportional valve driving circuit,inclination measuring circuit and so on.And based on Keil 5 software development of the system of foresaw feed forward compensation algorithm,fuzzy algorithm and PID elevation control algorithm program,complete the foresaw feed forward compensation fuzzy PID elevation controller design.At the same time,a monitoring platform of drum elevation system was developed based on Lab VIEW software to monitor the data of drum height,drum target height and drum height deviation of the control system.According to the principle of electro-hydraulic proportional heightening control system,an experimental platform for simulating shearer drum heightening was built,and the hydraulic system and the simulated heightening mechanism of the experimental platform were designed.The track tracking experiment was carried out on the experimental platform.The experimental results show that the fuzzy PID elevation control method with foreseeing-feed-forward compensation can better realize the tracking of different target trajectory of the control drum.The elevation system of the control drum has the characteristics of fast adjustment speed and small track tracking error.The maximum track tracking error of the drum is 2.32 cm,and the steady-state error is within 0.5cm.It can meet the precision requirement of shearer drum automatic elevation control system.