采煤机截割滚筒轨迹的迭代学习跟踪控制

高颖
高颖

控制工程, 2018.

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Abstract:

为了实现对采煤机截割滚筒运行轨迹的精确跟踪,根据截割过程的重复性及截割系统难以建立精确数学模型的特点,在采煤机截割滚筒运行轨迹的跟踪控制中采用迭代学习控制算法。首先介绍采煤机记忆截割的工作原理,并简化截割系统的动力学模型得到其动力学方程;其次以采煤机摇臂摆角为控制变量,设计自适应迭代学习控制器完成对记忆截割目标轨迹的精确跟踪。最后通过仿真结果表明,随着迭代学习次数增加,采煤机摇臂摆角的跟踪误差逐渐减小,验证了该控制方法能够精确跟踪记忆截割目标轨迹。

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ZH采煤机截割滚筒轨迹的迭代学习跟踪控制
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