Constant Power Control Of Haptic Feed Based On Mr Damper Of The Shearer

At present, a large amount of shearers control constant power through adjusting haulage speed in our country. Operator set haulage speed through operating press button with the related parameters or experience. Then shearer control automatically to operate throughout nearby the rated power. In the real work, the shearer often operates on low load or overload condition because of the complex coal layer and the different experience. This condition can result in frequent faults and low efficiency.To solve this problem, the power control method of shearer of haptic feed based on MR damper was presented. In the paper, controller output control signals according to sampling current signals of cutting motor of shearer, and controlled touch sensing force-feedback devise which based on MR damper. The manipulator adjusts haulage speed of shearer to force the motors to operate approximately with rated power according to handle resistance.The paper come true haptic feed through MR damper. MR damper with shear work model is adopted and modeled with Bingham mode. Then the paper reaches a mechanics model by theory analysis and calculation. According to the required damping force of haptic feed system design parameters of MR damper, then analyze the influence which are from parameters.To evaluate the potential of MR dampers and study the accurate model to reproduce the behavior, this paper establishes the neural network model of MR damper based on BP neural network to identify the dynamical characteristics of MR. And establishes the neural network model of MR damper with simulation by MATLAB. It is found in this paper that the neural network model can identify the dynamical characteristics of MR damper rapidly and accurately.The paper designs the main hardware circuits and software of the power control system of shearer by DSP. The hardware mainly consists of current controller of MR damper, PWM output and driver, signals sampling circuit and so on. It main study and analyze the current circuit and conclude that relations of duty ratio of PWM -current and current–damper force by simulation test. The hardware circuit can realize that current signal of cutting motor convert the damper force to adjust speed of frequency transformer by dealing with.The study shows that the method of haptic feed based on MR damper applied for shearer is simple and effectively take advantage of response by touch of operator. This method can enhance cutting efficiency of shearer obviously and is appropriate for shearer on environment.