Memory Cutting Of Shearer Using Iterative Learning Control

Nowadays,the develop direction of coal mining is less people or no people.Therefore,it has very important significance to realize the automation of shearer.The automatic control of shearer mainly consists of drum-height adjustment and horizontal traction control.One of the key technologies to realize the shearer automation is to accomplish the automatic adjustment of shearer drum-height,in other words,the running trajectory of the shearer cutting drum is tracked accurately.In this paper,the double-drum shearer is selected as the research object,and then the automatic adjustment of drum-height is achieved by the memory cutting technology of shearer.In this paper,the composition of shearer cutting system is obtained by anaysising the structure of the double-drum shearer.According to the nonlinearity,complexity and uncertainty of shearer cutting system,the dynamics model established by the Lagrange equation is simplified,and then the dynamic model lays a foundation for the realization of the control algorithm.According to the principle of shearer memory cutting,the target trajectory of memory cutting is obtained.In the first cutting process,a suitable three-dimensional coordinates is established,and the relevant information of cutting-drum running trajectory is remembered by the control system.The drum-height cannot be controlled directly,so the cutting-drum running trajectory is replaced by the expectative curve of rocker swing-angle.At last,the expectative curve of swing-angle is selected as the target trajectory of shearer memory cutting.The iterative learning control algorithm is chosen in the trajectory tracking control of shearer memory cutting,to complete the control task of tracking target trajectory.Then,the effectiveness of the algorithm is verified by MATLAB simulation.What's more,the uncertain interference factors are considered in the cutting system,adaptive iterative learning control algorithm is introduced to reduce the tracking error.Finally,the expectative curve of swing-angle is got by the actual cutting-drum running trajectory of 21142 working face in Pingdingshan Coal.And then the expectative curve of swing-angle is selected as target trajectory,the model and the controller algorithm established is validated in the paper.The conclusion is that iterative learning control algorithm can realize the trajectory tracking control in memory cutting technology.