The Auto-steering Predictive Control Based On DSP Master Platform Of Coal Shearer

In the coal mining face underground, there are three core equipments including supporters, conveyors and shearers. The shearer is a more complexity core equipment and has more technical contents. For safety, high productivity and high efficiency of coal mining, the automation technology connecting the supporter and the conveyor has been realized, but not the shearer. Presently auto-traction has been applied, but there are still some difficulties about auto-steering about the cut-drum. So here comes the research in this thesis.For auto-steering of the cut-drum(hereinafter ASD), the researches can go back to 70's last century all over the world and focus on Coal Interface Identify and sensors. With the development of mechanics of communication and technetronic, the master controller of shearer has been upgraded. So here comes the Memory Cut technology on the high performance microcomputer platform, which is similar to mechanics of modern robot. Now indigenous shearers have upgraded their master controllers too, especially one based on DSP designed by our company. This thesis is mainly focused on the theory of oversea Memory Cut tech, and makes studying and improvement, and then a modular ASD is realized on indigenous platform.This thesis also brings forward some methods to solve these problems for some difficulties when designing this system. The main works are as follows:First of all, the history and existing state about ASD are introduced. Merits and faults are talked about and new solution is put forward with the technological development.Secondly, a mathematic model of ASD is established, which relies on modern gross structure shear. This model conforms to practices under full consider of all kinds of disturbance, which can be the theoretical basis of various research methods.Thirdly, principles and characteristics of obliquitous sensors and position sensors are described in need of the establishment of shear attitude-control. The sensors are selected through scheme compared, and take good effect on model machine. Meanwhile zero adjustment and temperature compensation are adopted for these sensors. Thus the attitude checking system is established.Fourthly, to realizing ASD, the predictive control like MAC is put forward, and control policy points are described in detail, and then grey prediction is used to establish the feedback channel of the model. The grey prediction method is improved to predict the face height, under considering of information of the face seam and of the tunnel coal seam especially. After computing comparison, it shows that this method is effective and feasible and more advantageous than that of foreign countries.At last, with the development of shearer master platform, the ASD model is finished based on the same type of DSP chip. Functions, interfaces, design methods and PCB make-up are introduced in this part detailedly. Furthermore, software of system and model are designed and debugged. After hardware designing and software debugging, the DSP controller of ASD is performed and experimental verification is also well proceeded.This thesis indicates that the ASD tech can make a great progress by new technologies and can be realized in the future in the complicated coal mining field based on the application of DSP tech and predictive control theory.