Research And Application Of Self-tuning PID In Automatic Control Of Shearer

The intelligentization of the electronic control system of shearer is not only a critical part in realization of automating the production process for coal mining application,but also plays an important role in extending the life of machine,improving the reliability of equipment,ensuring the safety for workers,reducing accident rate,and improving the quaility of coal production,as well as greatly promoting the intelligent control of shearer and the development of the coal industry.This article first elaborates the research status and development trend of intelligentization of the electronic control system of shearer.The foundation of the research of intelligent control modeling and control strategy of shearers can be formed by consulting related data at home and abroad,understanding the control mechanism and process of shearer's height adjustment system and traction system,and analyzing each operation parameter.On the basis of analyzing the previous research experience and existing problems,a self-tuning PID controller is added for the shearer's memory cutting control,and the multi-sensor data analysis is combined for the purpose of adjusting the mining height and traction speed of the shearer drum.The key technologies concerning to body positioning,attitude orientation,cutting path memory,cutting path planning and cutting path tracking in the intelligent control system of shearer is throughly studied in this article,and the self-tuning PID control method is proposed to the random variation of shearer load caused by coal seam change.This control strategy is to optimize the parameters of traditional PID based relay feedback thermal,allowing online automatical adjustment to the parameters of PID of the self-tuning PID controller,to realize the real-time response to the change of system parameters.The most commonly used methods in mathematical modeling is then studied,the controlled object is identified by using relay feedback method,and the parameters are adjusted.Finally,self-tuning PID control software is designed based on MATLAB.object is identified by using relay feedback method,and the parameters are adjusted.Finally,self-tuning PID control software is designed based on MATLAB.Finally,the MG650/1630-WD chainless electric traction shearer manufactured by Xi'an Coal Mining Machinery Co.,Ltd.is specified from hardware structure to software design in this article,and industrial test to the designed shearer is conducted in the mine.The control system can fully realize the design through statistics to the field data of the shearer.