Study On Automatic Control Method Of Fully Mechanized Face Moving Tail

As an important component of the comprehensive mining face transportation system,the tail of the self-moving machine is the key hub of connecting the bridge transfer machine and the groove tape machine,and its main function is to cooperate with the transfer machine to advance and realize the coordinated movement of the belt tail during the promotion of the working face;The material from the transfer machine is accepted and transferred to the belt system.The unique Martier structure of the self-moving tail can be used as a fulcrum with the loader,realize the self-moving action,and correct the deviation between the fuselage and the belt centerline,all actions are realized by the supporting hydraulic system.The existing self-moving tail is manually operated,which reduces the conveying efficiency of materials to a certain extent and increases the labor intensity of operators,so it is urgent to improve the automation degree of self-moving tail.According to the structural characteristics of the self-moving tail,this paper studies and designs a set of automatic tail control system,which mainly controls the self-moving tail,synchronous lifting,and automatic correction of the fuselage,the latter of which is the difficulty and key of control.This paper first briefly introduces the composition and working principle of the self-moving tail,designs the hydraulic control system,and mathematically models the entire hydraulic control system on this basis.In order to solve the problem of real-time adjustment of parameters and improve the self-adjustment ability of the system,this paper designs a fuzzy PID algorithm based on improved gray wolf algorithm optimization,designs a fuzzy PID controller and a fuzzy PID controller based on improved gray wolf optimization,and compares the two algorithms experimentally,and the results show that the optimized fuzzy PID controller has better control performance.According to the function of the self-moving tail control system,the hardware circuit of the self-moving tail electronic control system is designed.Since the system involves friction pairs,hydraulic systems and control algorithms,the AMEsim simulation platform was selected to build a virtual model of the system,and Simulink was combined to simulate the entire system.The simulation results show that the fuzzy PID controller based on the improved gray wolf optimization can automatically control the self-moving tail to realize the action of self-shifting,synchronous lifting and automatic correction,and well reduce the system overshoot,suppress oscillation and improve the response speed.There are 91 pictures,7 tables and 85 references in this paper.