A predictive function control method for the speed of main drive system of roadheader

Abstract

The invention provides a prediction function control method for the rotating speed of a main driving system of a heading machine. The method includes the following steps: (1) establishing a transfer function model of a driving system; (2) resolving a relation of each input and each output so as to obtain a plurality of practical models, wherein each practical model includes a single input and a single output; (3) identifying a first-order prediction model of each practical model; using measurable disturbance feed-forward compensation to design a prediction-function controller. The prediction function control method of the driving system applies the prediction function control method to rotating speed control of the chipper disk driving system of the heading machine so as to realize comparatively high robustness and excellent tracking capability of the driving system; randomly jumped load torque and periodically time-varying transfer errors are used as measurable disturbances of the chipper disk driving system of the heading machine and the measurable disturbance feed-forward compensation is used to design the prediction function controller so that the anti-disturbance capability of the driving system is improved and the dynamic output characteristics of the system are improved.

Description

technical field [0001] The invention relates to a predictive function control method for the rotational speed of the main drive system of a roadheader, in particular to a predictive function control method for the rotational speed of the main drive system of the roadheader. Background technique [0002] The cutter head driving system is the main driving system of the hard rock roadheader and plays an important role in the tunneling process. Hard rock roadheaders are mainly used in hard rock geological conditions, high hardness, high temperature, and high quartz content ("three high") environments, which makes the surrounding rock working conditions faced by hard rock roadheaders extremely complex and uncertain and uncertainty. The problem of strong impact caused by hard rock breaking during excavation is very prominent. [0003] Since the geological environment faced by the cutter head when cutting rock and soil is complex and changeable, it is necessary for the cutter hea...

AI Technical Summary

Problems solved by technology

At present, the cutter head drive system adopts open-loop control technology. Under the complex and changeable geological environment, especially in the process of hard rock excavation, the strong impact generated by the breaking of hard rock will cause random jumps in the load moment of the cutter head. At the same time, there is a periodic time-varying transmission error, so that the cutterhead speed under open-loop control, its anti-interference ability and control effect cannot meet the needs of actual construction

Images