A Parametric Inverse Model Controller Design Method for Chain Tensioning System of Scraper Conveyor
A parametric model and tensioning system technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of inverse model instability, inability to directly apply electro-hydraulic system real-time control, etc., and achieve wide practicality performance, easy software programming, and the effect of improving control accuracy
Active Publication Date: 2020-06-05
CHINA UNIV OF MINING & TECH
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Due to the causality of the actual system and the existence of the sample-and-hold in the control system, the identified parametric model often has non-minimum phase zeros, and the inverse model obtained by directly reversing its numerator and denominator is unstable and cannot be directly applied to electro-hydraulic real-time control of the system
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[0018] The present invention will be further described below in conjunction with the embodiment in the accompanying drawings:
[0019] Such as figure 1 As shown, a parametric inverse model controller design method for a scraper conveyor chain tensioning system provided by the present invention includes the following steps:
[0020] To achieve the above object, the technical solution of the present invention comprises the following steps:
[0021] a) Input the random identification excitation signal to the closed-loop control scraper conveyor chain tensioning system, and collect the input reference force signal and output response force signal of the system in real time;
[0022] b) According to the input reference force signal and output response force signal data collected in real time in step a), a parametric model of the chain tensioning system of closed-loop control is obtained by using a parameter model identification algorithm;
[0023] c) Judging whether the identifie...
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The invention discloses a parameterized inverse model controller design method for a chain tensioning system of a scraper conveyor. The method is based on real-time acquisition of a closed-loop controlled scraper conveyor chain tensioning system input reference force signal and output response force signal Above all, by successively delaying the input reference force signal used for model identification, the closed-loop parametric model of the tension system obtained from the final identification does not contain non-minimum phase zeros, and then directly reverse the numerator and denominator of the identification model to obtain A parametric inverse model controller for real-time control that eliminates the adverse effects of non-minimum phase zeros in conventional parametric models on the stability of the inverse model. The method has simple operation steps, low algorithm difficulty, easy software programming implementation, strong practicability, and can be widely used in high-precision real-time control of the chain tensioning system of the scraper conveyor.
Description
technical field [0001] The invention belongs to the technical field of scraper conveyors, and in particular relates to a parameterized inverse model controller design method for a chain tensioning system of scraper conveyors. Background technique [0002] The scraper conveyor is one of the key equipment in fully mechanized mining face. With the change of the position of the shearer, the running resistance and chain tension of the scraper conveyor are in a state of dynamic change during the working process, resulting in elastic elongation of the conveyor chain. If the elastic elongation cannot be compensated in time, it will often occur Faults such as hanging chains, stuck chains or even broken chains. At present, scraper conveyors mainly use hydraulic tensioning devices to dynamically adjust the tightness of the scraper chain. The principle is to control the movement of the tensioning hydraulic cylinder through proportional or servo valves, thereby realizing static or dynam...
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IPC IPC(8): G05B13/04
Inventor 汤裕朱真才沈刚李翔曹国华李伟周公博彭玉兴卢昊王大刚
Owner CHINA UNIV OF MINING & TECH