一种欠驱动刮板输送机的自适应鲁棒控制方法
By establishing an electromechanical coupling dynamic model and constructing a robust controller, the problem of insufficient control accuracy of the underactuated scraper conveyor was solved, and the system's stability and efficient operation were achieved.
CN122194695BActive Publication Date: 2026-07-17SHANDONG UNIV OF SCI & TECH
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANDONG UNIV OF SCI & TECH
- Filing Date
- 2026-05-12
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
In the existing technology, it is difficult to guarantee the control accuracy of underactuated scraper conveyors, and the conservative upper limit assumption increases the control cost and system chattering.
Method used
An electromechanical coupling dynamic model with uncertainties is established, and a robust controller is constructed through matrix decomposition and leakage-type adaptive law to achieve autonomous compensation for uncertainties and system stability.
Benefits of technology
It effectively reduces speed fluctuations, maintains stable chain tension, reduces control conservatism and energy consumption, and improves the overall operating performance of the conveyor.
✦ Generated by Eureka AI based on patent content.
Smart Images
Figure CN122194695B_ABST
Abstract
本发明提供了一种欠驱动刮板输送机的自适应鲁棒控制方法，涉及自动控制领域，具体包括如下步骤：建立含不确定性的长距离刮板输送机机电耦合动力学模型；将控制目标视为轨迹约束，并结合名义动力学模型提出标称约束跟随控制设计；针对长距离刮板输送机系统中的不确定性因素，构造匹配与不匹配分量的矩阵分解；构造基于泄漏型自适应律的鲁棒控制器，并对长距离刮板输送机系统进行仿真，进行稳定性验证及性能验证。本发明的技术方案克服现有技术中对欠驱动系统控制时，难以保证控制精度，且保守的上限假设会增加控制成本与系统抖振的问题。
Need to check novelty before this filing date? Find Prior Art