基于自适应模糊滑模变结构的采煤机自动调高控制策略

针对采煤机自动调高和采煤工作面无人化存在的问题，提出了基于电液位置伺服系统的自适应模糊滑模变结构控制系统。分析了采煤机自动调高的依据条件，建立了采煤机调高系统的数学模型，得到了采煤机调高系统的控制变量。采用自适应模糊滑模变结构控制策略，设计了采煤机自动调高控制器，并分析了其稳定性。利用MATLAB对采煤机调高控制器进行了仿真，仿真结果表明，采用自适应模糊滑模变结构的控制系统可以实现采煤机截割预定轨迹的准确跟踪，相对于PID控制技术，其跟踪误差较小，控制效果较理想。

Control Strategy of Shearer Automatic Height Adjusting Based on Adaptive Fuzzy Sliding-mode Variable Structure

Owing to the problems of automatic height adjusting of shearer and mining coal working surface unmanned, control system of adaptive fuzzy sliding-mode variable structure was put forward, which was based on electro-hydraulic position servo system. The conditions of the shearer automatic height adjusting were analyzed. By establishing mathematical model of the shearer height adjusting system, the control variables of the shearer height adjusting system were gained. An automatic height adjusting controller that adopted the adaptive fuzzy sliding-mode variable structure control strategy was designed, and its stability was analyzed. MATLAB was used for automatic height adjusting controller simulation. The results show that the control system of adaptive fuzzy sliding mode variable structure achieves accurate tracking of shearer cutting along a predetermined trajectory. Compared with the PID control technology, the tracking error is small, and the control effect is ideal.