Cutting torque stabilization system synthesis of the shearer loader with a fuzzy controller

摘要

Introduction. The efficiency of mineral production carried out by the shearer loaders entering the winning and heading mechanized systems is improved by their design and control systems development. At mineral resistance variation, in order to provide the full capacity utilization of shearer executive body electric motors, cutting electric drive torque (load) controller is used, control quality parameters of which depend on the value of cutting resistance. In this regard, relevant is the task of developing cutting torque stabilization system for shearer loader drive with constant control quality parameters through the use of intelligent control systems.Research aims to synthesize the fuzzy controller of the shearer loader electric drive cutting torque which increases the quality of cutting torque stabilization at material cutting resistance variation and to assess its efficiency by the mathematical modeling method.Methodology. The mathematical model of shearer loader electric drive cutting torque stabilization has been worked out; structure and parameters of cutting torque fuzzy regulator have been substantiated. The comparison of the proposed fuzzy controller with a typical PI controller has been carried out with the use of the model experiment method.Results. The mathematical model of shearer loader cutting torque stabilization system has been obtained which takes into account material cutting resistance variability, the constant of chip formation and the dynamic properties of cutting drives and feed drives. Shearer loader cutting torque fuzzy controller has been synthesized, in which four fuzzy sets have been applied at proportional part fuzzification, providing an automatic variation of the controller gain depending on error ratio. The model experiment has shown that the use of a fuzzy controller makes it possible to reduce the transient overshoot by torque by 15% and increase its speed by 25% under material cutting resistance variation by a factor of 2. Summary. The use of the proposed fuzzy controller makes it possible to obtain the quality of control action transition process independent of cutting resistance variation and lower overshoot under perturbing actions.