Automatic Control of Straightness of Coal Mine Underground Scraper Conveyor Based on Fuzzy Adaptive PID
The automatic control of straightness is an important means to avoid the deformation of the conveying form of the scraper conveyor in coal mines.In response to the problems of poor control effect of current methods,high energy consumption of the scraper conveyor motor due to small straightness in actual control,and low straightness,a fuzzy self adaptive PID based automatic control method for straightness of the scraper conveyor in coal mines is proposed.Establish a measurement coordinate system,use quaternions to update the attitude rotation matrix of the inertial sensor measurement coordinate system in real time,collect the shape information of the middle groove of the scraper conveyor,characterize the shape of the middle groove through the fusion of shape information,identify the motion state of the middle groove,use fuzzy adaptive PID algorithm to predict straightness error,determine straightness control quantity,and regulate the shape of the scraper conveyor,To achieve automatic control of straightness of coal mine underground scraper conveyor based on fuzzy adaptive PID.Experimental results have shown that under the application of design methods,the energy consumption of the scraper conveyor motor per unit time is within 120 kW,and the straightness is above 0.95.The design method has good application prospects in controlling the straightness of scraper conveyors in coal mines underground.
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