基于pid滑?？刂频墓伟遢斔蜋C鏈條張力控制

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3、intensioncontrolofscraperconveybasedonPIDslidingmodecontrolSpecialty:NavigationguidancecontrolName:YangNa(Signature)Instruct:GongShangfu(Signature)ABSTRACTThecomprehensivemechanizedcoalminingisaprogressingsignofcoaltechn

4、ology.Itisanecessarymeanstoincreaseproductionraiselabefficiencyimproveeconomicbenefits.Scraperconveyisanimptantcomponentoffullmechanizationoflongwallfaceitdeterminesproductioncapacityofcoalmining.Thechainofscraperconveyi

5、samaincomponentofscraperconveyitisanelasticbody.Whentransptingcoalsthechainwouldbeaffectedbythetractionfce.Consequentlythechainfmelasticelongationtoproducetooloosetootightphenomenon.Ifthechainistoolooseitwilldamagethemes

6、hofsprocketchaincausingimpactvibrationoffingofchainifthechainistootightitwillincreaserunningresistanceofscrapeconveyresultinginpowerconsumptionmakingexcessivewearofcomponents.Indertoavoidthesetwokindsofphenomenascraperco

7、nveymusthaveanadjustingdevicefchaintensiontoensuretheautomaticadjustmentfchaintensioninrealtime.Therefethispaperutilizestheslidingmodecontroltechniquetorealizetherealtimeeffectivechaintensioncontrolofscraperconvey.Firstl

8、yestablishmathematicalmodelofconveychaintensioncontrolaccdingtothebasicprincipleofengineeringdesignofscraperconveyreferringtoscraperconveyrunningparametersdetermineparametersinthecontrolmodel.Thenuseslidingmodecontrolmet

9、hodofreachinglawtoimplementautomaticcontrolofscraperconveychaintensioninwhichchoosingthreedifferentreachinglawsnamelyexponentialreachinglawvariableratereachinglawcombinedreachinglaw.Inthedesignofeachslidingmodecontrolmet

10、hodofdifferentreachinglawfcontrolchaintensionweneedtodesignslidingsurfacefunctionslidingmodecontrollaw.Throughcomputersimulationfreachinglawslidingmodecontrolmethodofchaintensionfindoutthatcombinedreachinglawslidingmodec