209 / 2024-03-13 13:25:00

Intelligent cutting control of roadheader based on adaptive sliding mode control with fuzzy switching-type control term

Roadheader,Intelligent cutting control,Adaptive control

The main responsibilities carried out by roadheaders’ cutting unit (cutting head and arm) are cutting rock and forming section of heading faces. The load on the cutting head of roadheader changes violently because of the variety of rock hardness, especially in the semi coal-rock and hard rock working face which have extremely difficult environmental conditions. The cutting performance of the cutting unit will decrease seriously without the cutting motion parameters adjusted automatically to the rock hardness. In this paper, an intelligent cutting control scheme of roadheader was proposed to change the tractive and cutting velocity automatically according to the rock hardness. Firstly, the state space model of the horizontal swing cutting system was built. And then an adaptive sliding mode controller with fuzzy switching-type control term (ASMC-FS) was presented to achieve constant tractive power control, where an adaptive algorithm was applied for rock hardness parameters to follow the model and a fuzzy system was adopted to approximate switching-type control term of sliding mode controller to guarantee the robustness of control system. The stability of the overall closed-loop system was proved based on Lyapunov theory. Besides, a simple PID controller was attached to realize the constant power control of the cutting motor, which kept the cutting and tractive power matched. Simulation studies were conducted and the results showed that the proposed ASMC-FS has superior control performance and the presented intelligent cutting control scheme is valid for improving cutting property and efficiency of roadheader.