CN108445743A - Coalcutter invariable power Fuzzy control system and method - Google Patents
Coalcutter invariable power Fuzzy control system and method Download PDFInfo
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- CN108445743A CN108445743A CN201810261278.2A CN201810261278A CN108445743A CN 108445743 A CN108445743 A CN 108445743A CN 201810261278 A CN201810261278 A CN 201810261278A CN 108445743 A CN108445743 A CN 108445743A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
Coalcutter invariable power Fuzzy control system provided by the invention, including signal detection module, CPU module, fuzzy control model and PID modules；Signal detection module is used to detect the electric current of coalcutter cutting head motor, obtains detection current value；CPU module is used for the fuzzy control input quantity based on detection current value calculation control method；Fuzzy control model is used to carry out fuzzy control to fuzzy control input quantity, obtains fuzzy control output quantity and carries out ambiguity solution to fuzzy control output quantity, obtains pid control parameter；Pid control module is used to carry out PID arithmetic based on pid control parameter, obtains and export the control signal of cutting head motor.When coalcutter loads and changes, by introducing fuzzy control, the load of cutting head motor is controlled, control convergence is good, the control accuracy and stability for improving cutting head motor, to the online of cutting head motor, dynamic, accurate, adjusting in real time to realize the power limitation control of cutting head motor.
Description
Technical field
The present invention relates to coalcutter control technology field, more particularly to a kind of coalcutter invariable power Fuzzy control system and
Method.
Background technology
Coalcutter is the important power-equipment of coal mining system and resource acquisition equipment, and system is safe, reliable, efficient steady
Fixed operation is coal mining effective premise that everything goes well with your work carries out.Due to being influenced by different coal hardness, coalcutter cutting
Head leading portion load changes greatly, and in the case where coal seam changes greatly, load rate of change is too fast.Traditional control method is mainly
By tunnel motor load variation and cutting motor curent change situation realize speed Control, the accuracy whether controlled or
The real-time of control can not all adapt to cutterhead and load demand under quick situation of change, this long-term overload or underload work
Condition not only reduces the efficiency and stability of coalcutter, also significantly reduces the service life of coalcutter.
Invention content
Based on this, it is necessary to cannot achieve coalcutter power limitation control for traditionally control system, control accuracy with
And the problem that real-time is poor, a kind of coalcutter invariable power Fuzzy control system and method are provided.
A kind of coalcutter invariable power Fuzzy control system provided by the invention, the control system include programmable logic control
Device and signal detection module processed, the programmable logic controller (PLC) include CPU module, fuzzy control model and
PID modules；
The signal detection module is used to detect the electric current of coalcutter cutting head motor, obtains detection current value；
The fuzzy control that the CPU module is used to calculate the control method based on the detection current value is defeated
Enter amount；
The fuzzy control model is used to carry out fuzzy control to the fuzzy control input quantity, obtains fuzzy control output
It measures and ambiguity solution is carried out to the fuzzy control output quantity, obtain pid control parameter；
The pid control module is used to carry out PID arithmetic based on pid control parameter, obtains and exports the cutting head electricity
The control signal of machine.
The fuzzy control input quantity is the difference of rated current and the detection current value in one of the embodiments,
The change rate Ec of E and the difference.
The fuzzy control output quantity is PID control parameter K in one of the embodiments,P、KIAnd KD。
The control mode of the fuzzy control model is triangle degree of membership and Gauss degree of membership in one of the embodiments,
In conjunction with control mode.
The fuzzy control input quantity/fuzzy control output duration set domain representation is in one of the embodiments,
{ -6,6 }, the fuzzy control input quantity/fuzzy control output quantity subclass be expressed as NB, NM, NS, Z, PS, PN,
PB }, the fuzzy control rule as shown in table 1 to table 3,
1 K of tablePFuzzy message table
2 K of tableIFuzzy control table
3 K of tableDFuzzy control table
Wherein, E indicates the difference of the rated current and the detection current value；The Ec indicates the variation of the difference
Rate.
The present invention also provides a kind of coalcutter invariable power fuzzy control methods, include the following steps：
The electric current of coalcutter cutting head motor is detected, detection current value is obtained；
The fuzzy control input quantity of the control method is calculated based on the detection current value；
Fuzzy control is carried out to the fuzzy control input quantity, obtains fuzzy control output quantity；
Ambiguity solution is carried out to the fuzzy control output quantity, obtains pid control parameter；
PID arithmetic is carried out based on pid control parameter, obtains and export the control signal of the cutting head motor.
The fuzzy control input quantity is the difference of rated current and the detection current value in one of the embodiments,
The change rate Ec of E and the difference.
The fuzzy control output quantity is PID control parameter K in one of the embodiments,P、KIAnd KD。
The control mode of the fuzzy control is that triangle degree of membership is combined with Gauss degree of membership in one of the embodiments,
Control mode.
The fuzzy control input quantity/fuzzy control output duration set domain representation is in one of the embodiments,
{ -6,6 }, the fuzzy control input quantity/fuzzy control output quantity subclass be expressed as NB, NM, NS, Z, PS, PN,
PB }, the fuzzy control rule as shown in table 1 to table 3,
1 K of tablePFuzzy message table
2 K of tableIFuzzy control table
3 K of tableDFuzzy control table
Wherein, E indicates the difference of the rated current and the detection current value；The Ec indicates the variation of the difference
Rate.
Above-mentioned coalcutter invariable power Fuzzy control system, when coalcutter loads and changes, by introducing fuzzy control, control
The load of cutting head motor, control convergence is good, improves the control accuracy and stability of cutting head motor, to cutting head electricity
The online of machine, dynamic, accurate, adjusting ensure that expiring for cutting head motor to realize the power limitation control of cutting head motor in real time
It carries, Effec-tive Function, and the service life of coalcutter can be extended.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one described in the present invention
A little embodiments, for those of ordinary skill in the art, other drawings may also be obtained based on these drawings.
Fig. 1 is the control system architecture schematic diagram of one embodiment of the invention；
Fig. 2 is the control method flow chart of one embodiment of the invention.；
Fig. 3 is E the and Ec membership function curve graphs of one embodiment of the invention；
Fig. 4 is the K of one embodiment of the inventionP、KIAnd KDMembership function curve graph；
Fig. 5 is the detection current value change curve in the coalcutter practical application 30s of one embodiment of the invention；
Fig. 6 is the corresponding ambiguity solution curve of detection curent change curve graph shown in fig. 5 and control convergence curve graph；
Fig. 7 is the detection current value change curve in the coalcutter practical application 30s of another embodiment of the present invention；
Fig. 8 is the corresponding ambiguity solution curve of detection curent change curve graph shown in Fig. 7 and control convergence curve graph.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, by the following examples, it and combines attached
The coalcutter invariable power Fuzzy control system and method for the present invention is further elaborated in figure.It should be appreciated that this place
Specific examples are only used to explain the present invention for description, is not intended to limit the present invention.
Refering to Figure 1, the coalcutter invariable power Fuzzy control system of one embodiment of the invention, including programmable logic
Controller and signal detection module 100, programmable logic controller (PLC) (Programmable Logic Controller, PLC)
Including CPU module (Central Processing Unit, CPU) 210, fuzzy control model 220 and PID (ratios
Example-integral-derivative controller) module 230.
Signal detection module 100 is used to detect the electric current of coalcutter cutting head motor, obtains detection current value.Signal detection
Module 100 can be separately arranged on coalcutter and with programmable logic controller (PLC) signal communication, can also be directly integrated in
On programmable logic controller (PLC).
CPU module 210 is used for the fuzzy control input quantity based on detection current value calculation control method.
Fuzzy control model 220 be used for fuzzy control input quantity carry out fuzzy control, obtain fuzzy control output quantity with
And ambiguity solution is carried out to fuzzy control output quantity, obtain pid control parameter.PID modules 230 be used for based on pid control parameter into
Row PID arithmetic obtains and exports the control signal of cutting head motor.
According to coalcutter operation principle, it is known that the torque of cutting head is directly proportional to seam hardness and the hauling speed of itself,
Therefore when coal seam is harder, cutting head motor load increases, and needs the hauling speed for quickly reducing cutting head motor, to avoid
Cutting head motor overload is run；On the contrary, when coal seam is softer, cutting head motor load reduces, and needs to increase cutting head motor
Hauling speed, so that cutting head motor full-load run ensures to cut to balance the overload and underrun state of cutting head motor
Cut the fully loaded of a motor, Effec-tive Function.
In above-mentioned control system, detects the current value of coalcutter cutting head motor in real time first and transmit the current value
Calculating analysis is carried out to CPU module 210, fuzzy control input quantity is obtained, is then transmitted to fuzzy control input quantity
It in fuzzy control model 220, is blurred successively, rule base, fuzzy reasoning and ambiguity solution, to obtain pid control parameter,
The automatic, real-time of pid control parameter, online modification adjusting are realized, and then pid control module is carried out based on pid control parameter
PID arithmetic obtains and exports the control signal of cutting head motor.The cutting head motor control signal is sent to frequency converter, into
And the hauling speed of cutting head motor is controlled, adjust the power of coalcutter.
Above-mentioned coalcutter invariable power Fuzzy control system, when coalcutter loads and changes, by introducing fuzzy control, control
The load of cutting head motor, control convergence is good, improves the control accuracy and stability of cutting head motor, to cutting head electricity
The online of machine, dynamic, accurate, adjusting ensure that expiring for cutting head motor to realize the power limitation control of cutting head motor in real time
It carries, Effec-tive Function, and the service life of coalcutter can be extended.
As a kind of optional embodiment, fuzzy control input quantity is the difference and difference of rated current and detection current value
The change rate of value.Wherein, rated current is set in advance in programmable logic controller (PLC).With traditionally foundation detection electric current
The method that value is controlled is compared, and the input quantity of foundation of the present invention is to detect the deviation and deviation variation rate of electric current, control system
The input quantity for feedback of uniting is more accurate, can avoid interfering, and greatly improves the precision of control system control.
As a kind of optional embodiment, fuzzy control output quantity is PID control parameter KP、KIAnd KD。
As a kind of optional embodiment, the control mode of fuzzy control model 220 is that triangle degree of membership is subordinate to Gauss
Degree combines control mode.In use, the detection current value of detection is easy to be interfered by background perturbation coalcutter, uses
The control mode that triangle degree of membership is combined with Gauss degree of membership can improve the precision of control system.Specifically, rated current with
The membership function curve of the difference of current value and the change rate of difference is detected as shown in figure 3, KP、KIAnd KDDegree of membership
Function curve is as shown in Figure 4.
As a kind of optional embodiment, fuzzy control input quantity/fuzzy control output duration set domain representation is { -6,6 },
Fuzzy control input quantity/fuzzy control output quantity subclass is expressed as { NB, NM, NS, Z, PS, PN, PB }, and fuzzy control rule is such as
Shown in table 1 to table 3,
1 K of tablePFuzzy message table
2 K of tableIFuzzy control table
3 K of tableDFuzzy control table
Wherein, E indicates rated current and detects the difference of current value；Ec indicates the change rate of difference.
The control rule of fuzzy control is pre-stored in the fuzzy control model 220 of programmable logic controller (PLC).It is fuzzy
In control input quantity input fuzzy control model 220 and search analyzing with fuzzy control rule table lattice and compare, obtains KP、KI
And KDCorresponding subset, and then be transmitted in PID modules 230.
Shown in Fig. 2, the coalcutter invariable power fuzzy control method of one embodiment of the invention, including following step
Suddenly：
S100 detects the electric current of coalcutter cutting head motor, obtains detection current value；
S200, the fuzzy control input quantity based on detection current value calculation control method；
S300 carries out fuzzy control to fuzzy control input quantity, obtains fuzzy control output quantity；
S400 carries out ambiguity solution to fuzzy control output quantity, obtains pid control parameter；
S500 carries out PID arithmetic based on pid control parameter, obtains and export the control signal of cutting head motor.
According to coalcutter operation principle, it is known that the torque of cutting head is directly proportional to seam hardness and the hauling speed of itself,
Therefore when coal seam is harder, cutting head motor load increases, and needs the hauling speed for quickly reducing cutting head motor, to avoid
Cutting head motor overload is run；On the contrary, when coal seam is softer, cutting head motor load reduces, and needs to increase cutting head motor
Hauling speed, so that cutting head motor full-load run ensures to cut to balance the overload and underrun state of cutting head motor
Cut the fully loaded of a motor, Effec-tive Function.
In above-mentioned control method, detects the current value of coalcutter cutting head motor in real time first and carry out the current value
Analysis is calculated, fuzzy control input quantity is obtained, then fuzzy control input quantity is blurred successively, rule base, fuzzy is pushed away
Reason and ambiguity solution realize the automatic, real-time of pid control parameter, online modification adjusting, in turn to obtain pid control parameter
PID arithmetic is carried out based on pid control parameter, obtains and export the control signal of cutting head motor.The cutting head motor is controlled
Signal is sent to the control devices such as frequency converter, and then controls the hauling speed of cutting head motor, adjusts the power of coalcutter.
Above-mentioned coalcutter invariable power fuzzy control method, when coalcutter loads and changes, by introducing fuzzy control, control
The load of cutting head motor, control convergence is good, improves the control accuracy and stability of cutting head motor, to cutting head electricity
The online of machine, dynamic, accurate, adjusting ensure that expiring for cutting head motor to realize the power limitation control of cutting head motor in real time
It carries, Effec-tive Function, and the service life of coalcutter can be extended.
As a kind of optional embodiment, fuzzy control input quantity is the difference and difference of rated current and detection current value
The change rate of value.Wherein, rated current is set in advance in programmable logic controller (PLC).With traditionally foundation detection electric current
The method that value is controlled is compared, and the input quantity of foundation of the present invention is to detect the deviation and deviation variation rate of electric current, control system
The input quantity for feedback of uniting is more accurate, can avoid interfering, and greatly improves the precision of control system control.
As a kind of optional embodiment, fuzzy control output quantity is PID control parameter KP、KIAnd KD。
As a kind of optional embodiment, the control mode of fuzzy control is that triangle degree of membership is combined control with Gauss degree of membership
Mode processed.In use, the detection current value of detection is easy to be interfered by background perturbation coalcutter, is subordinate to using triangle
The control mode combined with Gauss degree of membership is spent, the precision of control system can be improved.Specifically, rated current and detection electric current
The membership function curve of the difference of value and the change rate of difference is as shown in figure 3, KP、KIAnd KDMembership function curve
As shown in Figure 4.
As a kind of optional embodiment, fuzzy control input quantity/fuzzy control output duration set domain representation is { -6,6 },
Fuzzy control input quantity/fuzzy control output quantity subclass is expressed as { NB, NM, NS, Z, PS, PN, PB }, and fuzzy control rule is such as
Shown in table 1 to table 3,
1 K of tablePFuzzy message table
2 K of tableIFuzzy control table
3 K of tableDFuzzy control table
Wherein, E indicates rated current and detects the difference of current value；Ec indicates the change rate of difference.
The control rule of fuzzy control is pre-set, by fuzzy control input quantity and fuzzy control rule table lattice into
Row is searched analysis and is compared, and K is obtainedP、KIAnd KDCorresponding subset, and then carry out PID control.Fuzzy control rule is Fuzzy Control
The core of system is from practical control excessively to the committed step of fuzzy control.The fuzzy control rule that the present embodiment uses is based on
The measured data analysis of cutting head motor obtains, and has condensed inventor's largely creative painstaking effort.
Shown in Fig. 5, for using the coalcutter actual application of control system of the present invention or control method
Detection current value change curve in 30s.Detection current value is mutated in 19s and 25s respectively, the period mould
Paste control ambiguity solution curve and control convergence curve it is as shown in Figure 6, it can be seen that even if detection current value have occurred it is prominent
Become, control system or control method still maintain preferable stable convergence effect.
Shown in Fig. 7, for using the coalcutter actual application of control system of the present invention or control method
Detection current value change curve in 30s.There is continuous fluctuation in 56s to 58s respectively in detection current value, the period
The ambiguity solution curve and control convergence curve of fuzzy control are as shown in Figure 8, it can be seen that cutting head current of electric is in the short time
Inside occur increasing and the fluctuation that reduces cause the cutting head motor of control in a short time speed fluctuation, but still maintain
Preferable stable convergence effect.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of coalcutter invariable power Fuzzy control system, which is characterized in that the control system includes Programmable logical controller
Device and signal detection module, the programmable logic controller (PLC) include CPU module, fuzzy control model and PID
Module；
The signal detection module is used to detect the electric current of coalcutter cutting head motor, obtains detection current value；
The CPU module is used to calculate the fuzzy control input quantity of the control method based on the detection current value；
The fuzzy control model be used for the fuzzy control input quantity carry out fuzzy control, obtain fuzzy control output quantity with
And ambiguity solution is carried out to the fuzzy control output quantity, obtain pid control parameter；
The pid control module is used to carry out PID arithmetic based on pid control parameter, obtains and exports the cutting head motor
Control signal.
2. control system according to claim 1, which is characterized in that the fuzzy control input quantity is rated current and institute
State the difference E of the detection current value and change rate Ec of the difference.
3. control system according to claim 1, which is characterized in that the fuzzy control output quantity is PID control parameter
KP、KIAnd KD。
4. control system according to claim 1, which is characterized in that the control mode of the fuzzy control model is triangle
Degree of membership and Gauss degree of membership combination control mode.
5. control system according to claim 1, which is characterized in that the fuzzy control input quantity/fuzzy control
It is { -6,6 } to export duration set domain representation, and the fuzzy control input quantity/fuzzy control output quantity subclass is expressed as
{ NB, NM, NS, Z, PS, PN, PB }, the fuzzy control rule as shown in table 1 to table 3,
1 K of tablePFuzzy message table
2 K of tableIFuzzy control table
3 K of tableDFuzzy control table
Wherein, E indicates the difference of the rated current and the detection current value；The Ec indicates the change rate of the difference.
6. a kind of coalcutter invariable power fuzzy control method, which is characterized in that include the following steps：
The electric current of coalcutter cutting head motor is detected, detection current value is obtained；
The fuzzy control input quantity of the control method is calculated based on the detection current value；
Fuzzy control is carried out to the fuzzy control input quantity, obtains fuzzy control output quantity；
Ambiguity solution is carried out to the fuzzy control output quantity, obtains pid control parameter；
PID arithmetic is carried out based on pid control parameter, obtains and export the control signal of the cutting head motor.
7. control method according to claim 6, which is characterized in that the fuzzy control input quantity is rated current and institute
State the difference E of the detection current value and change rate Ec of the difference.
8. control method according to claim 7, which is characterized in that the fuzzy control output quantity is PID control parameter
KP、KIAnd KD。
9. control method according to claim 7, which is characterized in that the control mode of the fuzzy control is subordinate to for triangle
Degree and Gauss degree of membership combination control mode.
10. control method according to claim 9, which is characterized in that the fuzzy control input quantity/fuzzy control
It is { -6,6 } to export duration set domain representation, and the fuzzy control input quantity/fuzzy control output quantity subclass is expressed as
{ NB, NM, NS, Z, PS, PN, PB }, the fuzzy control rule as shown in table 1 to table 3,
1 K of tablePFuzzy message table
2 K of tableIFuzzy control table
3 K of tableDFuzzy control table
Wherein, E indicates the difference of the rated current and the detection current value；The Ec indicates the change rate of the difference.
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| CN201810261278.2A CN108445743A (en) | 2018-03-28 | 2018-03-28 | Coalcutter invariable power Fuzzy control system and method |
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| CN201810261278.2A CN108445743A (en) | 2018-03-28 | 2018-03-28 | Coalcutter invariable power Fuzzy control system and method |
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| CN114167714A (en) * | 2021-11-26 | 2022-03-11 | 中煤张家口煤矿机械有限责任公司 | Automatic dragging control method for cable of coal mining machine based on double closed-loop control |
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