Automatic Height Adjustment of Shearer Cutting-drum using Adaptive Iterative Learning

摘要

To realize the automation of the shearer, one of the most important problems is the automatic height adjustment of the shearer cutting-drum, namely, the accurate tracking of the running trajectory for the shearer cutting-drum. According to the repeatability of the cutting process and the characteristics of cutting system, the adaptive iterative learning control is adopted in the memory cutting to accomplish the tracking. The simplified dynamic mode of shearer cutting system is established, and the kinetic equation is got by the Lagrange method in this paper. The adaptive iterative learning control law is selected, according to the control target. The adaptive iterative learning controller is designed, and the algorithm is verified. The conclusion that the target trajectory can be tracked accurately using the adaptive iterative learning algorithm is got by simulations.