A novel compound control method for hydraulically driven shearer drum lifting (Q2338769)

Summary: In order to adjust shearer drum swiftly and precisely to adapt to the changes of coal seam, a compound control approach based on cerebellar model articulation control and fractional order PID controller is proposed. As the movement precision and response speed of hydraulic system are determined mainly by the control precision of valve-controlled asymmetrical hydraulic cylinder, its working principle and characteristics are analyzed in this paper, with particular focusing on the asymmetry problem. Furthermore, RBF neural network is applied to obtaining reasonable tuning parameters and a of proposed controller is designed. Finally, laboratory experiments are developed to verify the validity and effectiveness of proposed compound control method. The testing results, compared with those for other controllers, prove that the proposed compound control method can acquire high movement precision and respond speed in the system of hydraulically driven shearer drum lifting with different control conditions.