基于磁流變觸覺反饋的采煤機恒功率控制.pdf

1、黑龍江科技學院碩士學位論文基于磁流變觸覺反饋的采煤機恒功率控制姓名：趙曉妍申請學位級別：碩士專業(yè)：電力電子與電力傳動指導教師：付家才201105AbStraCtAtpresent，a1a曜eamountofshearerscontrolconstantpo、Ⅳcrthrou曲a西uStinghaulagespeediIlollrcouIltlyOperatorsethauIagespeedthoughoperatingpressbutt

2、onwiththerelatedparameterSorexperienceThenshearercontrDlautomaticallytooperatethrou曲outIlearbytheratedpowerInthereal、vork，theshearero舭noperatesonlow10adoroVerloadconditionbecauseofthecompIexcoallayerandthedi虢remexperienc

3、e7rhisconditioncanresultin矗equemfaultsandlowe珩ciencyTbsolVethisproblem，thepowercontrolmethodofshearerofh印ticfeedbasedonMRd鋤perwaspresentedIIlthep印er，controlleroutputcontrolsigmlsaccordingtos鋤plingcu∞ntsi韶alsofcuningmotor

4、ofshearer，aIldconn011edtouchsensingforce—feedbackdeVise、vhichbaSedonMRd鋤perThemanipulatora由uStshaulagespeedofshearertoforcethemotorst00perateapproximately、Ⅳithratedpo、ⅣeraccordingtohandleIIesistanceThepapercometnlehaptic

5、feedtl_1rou曲MRd醐1perMRdamperwithshear、ⅣorkmodelisadoptedaIldmodeled誦thBin曲鋤modeThenthep印er嗽lchesamechallicsmodelbymeor)ranalysisa11dcalculationAccordingtotherequired婦pingforceofh印ticfeedsystemdesignpar鋤etersofMR‰per，then

6、aI]吼lyzet量1ei倒1uence、計lichare丘omparametersToeVal吼tethepotentialofMRd鋤persandstudytheaccuratemodelt0reproducethebehaVior，tllispaperestablishesmeneuralnetworkmodelofMRd唧erbaSedonBPneumlnetworktoidenti鳥thed)，Il鋤icalcharacte

7、riSticsofMRAndestablishestheneuralnetv舊rkmodelofMRd鋤perwithsimuIationbyMArLABnisfourldintIlispaperthatt11eneuralnetv舊rkmodelc鋤idemi母thedyn鋤icalch：lracteristicsofMRd撇perrapidly羽1daccuItnelyT11ep印erdesi印sthemajnhardwarecir

8、Cuitsandso舢眥eofthepowercon們lSystemofshearerbyDSP111eh捫ware呦imyconsistSofc峨mcoIltrollerofMRd鋤per，PWMoutputanddriVer’signalss鋤plingcircuitaIldsoonItmainsnldy甜ldanaIyzethecurremcircuit甜ldconcludethatrelationSofdlItyratioofP