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首页> 美国政府科技报告 >Integration of Servo Control into a Large-Scale Control System Design: An Example from Coal Mining
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Integration of Servo Control into a Large-Scale Control System Design: An Example from Coal Mining

机译：伺服控制集成到大型控制系统设计中 - 以煤矿开采为例

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摘要

Closed loop control of cutting drum height of a continuous mining machine (CM) using a coal interface detection (CID) sensor is described. The control is accomplished using a discrete-time Proportional-plus-Integral-plus-Derivative (PID) controller. The mining machine, sensor, and mine environment are simulated. The dynamic model of the cutting drum arm (boom) and motors is described and a discrete time version of the solution to the plant equation of boom angle and angular velocity is derived. Cutting drum height control is placed in the context of an existing large-scale Real-time Control System (RCS) for CM control, simulation, and animation. RCS is a paradigm for defining, describing, and designing intelligent control systems developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST).

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