CAJ | 학술논문

矿井提升机在煤矿开采和生产过程中发挥着至关重要的作用。在实际提升过程中，由于提升机自身或者周围环境的影响，出现参数摄动和未建模动态( PPAUD)等情况，降低了提升机速度与位置跟踪精度。针对上述问题设计了一种自适应迭代学习控制策略，建立了提升机的数学模型，证明了系统的收敛性，并对所提的控制策略进行了仿真以及实际测试。仿真结果表明：所提出的自适应迭代学习控制算法可以有效抑制参数摄动以及未建模动态(PPAUD)，获得较好的跟踪性能；实际测试结果表明提出控制策略具有较强的鲁棒性，提升系统速度与位置跟踪精度有较大提高，证明自适应迭代学习控制方法是一种抑制上述扰动的有效方法。
광정제승궤재매광개채화생산과정중발휘착지관중요적작용。재실제제승과정중，유우제승궤자신혹자주위배경적영향，출현삼수섭동화미건모동태( PPAUD)등정황，강저료제승궤속도여위치근종정도。침대상술문제설계료일충자괄응질대학습공제책략，건립료제승궤적수학모형，증명료계통적수렴성，병대소제적공제책략진행료방진이급실제측시。방진결과표명：소제출적자괄응질대학습공제산법가이유효억제삼수섭동이급미건모동태(PPAUD)，획득교호적근종성능；실제측시결과표명제출공제책략구유교강적로봉성，제승계통속도여위치근종정도유교대제고，증명자괄응질대학습공제방법시일충억제상술우동적유효방법。
Mine hoist syestem plays a critical role in the exploitation and production process of coal resources. In the actual process of ascension, the influence of hoisting machine itself or the surrounding environment, the parameter perturbations and unmodeled dynamics ( PPAUD) and so on, reduce the hoist speed and position tracking accuracy. In view of the above problem, the adaptive iterative learning control strategy was proposed, mathematical model of mine hoist was established, the convergence of the system was proved, and also the control strategy was tested by sim-ulating and practical tests. Simulation results illustrated the validity of parameter perturbations and unmodeled dynam-ics ( PPAUD) attenuation, and the better tracking performance was obtained. The practical test also illustrates that this control strategy has strong robustness, the speed and position tracking accuracy of the hoist system are improved greatly. So the adaptive iterative learning control method is an effective approach attenuating the above-mentioned disturbance.