【摘要】 针对采煤机传统PID调高技术控制滞后和跟踪性能较差的问题，文中提出一种基于误差状态方程的最优控制调高技术，以改善采煤机滚筒调高的响应速度和跟踪性能。首先建立采煤机调高控制系统的数学模型；其次为便于处理，将数学模型转化为状态空间方程，利用最优控制方法对状态空间方程进行处理，得到采煤机滚筒调高的最优控制器；再根据当前和过去的已知信息对系统进行反馈补偿，改善系统的动态性能。为验证最优控制调高技术的有效性，在Simulink中搭建最优控制仿真模型和传统PID仿真模型，进行阶跃响应和路径跟踪实验。结果表明，与传统PID控制相比，所提方法响应速度更快，路径跟踪性能较好，可为提高自动化采煤技术中采煤机滚筒调高控制智能化水平提供理论支持。更多还原

【Abstract】 In allusion to the problem of control hysteresis and poor tracking performance of traditional PID height adjustment technology for shearer,an optimal control height adjustment technology based on error state equation is proposed to improve the response speed and tracking performance of shearer drum height adjustment. The mathematical model of shearer height adjustment control system is established. The mathematical model is transformed into a state space equation to facilitate processing,and the state space equation is processed by means of the optimal control method to obtain the optimal controller for height adjustment of shearer drum. According to the current and past known information,feedback compensation is carried out to improve the dynamic performance of the system. In order to verify the effectiveness of the optimal control height adjustment technology,the optimal control simulation model and the traditional PID simulation model are built in Simulink to conduct the step response and path tracking experiments. The results show that,in comparison with traditional PID control,the proposed method has faster response speed and better path tracking performance,which can provide theoretical support for improving the intelligent level of shearer drum height control adjustment system in automatic coal mining technology.更多还原