Research on Intelligent Yaw Control of Roadheader

Under actual operating conditions, the yaw velocity of boom roadheader has direct influence on the efficiency and reliability of boom roadheader. The PID control method which uses neural network establish the intelligent control system of boom roadheader yaw, based on the MATLAB surface fitting technique, the relationship between the coefficient of coal and rock ƒ, the cutting depth B and the yaw velocity V is obtained. The optimal yaw velocity generation module is established by using Simulink neural network, through simulation and residual analysis, it is found that the maximum residual value of the yaw velocity and optimal yaw velocity is within the feasible margin, it can achieve the accurate tracking of yaw velocity to the optimal yaw velocity and the automatic control of roadheader. Keywords-optimal yaw velocity; intelligent control; neural network; residual analysis; feasible margin