A Novel Compound Control Method for Hydraulically Driven Shearer Drum Lifting

<div>Experimental results for VCAHC of sine signal under variable load: (a) PID controller, (b) CMAC-PID controller, and (c) CMAC-<svg height="12.8228pt" id="M204" style="vertical-align:-0.04979992pt" version="1.1" viewbox="-0.0498162 -12.773 34.1889 12.8228" width="34.1889pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M46 650V622C120 617 128 613 128 525V125C128 42 120 34 40 28V0H311V28C221 34 212 39 212 124V281L286 262C297 261 316 261 331 263C429 275 526 338 526 468C526 533 501 579 462 609C422 638 364 650 293 650H46ZM212 559C212 588 215 600 223 606C230 613 251 618 279 618C361 618 430 572 430 464C430 337 350 302 285 302C252 302 225 309 212 314V559Z" id="g190-81"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="563" vert-adv-y="563"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,7.656,0)"><path d="M303 0V28C221 34 213 39 213 125V525C213 610 221 616 303 622V650H38V622C120 616 128 610 128 525V125C128 40 120 34 38 28V0H303Z" id="g190-74"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="341" vert-adv-y="341"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,12.294,-5.984)"><path d="M547 100L523 123C489 76 461 62 452 62C442 62 433 71 427 109C405 243 387 408 378 495C360 666 322 710 263 710C230 710 182 688 161 667L170 639C184 646 203 651 218 651C247 651 272 634 288 562C297 521 300 485 304 436C230 267 111 104 24 11L33 -12L116 6C163 73 263 255 311 362L347 84C355 26 373 -12 406 -12C440 -12 489 12 547 100Z" id="g50-233"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="571" vert-adv-y="571"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,18.227,0)"><path d="M43 650V622C120 616 128 612 128 526V124C128 39 120 33 34 27V0H270C392 0 492 25 567 83C643 141 690 230 690 350C690 444 655 517 605 565C543 625 450 650 323 650H43ZM213 547C213 587 217 598 226 604C236 612 262 617 304 617C371 617 429 604 474 576C554 529 592 439 592 336C592 176 505 36 319 36C246 36 213 55 213 131V547Z" id="g190-69"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="735" vert-adv-y="735"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,28.222,-5.984)"><path d="M546 97L529 123C499 91 459 65 450 65C443 65 439 73 445 106C468 226 496 341 523 451H513L436 424C423 357 412 311 403 276C356 195 245 59 190 59C165 59 158 99 166 135L236 445L227 451L152 428L60 18C43 -58 24 -145 24 -183C24 -237 43 -257 66 -257C96 -257 123 -236 130 -224L129 -216C115 -205 96 -156 96 -102C96 -57 105 -7 113 26H115C127 -1 137 -12 158 -12S198 -5 230 19C284 60 332 117 385 186H387C381 154 378 142 370 107C347 1 367 -12 388 -12C422 -12 492 32 546 97Z" id="g50-234"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="564" vert-adv-y="564"></glyph.data></g></svg> controller.</div>

Journal of Control Science and Engineering

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Figure 10

Figure 10: A Novel Compound Control Method for Hydraulically Driven Shearer Drum Lifting 