A disturbance compensation type improved active disturbance rejection control strategy is designed to address the problems of multiple disturbances, large inertia, and long delay in the SCR system of the coal mining machine system. Based on the model information of the SCR system, a mathematical model of the required form of active disturbance rejection was established. A secondorder degree of freedom auto disturbance rejection was designed to control it, and the total disturbance was reconstructed to be equivalent to unknown disturbances and external disturbances. A new observer was designed for disturbance compensation, forming a disturbance compensation linear auto disturbance rejection, improving the observer's disturbance observation ability and accuracy. Finally, a digital simulation model of the SCR system is built on the MATLAB/Simulink simulation platform and compared with PI and LADRC. The results show that the disturbance compensation improved active disturbance rejection has better antiinterference and tracking capabilities, verifying the correctness and superiority of the proposed control strategy.
| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |