悬臂式掘进机工作装置的变结构力控制研究

Study on Variable Structure Force Control of Manipulator on Boom Type Mine Roadheader

针对悬臂式掘进机工作装置的电液控制模型具有多变量和非线性的特征,进行了掘进机工作装置的变结构力控制研究。基本思想是控制工作装置各油缸的输出力,使其跟踪规划的期望输出力;建立了工作装置升降和回转液压系统力控制模型,设计了以油缸输出力的偏差为切换面的变结构控制函数,采用光滑函数消除滑模面上的抖振现象;对直线截割路径进行了轨迹规划。仿真结果表明变结构力控制具有良好的控制作用。

According to the multi variation and nonlinear features of the electric and hydraulic control model on the manipulator of the boom type mine roadheader,a study on the variable structure force control of the manipulator on the mine roadheader was conducted.The basic idea was to control each oil cylinder output of the manipulator in order to trace the expected output of the planning.A force control model of the lifting and rotary hydraulic system on the manipulator was established.Based on the deviation of the oil cylinder output as the switching plane,the variable structure control function was designed.A smooth function was applied to eliminate the vibration phenomenon on the sliding model.The tracing planning was conducted on the straight line cutting route.The simulation results showed that the variable structure force control would have an excellent control effect.