变频泵控锚杆钻臂摆角动态滑模自适应控制

Dynamic sliding-mode adaptive control for the rotation angle of an anchor-hole drilling arm driven by a variable-frequency pump

巷道支护锚杆/锚索安装过程中,液压锚杆钻机钻臂通常人工控制,定位精度低,导致钻杆安装偏离设计位置,引起设备故障和巷道坍塌.因此,设计一种基于动态切换函数的滑模自适应摆角控制器.针对变频泵控液压锚杆钻臂旋转系统存在的诸多内外部干扰,设计自适应律和动态滑模控制器,有效降低抖振和抑制干扰.联合仿真实验表明,动态滑模自适应摆角控制能够有效克服诸多不确定性对系统的影响,无超调的准确跟踪设定值,满足煤炭安全规程中锚杆/锚索安装偏转角控制和巷道稳定支护的需求.

When installing anchor or anchor cable in a roadway, the position of hydraulic anchor-hole drilling arm is manually controlled by workers, and a low accurate position generally results in equipment failure, even the collapse of the roadway. To improve the accuracy of positioning the drilling arm, an adaptive sliding-mode controller based on dynamic switching function is presented, with the purpose of automatically controlling the rotation angle of hydraulic anchor-hole drilling arm driven by a variable-frequency pump. In the proposed controller, the adaptive law and dynamic sliding-mode are designed to restrain the internal and external disturbances, so as to reduce chattering. The results obtained from a joint simulation platform show that the proposed controller can rapidly adjust the rotation angle of the drilling arm without overshooting and steady-state error, and effectively suppress the adverse effect of uncertainties on the control system, which well meets coal regulations and provides a stable supporting for the roadway.