掘进机器人电液系统位置控制死区补偿

Dead-zone Compensation of Cutting Head Position Control for Boom-type Roadheader

针对掘进机器人截割电液系统中比例换向阀结构死区影响截割头位置控制精度,以比例阀实际开口作为阀控缸系统输入,建立了控制系统二阶状态空间模型。提出一种死区自适应补偿方法,基于李雅普诺夫稳定性理论设计死区参数自适应律。搭建了掘进机试验样机,通过与传统死区逆补偿方法进行实验对比,结果表明:所提控制方法可以降低掘进机跟踪指定轨迹的动态误差和定位偏差,改善比例阀死区对掘进机截割系统性能的影响。

Aiming at the problem that the dead-zone of the structure of the electric proportional directional valve in the cutting electro-hydraulic driving system of the roadheader affects the trajectory tracking of the cutting head,taking the actual opening of the proportional valve as the control input of the valve controlled asymmetric cylinder system,the second-order state space model of the system is established.A finite-time control method with dead-zone adaptive compensation is proposed.The dead-zone parameter adaptive law is designed based on Lyapunov finite-time stability theory,and the convergence condition of system tracking error is given.Based on the traditional analog amplifier double closed-loop PID control strategy,the dynamic response performance of proportional valve is optimized by three-step method.The test prototype of the roadheader is built.Through the experimental comparison with the traditional dead-zone compensation method,the results show that the proposed control method can effectively improve the dynamic tracking error,and steady-state positioning error in the process of the cutting head tracking the specified trajectory,and effectively solve the influence of the dead-zone of the proportional valve on the operation performance of the cutting system,The tracking accuracy and working efficiency of the cutting head are improved.