基于动态面液压锚杆钻机摆角自适应跟踪控制

Adaptive Tracking Control of Swing Angle of Hydraulic Roofbolter Based on Dynamic Surface

针对带有外部扰动的液压锚杆钻机摆角跟踪控制问题,提出了一种自适应跟踪控制方案。结合实际工况条件在系统中加入内、外部扰动,利用自适应技术对未知扰动进行估计,消除其对系统扰动的影响。为了避免虚拟控制器连续求导而导致微分爆炸现象的发生,引入一阶动态面滤波器。结合不等式放缩,设计相应控制器和自适应律。利用Lyapunov函数直接法证明闭环系统所有信号一致有界,且系统输出可以跟踪到给定信号,跟踪误差可由设计参数进行调整。最后,通过仿真验证该自适应控制方案的有效性。

An adaptive tracking control scheme was proposed for the swing angle tracking control problem of hydraulic roofbolter with external disturbances.By incorporating external disturbances into the system based on actual operating conditions and utilizing adaptive techniques to estimate unknown disturbances,the impact of these disturbances on the system was eliminated.In order to avoid the occurrence of differential explosion caused by continuous differentiation of virtual controllers,a firstorder dynamic surface filter was introduced.Designed corresponding controllers and adaptive laws based on inequality scaling.Used Lyapunov function direct method to prove that all signals in the closed-loop system are uniformly bounded,the system output can track the given signal,and the tracking error can be adjusted by the design parameters.Finally,the effectiveness of the adaptive control scheme was verified through simulation.