巷道修复机器人动臂油缸自适应控制方法研究

Research on Adaptive Control Method of Boom Cylinder of Roadway Repair Robot

煤矿巷道的安全性和可靠性是保证正常开工的关键,巷道修复机器人可有效提高巷道修复效率和安全性。以机器人动臂油缸电液控制系统为研究对象,建立了阀控非对称缸的数学模型,结合滑模控制理论和微分器技术,提出了一种输出滑模控制器。Simulink仿真结果表明,在仅有油缸位移信号可测的情况下,输出滑模控制器提高了动臂油缸的控制精度和鲁棒性,有助于巷道修复机器人智能化水平的提高。

The safety and reliability of coal mine roadway are the key to ensure normal operation.Roadway repair robot can effectively improve the efficiency and safety of roadway repair.Based on the electrohydraulic control system of robot boom cylinder,a mathematical model of valve-controlled asymmetric cylinder is established,and an output sliding mode controller is proposed by combining sliding mode control theory and dfferentiator technology.Simulink simulation results show that the control accuracy and robustness of boom cylinder are improved when only cylinder displacement signal can be measured,which is conducive to the improvement of the intelligent level of roadway repair robot.