| Roadway excavation is an important part of coal mining.If it cannot be supported safely,quickly and accurately,it will not only lead to low efficiency of coal mining operation,but also easily induce safety accidents and threaten the safety of personnel.Therefore,efficient and reliable roadway support is a necessary link in the excavation process.In particular,as a permanent support means of roadway,the accuracy of its installation position directly determines the stability of roadway.The traditional bolt support efficiency is low and the bolt support accuracy is poor.It is urgent to promote the automation and intelligent research of hydraulic bolt drill.In the process of bolt support operation,the drill arm of hydraulic roof bolter needs to move horizontally,so as to complete the installation of bolts at different positions on the top of roadway roof.Only by quickly and accurately controlling the moving position of the hydraulic anchor-hole drilling arm can we ensure that the anchor rod or anchor cable is installed at the preset position,effectively support the roadway roof and avoid safety accidents.In order to solve the above problems,this thesis studies the position control method of the hydraulic anchor-hole drilling arm.The details are as follows:(1)A sliding mode position tracking control method is designed for the position control of the drill arm of hydraulic roof bolter.First,by analyzing the components of displacement system,the mathematical model of a hydraulic anchor-hole drilling arm is established.Secondly,a sliding mode control method is designed based on sliding mode surface and sliding mode arrival law.Finally,based on the joint simulation platform of MATLAB and AMESim,the control performance of the proposed method is compared with that of PID control method.The experimental results show that the proposed control method can track the desired position more quickly and accurately without overshoot under both fixed and sudden disturbances.(2)Designing a RBF-based adaptive sliding mode controller for displacement system of a hydraulic anchor-hole drilling arm.Taking time-varying parameters,external disturbances and inherent nonlinearity into account,an adaptive sliding mode controller based on neural network is presented.It contains two main contributions.One is to design an improved sliding mode reaching law,with the purpose of effectively eliminating chattering.The other is to introduce an identifier based on improved RBF networks to estimate uncertain disturbances quickly and effectively.The simulation experiment is carried out on the horizontal displacement simulation platform of the hydraulic anchor-hole drilling arm based on MATLAB and AMESim.The experimental results show that the proposed control method can track the desired position of the desired position of the drill arm more quickly and accurately,and has strong anti disturbance ability and robustness.(3)Based on the above research contents,A RBF-based adaptive integral sliding mode compensation control method is proposed.Firstly,the fuzzy logic dead time compensation method is introduced to establish the mathematical model of a hydraulic anchor-hole drilling arm,which effectively solves the negative impact of the dead time of the three position four-way proportional directional valve on the system stability.Then,based on the designed integral sliding mode surface and sliding mode reaching law,an integral sliding mode control law is constructed to improve the response speed and robustness of the system.Furthermore,based on the sliding mode surface,the adaptive law of connecting weight and approximation error estimation in neural network is designed to ensure the global stability and improve the robustness of the system.The simulation experiment is carried out based on the simulation platform of MATLAB and AMESim.The experimental results show that the proposed control method can track the desired position of the drill arm more quickly and accurately,and has stronger robustness.The thesis has a total of 22 pictures,3 tables and 60 references. |
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