| The roof problem accounts for the highest proportion of many coal mine safety accidents,so finding a safe and reliable way to solve the roof problem is of great significance to coal mine safety,and roof support came into being.In this paper,a kind of multi-hydraulic cylinder group equipment for digging and anchoring robot is proposed.The position synchronization of its multiple hydraulic cylinder groups plays a key role in the quality of roof support,so how to accurately control the position synchronization of the four support cylinders is an important guarantee for lifting operation safety.In view of the nonlinear and multivariable coupling characteristics of the equipment,an improved particle swarm auto-disturbance rejection control composite algorithm is proposed,and a set of equipment prototype platform for the multi-hydraulic cylinder group of the excavation and anchor support robot is developed and designed,and the reliability and feasibility of its theory is verified experimentally.The paper framework is as follows:1)After summarizing the functional characteristics of the comprehensive combined equipment for digging,anchoring and supporting used in mines at home and abroad,a kind of multi-hydraulic cylinder group equipment for digging,anchoring and supporting robot is proposed,and the current idea for the position synchronization control of the multi-hydraulic cylinder group and the research status of its application at home and abroad are described in detail,which provides the research basis for the subsequent position synchronization control system of the multi-hydraulic cylinder group of the digging,anchoring and supporting robot.2)The simplified simulation model and mathematical model of multiple hydraulic cylinder sets of excavator support robot are established,and theoretical derivation is carried out from the perspective of dynamic analysis to find out the reason of the asynchronous system of multiple hydraulic cylinder sets.The load flow equation of the valve,the flow continuity equation of the hydraulic cylinder and the dynamic balance equation of the hydraulic cylinder are constructed,and the transfer function of the valve controlled hydraulic cylinder is derived.Finally,in MATLAB,the m function is used to draw the Bode diagram,through which the amplitude and phase margin of the multicylinder equipment of the excavator support robot is measured,and the stability of the system is tested by the Bode diagram criterion.The theoretical support is provided for the position synchronization control system of multiple hydraulic cylinders of excavator robot.3)The active disturbance rejection controller equipped with multiple hydraulic cylinders of the anchor support robot is designed,and the selection of some parameters of the active disturbance rejection controller is explained in detail.It is proved that the system(3-19)satisfies asymptotic uniform stability by using Lyapunov theory.The optimization process of the standard particle swarm optimization algorithm is improved by referring to the crossover and selection process of genetic optimization algorithm,so obtain a larger optimization range and avoid falling into the local optimal.A combination scheme of auto-disturbance rejection control and particle swarm optimization is proposed to enable the active disturbance rejection controller to adjust parameters online.4)A comprehensive experimental platform for multiple hydraulic cylinder sets of excavator support robot is built,and the control algorithm of the position synchronization system of multiple hydraulic cylinder sets is developed by using the c SPACE semiphysical simulation platform.The simulation model of multiple hydraulic cylinder sets and the active disturbance rejection controller module are built in the software AMESim and Simulink respectively,for collaborative operation and joint simulation.Then the displacement tracking and synchronization error characteristics of the system under the excitation of step signal are experimentally studied.The results show that the improved particle swarm active disturbance rejection controller is reliable and feasible,which provides reference value for the application and landing of multiple hydraulic cylinder sets of the anchor support.Figure [60] Table [14] Reference [97]... |
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