基于改进扩展状态观测器的液压锚杆钻机滑模摆角控制  

Sliding Mode Swing Angle Control for a Hydraulic Roofbolter Based on Improved Extended State Observer

作　　者：张振 郭一楠 巩敦卫 朱松 田滨[5] ZHANG Zhen;GUO Yi-Nan;GONG Dun-Wei;ZHU Song;TIAN Bin(School of Mathematics,China University of Mining and Technology,Xuzhou 221116;School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221116;School of Mechanical Electronic and Information Engineering,China University of Mining and Technology(Beijing),Beijing 110083;School of Information Science and Technology,Qingdao University of Science and Technology,Qingdao 266061;Institute of Automation,Chinese Academy of Sciences,Beijing 100190)

机构地区：[1]中国矿业大学数学学院,徐州221116 [2]中国矿业大学信息与控制工程学院,徐州221116 [3]中国矿业大学(北京)机电与信息工程学院,北京110083 [4]青岛科技大学信息科学技术学院,青岛266061 [5]中国科学院自动化研究所,北京100190

出　　处：《自动化学报》2023年第6期1256-1271,共16页Acta Automatica Sinica

基　　金：国家自然科学基金(61973305,52121003,61573361);国家重点研发计划(SQ2022YFB4700381);江苏省六大人才高峰项目(2017-DZXX-046);广东省重点领域研究发展计划(2020B0909050001,2020B090921003);河北省自然科学基金(2021402011)资助。

摘　　要：液压锚杆钻机摆角系统固有的死区、干扰和时变参数严重影响其动态和稳态性能.为解决该问题,通过融合动态面方法、滑模方法和扩展状态观测器,提出一种基于改进非线性扩展状态观测器的液压锚杆钻机自适应滑模摆角控制方法.首先,引入一种死区补偿方法,建立摆角系统的死区补偿模型.其次,为提高系统的抗扰动能力和抑制噪声,设计一种改进的非线性扩展状态观测器.此外,构造一种自适应滑模控制律,这其中,基于性能函数和动态面方法设计一种新型的滑模面,以提高控制精度;随后,设计一种新的滑模趋近律,以提高系统滑模响应速度和消除滑模抖振.进一步,分别设计估计误差自适应律和参数自适应律以补偿扰动估计误差和抑制时变参数的影响.最后,通过将所提出的控制方法与8种控制方法进行比较,验证其有效性.The inherent dead-zone,disturbance and time-varying parameters deteriorate dynamic and steady-state performances of swing angle system for a hydraulic roofbolter.To address the issue,by fusing dynamic surface method,sliding mode method and extended state observer,this paper proposes an adaptive sliding mode swing angle control method for a hydraulic roofbolter based on an improved nonlinear extended state observer.First,a dead-zone compensation method is introduced,thus a swing angle system is modeled after compensating dead-zone.Secondly,in order to improve the anti-disturbance capability of swing angle system and suppress noise,an improved nonlinear extended state observer is designed.In addition,an adaptive novel sliding mode control law is constructed,in which a novel sliding mode surface is designed based on performance function and dynamic surface method to improve the control accuracy.Subsequently,a novel sliding mode reaching law is designed to improve the response speed and eliminate sliding mode chattering.Further,an estimation error adaptation law and parameter adaptation laws are designed to compensate the disturbance estimation error and suppress the influence of timevarying parameters,respectively.Finally,the effectiveness of the proposed control method is verified by comparing it with eight control methods.

关 键 词：液压锚杆钻机 滑模控制 扩展状态观测器 自适应律 

分 类 号：TD421.3[矿业工程—矿山机电] TP273[自动化与计算机技术—检测技术与自动化装置]