基于自适应观测器的液压锚杆钻机全局终端滑模有限时间转速控制  

Global terminal sliding-mode finite-timeerotary control 1of hydraulic roofbolter based on an adaptive observer

作　　者：张振 郭一楠 朱松 焦峰 巩敦卫 Zhen ZHANG;Yinan GUO;Song ZHU;Feng JIAO;Dunwei GONG(School of Mathematics,China University of Mining and Technology,Xuzhou 221116,China;Jiangsu Center for Applied Mathematics(CUMT),Xuzhou 221116,China;School of Mechanical and Electrical Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China;State Key Laboratory for Mining Response and Disaster Prevention and Control in Deep Coal Mines,Huainan 232001,China;College of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao 266061,China)

机构地区：[1]中国矿业大学数学学院,徐州221116 [2]江苏省应用数学(中国矿业大学)中心,徐州221116 [3]中国矿业大学(北京)机械与电气工程学院,北京100083 [4]深部煤矿采动响应与灾害防控国家重点实验室,准南232001 [5]青岛科技大学自动化与电子工程学院,青岛266061

出　　处：《中国科学：信息科学》2024年第8期1884-1906,共23页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:62303464,U23A20340,62373358,62333016,61973305,52121003);国家重点研发计划(批准号:2022YFB4703700);教育部系统控制与信息处理重点实验室基金(批准号:Scip202203);深部煤矿开采响应与灾害防控国家重点实验室开放基金(批准号:SKLMRDPC22KF21)资助项目。

摘　　要：在煤矿巷道支护中,液压锚杆钻机转速系统具有显著的死区、时变参数、内部外部扰动等非线性特性,使其转速跟踪控制存在精度低、速度慢和超调等问题,从而无法实现高质量和高效率的支护作业.为了解决上述问题,提高煤矿巷道支护的自动化程度、增强安全性和可靠性,设计一种高效的控制方法十分必要.鉴于此,本文提出一种基于自适应扩张状态观测器的全局终端滑模有限时间控制方法.首先,基于跟踪误差,设计一种自适应扩张状态观测器,该观测器能够通过自适应调整估计增益实时响应系统动态,实现扰动估计和系统跟踪性能的改善,从而有效克服转速系统的非线性特性,改善动态性能.其次,构建一种快速、平滑、连续的收敛函数,并有机融合跟踪误差和估计误差,设计一种新颖的全局终端滑模面;并根据李雅普诺夫(Lyapunov)方法,提出全局终端滑模控制律,有效改善转速系统的稳态性能.基于此,将观测器估计的扰动在滑模控制律中加以补偿,构成所提控制器.最后,基于李雅普诺夫稳定理论,论证转速系统的有限时间稳定性,并通过对比实验验证所提方法的有效性.In the process of coal mine roadway support,the rotary system of hydraulic roofbolter exhibits significant nonlinear characteristics such as dead zone,time-varying parameters,as well as internal and external disturbances,leading to challenges such as low accuracy,slow response speed,and overshoot in speed tracking control.As a result,achieving high-quality and eficient support operations becomes challenging.To address these issues and enhance the automation,safety,and reliability of roadway support,it is crucial to design an effective control method.Therefore,this paper proposes a global terminal sliding-mode finite-time control method based on an adaptive observer.Firstly,based on tracking error,an adaptive extended state observer is designed,which can dynamically adjust the estimation gains to respond to the system's dynamics in real-time,thereby improving disturbance estimation and system tracking performance,effectively overcoming the nonlinear characteristics and improving dynamic performance.Secondly,a novel global terminal sliding-mode surface is constructed by integrating tracking error and estimation error employing a designed fast,smooth,and continuous convergence function.On the basis of this,a global terminal sliding-mode control law is proposed based on the Lyapunov method to enhance the steady-state performance.Subsequently,the disturbance estimated by the observer is compensated in the sliding-mode control law,forming the proposed controller.Finally,the finite-time stability of the rotary system is proven based on Lyapunov stability theory.The effectiveness of the proposed method is verified through comparative experiments.

关 键 词：液压锚杆钻机 滑模控制 扩张状态观测器 有限时间稳定 收敛函数 

分 类 号：TD353.6[矿业工程—矿井建设] TP273[自动化与计算机技术—检测技术与自动化装置]