A LESO Based Backstepping Controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process  

作　　者：CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru 

机构地区：[1]School of Automation,China University of Geosciences,Wuhan 430074,China [2]Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems,Wuhan 430074,China [3]Engineering Research Center of Intelligent Technology for Geo-Exploration,Ministry of Education,Wuhan 430074,China [4]Department of Electrical and Computer Engineering,University of Alberta,Edmonton,AB T6R2G7,Canada [5]The Tokyo Institute of Technology,Yokohama 226-8502,Japan

出　　处：《Journal of Systems Science & Complexity》2024年第5期1789-1808,共20页系统科学与复杂性学报（英文版）

基　　金：supported by the National Natural Science Foundation of China under Grant Nos.62373334,62273317,and 61973286;the 111 Project under Grant No.B17040;the Fundamental Indoor Funds for the Central Universities,China University of Geosciences under Grant No.2021063.

摘　　要：In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of drilling.In this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary speed.Firstly,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is established.Then an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam hardness.Based on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary speed.Finally,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关 键 词：BACKSTEPPING extended state observer hydraulic tunnel drilling machine rotary speed 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TD263.3[自动化与计算机技术—控制科学与工程]