固体密实充填自适应滑模路径跟踪控制研究  

Study on adaptive sliding mode path tracking control in solid dense filling

作　　者：张子航 刘扬[2] 杨尚青 薄灿 张子峣 李明泽 ZHANG Zihang;LIU Yang;YANG Shangqing;BO Can;ZHANG Ziyao;LI Mingze(School of Artificial Intelligence,China University of Mining and Technology-Beijing,Haidian,Beijing 100083,China;School of Mechanical and Electrical Engineering,China University of Mining and Technology-Beijing,Haidian,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)人工智能学院,北京市海淀区100083 [2]中国矿业大学(北京)机械与电气工程学院,北京市海淀区100083

出　　处：《中国煤炭》2025年第1期57-66,共10页China Coal

基　　金：河北省自然基金联合基金项目“矸石精准密实充填机理与开采方法研究”(E2020402064)。

摘　　要：针对煤矿固体充填液压支架推压机构在复杂工况下轨迹跟踪精度低、抗干扰能力不足等问题,提出了一种基于改进滑模控制方法的自适应解耦控制策略。通过构建包含管路效应的双液压缸协同动力学模型,表征了系统在充填作业中的非线性与不确定性。设计前馈补偿解耦方法,有效抑制了水平液压缸与抬升液压缸的耦合效应。进一步提出融合指数趋近律与双曲正切函数的自适应滑模控制器,通过动态调整趋近速率和扰动估计参数,显著降低滑模面抖振并提升轨迹跟踪精度。基于AMESim/Simulink联合仿真平台的实验结果表明,与传统PI和模糊PID控制相比,所提方法稳定时间缩短超过60%,最大跟踪误差小于0.02 m,在响应速度、控制精度及抗干扰能力方面均表现出显著优势。Aiming at the problems of low trajectory tracking accuracy and insufficient anti-interference ability of the pushing and pressing mechanism of the hydraulic support for coal mine solid filling under complex working conditions,an adaptive decoupling control strategy based on improved sliding mode control method was proposed.By constructing a collaborative dynamic model of double hydraulic cylinders with pipeline effects,the nonlinearity and uncertainty of the system during the filling operation were characterized.A feedforward compensation decoupling method was designed to effectively suppress the coupling effect between the horizontal hydraulic cylinder and the lifting hydraulic cylinder.An adaptive sliding mode controller integrating the exponential reaching law and the hyperbolic tangent function was further proposed.By dynamically adjusting the reaching rate and disturbance estimation parameters,the chattering of the sliding mode surface was significantly reduced and the trajectory tracking accuracy was improved.The experimental results based on the AMESim/Simulink co-simulation platform showed that compared with traditional PI and fuzzy PID control,the proposed method shortened the stabilization time by over 60%,and the maximum tracking error was less than 0.02 m,which showed significant advantages in terms of response speed,control accuracy,and anti-interference ability.

关 键 词：固体充填 推压机构 前馈补偿 自适应趋近律 滑模控制 

分 类 号：TD823.7[矿业工程—煤矿开采]