工程设计学报2024，Vol.31Issue(4)：491-501,11.DOI:10.3785/j.issn.1006-754X.2024.03.219
基于改进滑模控制的悬臂式掘进机轨迹跟踪技术
Trajectory tracking technology for boom-type roadheader based on improved sliding mode control
摘要
Abstract
Aiming at the shortcomings of traditional sliding mode control in trajectory tracking of boom-type roadheader,such as slow global convergence and significant chattering,an improved sliding mode control method based on novel reaching law is proposed.By introducing lateral deviation and heading angle deviation of the roadheader body and adding power reaching term to the traditional exponential reaching law,the rapid convergence of trajectory deviation and chattering reduction for the roadheader were achieved.At the same time,the boundary layer method was employed to further suppress chattering,which addressed the problem of chattering easily caused by the product term of sign functions in the reaching law.The existence,reachability and stability of the novel reaching law were analyzed,and the interval of disturbance steady-state error was derived.Considering the uncertain disturbance of the roadheader,the simulation comparison was conducted between traditional sliding mode control method and improved sliding mode control method.The results indicated that the control accuracy,convergence speed and anti-interference ability of the improved sliding mode control were superior to the traditional sliding mode control. Finally,an experimental platform was set up to test the performance of the roadheader trajectory tracking control system,which verified the feasibility and effectiveness of the improved sliding mode control method. The research results can provide important reference for the intelligent control of mining equipment in the harsh environment of underground coal mine.关键词
悬臂式掘进机/新型趋近律/轨迹跟踪/滑模控制Key words
boom-type roadheader/novel reaching law/trajectory tracking/sliding mode control分类
机械制造引用本文复制引用
张旭辉,李语阳,杨文娟,张超,郑西利,麻兵..基于改进滑模控制的悬臂式掘进机轨迹跟踪技术[J].工程设计学报,2024,31(4):491-501,11.基金项目
国家自然科学基金资助项目(52104166) （52104166）
陕西省自然科学基础研究计划陕煤联合基金项目(2021JLM-03) （2021JLM-03）
中国博士后科学基金面上项目(2022MD723826) （2022MD723826）
陕西省重点研发计划项目(2023-YBGY-063) （2023-YBGY-063）
