Zhang Zihang, Liu Yang, Bo Lei, Wang Yiying
School of Artificial Intelligence, China University of Mining and Technology (Beijing), Beijing, 100083, China.
School of Mechanical and Electronic Engineering, China University of Mining and Technology (Beijing), Beijing, 100083, China.
Heliyon. 2024 Sep 26;10(19):e38437. doi: 10.1016/j.heliyon.2024.e38437. eCollection 2024 Oct 15.
The hydraulic support pushing mechanism is the primary equipment utilized in coal mine backfill operations, playing a crucial role in enhancing filling efficiency, ensuring a stable filling body, and managing gob safety. This paper focuses on analyzing the dynamic model and the interrelationship of the hydraulic cylinder, which serves as the power source for the pushing mechanism. To address the intricate coupling effects arising from the hydraulic cylinders and the displacement-force induced by the shared pump, this study employs feedforward compensation for decoupling analysis. Additionally, this article introduces an adaptive sliding mode approach law and an adaptive synovial controller to combat issues such as buffeting and interference. The simulation results demonstrate that the sliding mode reaching law proposed in this paper can achieve a stable state in approximately 3 seconds, which is significantly better than other methods. Combining the experimental equipment information from a mining area in Hebei Province with Amesim-Simulink simulation results, it is evident that the adaptive sliding mode controller exhibits an error range between approximately 1.33E-4 and 1.5E-4 during the stable phase. This performance surpasses traditional PI and fuzzy PID controllers in terms of path tracking ability, effectively enabling precise control of the filling support pushing mechanism.
液压支架推移机构是煤矿充填作业中使用的主要设备，在提高充填效率、确保充填体稳定和管理采空区安全方面发挥着关键作用。本文着重分析作为推移机构动力源的液压缸的动力学模型及其相互关系。为解决液压缸与共用泵引起的位移力之间复杂的耦合效应，本研究采用前馈补偿进行解耦分析。此外，本文引入自适应滑模趋近律和自适应滑膜控制器来解决抖振和干扰等问题。仿真结果表明，本文提出的滑模趋近律能在约3秒内达到稳定状态，明显优于其他方法。结合河北省某矿区的实验设备信息与Amesim-Simulink仿真结果可知，自适应滑模控制器在稳定阶段的误差范围约为1.33E-4至1.5E-4。在路径跟踪能力方面，该性能优于传统的PI和模糊PID控制器，有效实现了对充填支架推移机构的精确控制。
