| 模糊耦合滑模的掘锚支机器人位置同步控制 |
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| 引用本文： | 马天兵,郭响响,邓海顺,苏国用.模糊耦合滑模的掘锚支机器人位置同步控制[J].井冈山大学学报（自然科学版）,2022,43(3):66-72. |
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| 作者姓名： | 马天兵 郭响响 邓海顺 苏国用 |
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| 作者单位： | 深部煤矿采动响应与灾害防控国家重点实验室, 安徽, 淮南 232001;安徽理工大学机械工程学院, 安徽, 淮南 232001 |
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| 基金项目： | 国家自然科学基金项目(51305003);安徽省高校协同创新项目(GXXT-2019-048) |
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| 摘 要： | 针对掘锚支机器人四缸同步平台存在的非线性、耦合作用及滞后问题,提出一种基于模糊相邻交叉耦合改进型滑模的位置同步控制方法,利用系统辨识获得阀控缸传递函数,采用模糊控制实时在线计算耦合系数,通过最速跟踪微分器柔化调节过程.仿真实验表明,改进型滑模控制相对于传统滑模控制,能有效减弱抖振,提高系统稳定性,且模糊相邻交叉耦合滑模...
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| 关 键 词： | 模糊耦合 滑模控制 掘锚支机器人 位置同步 系统辨识 |
| 收稿时间： | 2021/12/2 0:00:00 |
| 修稿时间： | 2022/2/10 0:00:00 |
POSITION SYNCHRONIZATION CONTROL OF BOLT-DIGGING ROBOT ON FUZZY COUPLED SLIDING MODE |
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| MA Tian-bing,GUO Xiang-xiang,DENG Hai-shun,SU Guo-yong.POSITION SYNCHRONIZATION CONTROL OF BOLT-DIGGING ROBOT ON FUZZY COUPLED SLIDING MODE[J].Journal of Jinggangshan University(Natural Sciences Edition),2022,43(3):66-72. |
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| Authors: | MA Tian-bing GUO Xiang-xiang DENG Hai-shun SU Guo-yong |
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| Institution: | State Key Laboratory of Deep Coal Mine Mining Response and Disaster Prevention and Control, Huainan, Anhui 232001, China;School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001, China |
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| Abstract: | Aiming at the non-linearity, coupling effect and hysteresis problems of the four-cylinder synchronization platform of the anchor digging robot, a position synchronization control method based on fuzzy adjacent cross-coupling improved sliding mode is proposed. The transfer function of the valve-controlled cylinder is obtained by system identification, and Fuzzy control calculates the coupling coefficient online in real time, and softens the adjustment process through the fastest tracking differentiator. Simulation experiments show that compared with traditional sliding mode control, improved sliding mode control can effectively reduce chattering and improve system stability, and the fuzzy adjacent cross-coupled sliding mode control has the largest synchronization error compared to the adjacent cross-coupled sliding mode control. The maximum synchro error and tracking error are respectively controlled at 0.34mm and 0.002mm. |
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| Keywords: | fuzzy coupling sliding mode control anchor digging robot position synchronization system identification |
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