Intelligent Robust Control of Roadheader Based on Disturbance Observer
The formation of a coal mine roadway cross-section is a primary task of the boom-type roadheader. This paper proposes an intelligent robust control scheme for the cutting head trajectory of a coal mine tunneling robot, which is susceptible to unknown external disturbances, system nonlinearity, and p...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/1/36 |
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| author | Shuo Wang Dongjie Wang Aixiang Ma Xihao Yan Sihai Zhao |
| author_facet | Shuo Wang Dongjie Wang Aixiang Ma Xihao Yan Sihai Zhao |
| author_sort | Shuo Wang |
| collection | DOAJ |
| description | The formation of a coal mine roadway cross-section is a primary task of the boom-type roadheader. This paper proposes an intelligent robust control scheme for the cutting head trajectory of a coal mine tunneling robot, which is susceptible to unknown external disturbances, system nonlinearity, and parameter uncertainties. First, the working conditions of the cutting section were analyzed, and a mathematical model was established. Then, a high-gain disturbance observer was designed based on the system model to analyze cutting loads and compensate for uncertainties and disturbances. A sliding mode controller was proposed using the backstepping design method, incorporating a saturation function control term to avoid chattering. The eel foraging optimization algorithm was also improved and used to tune the controller parameters. A simulation model of the system was developed for performance comparison tests. Finally, experimental verification was conducted under actual working conditions in a tunnel face, and the results demonstrated the effectiveness of the proposed control method. |
| format | Article |
| id | doaj-art-c4d79d5e8c9e47a89f8a393377498dda |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-c4d79d5e8c9e47a89f8a393377498dda2025-01-24T13:15:15ZengMDPI AGActuators2076-08252025-01-011413610.3390/act14010036Intelligent Robust Control of Roadheader Based on Disturbance ObserverShuo Wang0Dongjie Wang1Aixiang Ma2Xihao Yan3Sihai Zhao4School of Mechanical and Electrical Engineering, China University of Mining & Technology, Beijing 100083, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining & Technology, Beijing 100083, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining & Technology, Beijing 100083, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining & Technology, Beijing 100083, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining & Technology, Beijing 100083, ChinaThe formation of a coal mine roadway cross-section is a primary task of the boom-type roadheader. This paper proposes an intelligent robust control scheme for the cutting head trajectory of a coal mine tunneling robot, which is susceptible to unknown external disturbances, system nonlinearity, and parameter uncertainties. First, the working conditions of the cutting section were analyzed, and a mathematical model was established. Then, a high-gain disturbance observer was designed based on the system model to analyze cutting loads and compensate for uncertainties and disturbances. A sliding mode controller was proposed using the backstepping design method, incorporating a saturation function control term to avoid chattering. The eel foraging optimization algorithm was also improved and used to tune the controller parameters. A simulation model of the system was developed for performance comparison tests. Finally, experimental verification was conducted under actual working conditions in a tunnel face, and the results demonstrated the effectiveness of the proposed control method.https://www.mdpi.com/2076-0825/14/1/36roadheaderelectro-hydraulic servo systemdisturbance observerbackstepping sliding mode controlintelligent optimization |
| spellingShingle | Shuo Wang Dongjie Wang Aixiang Ma Xihao Yan Sihai Zhao Intelligent Robust Control of Roadheader Based on Disturbance Observer Actuators roadheader electro-hydraulic servo system disturbance observer backstepping sliding mode control intelligent optimization |
| title | Intelligent Robust Control of Roadheader Based on Disturbance Observer |
| title_full | Intelligent Robust Control of Roadheader Based on Disturbance Observer |
| title_fullStr | Intelligent Robust Control of Roadheader Based on Disturbance Observer |
| title_full_unstemmed | Intelligent Robust Control of Roadheader Based on Disturbance Observer |
| title_short | Intelligent Robust Control of Roadheader Based on Disturbance Observer |
| title_sort | intelligent robust control of roadheader based on disturbance observer |
| topic | roadheader electro-hydraulic servo system disturbance observer backstepping sliding mode control intelligent optimization |
| url | https://www.mdpi.com/2076-0825/14/1/36 |
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