Trajectory tracking technology for boom-type roadheader based on improved sliding mode control

doi:10.3785/j.issn.1006-754X.2024.03.219

Chinese Journal of Engineering Design

2024, Vol. 31

Issue (4): 491-501 DOI: 10.3785/j.issn.1006-754X.2024.03.219

Optimization Design

Trajectory tracking technology for boom-type roadheader based on improved sliding mode control

Xuhui ZHANG^1,²(

),Yuyang LI¹,Wenjuan YANG^1,²,Chao ZHANG¹,Xili ZHENG¹,Bing MA¹

^1.College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China
^2.Shaanxi Key Laboratory of Intelligent Detection and Control for Mining Electromechanical Equipment, Xi'an 710054, China

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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.

Key words： boom-type roadheader novel reaching law trajectory tracking sliding mode control

Received: 28 November 2023 Published: 26 August 2024

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	Xuhui ZHANG
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Cite this article:

Xuhui ZHANG,Yuyang LI,Wenjuan YANG,Chao ZHANG,Xili ZHENG,Bing MA. Trajectory tracking technology for boom-type roadheader based on improved sliding mode control. Chinese Journal of Engineering Design, 2024, 31(4): 491-501.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.219 OR https://www.zjujournals.com/gcsjxb/Y2024/V31/I4/491

基于改进滑模控制的悬臂式掘进机轨迹跟踪技术

针对传统滑模控制在悬臂式掘进机轨迹跟踪中存在全局收敛速度慢、抖振显著等不足，提出了一种基于新型趋近律的改进滑模控制方法。通过在传统指数趋近律基础上引入掘进机机身的横向偏差、航向角偏差以及幂次趋近项，实现了掘进机轨迹偏差的快速收敛以及抖振的削弱；同时，采用边界层法进一步抑制抖振，解决了趋近律中符号函数乘积项易引起抖振的问题。分析了新型趋近律的存在性、可达性以及稳定性，并推导了干扰稳态误差的区间。考虑掘进机的不确定扰动，对传统滑模控制与改进滑模控制方法进行了仿真对比。结果表明，改进滑模控制的控制精度、收敛速度及抗干扰能力均优于传统滑模控制。最后，通过搭建实验平台测试了掘进机轨迹跟踪控制系统的性能，验证了改进滑模控制方法的可行性和有效性。研究结果可为煤矿井下恶劣环境中采掘装备的智能控制提供重要参考。

关键词： 悬臂式掘进机, 新型趋近律, 轨迹跟踪, 滑模控制

Fig.1 Geometric model of boom-type roadheader

Fig.2 Trajectory tracking deviation model for boom-type roadheader

Fig.3 Trajectory tracking control block diagram of boom-type roadheader

Fig.4 Trajectory tracking simulation structure of boom-type roadheader

参数	数值	参数	数值
$Δ$ t^①/s	0.001	k₁₂	5
$Δ$	0.01	k₁₃	3
α₁	0.03	k₂₁	7
α₂	0.03	k₂₂	5
k₁₁	7	k₂₃	3

Table 1 Control parameters for trajectory tracking simulation of boom-type roadheader

Fig.5 Comparison of simulation results of linear trajectory tracking of boom-type roadheader

Fig.6 Comparison of simulation results of circular arc trajectory tracking of boom-type roadheader

Fig.7 Trajectory tracking experimental platform for tracked robot

Fig.8 Experimental results of trajectory tracking of tracked robot

Table 2 Partial data of trajectory tracking experiment of tracked robot


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