Decoupling-based adaptive sliding-mode synchro-position control for a dual-cylinder driven hydraulic support with
Yi-Nan Guo1, Zhen Zhang2, Qing-Yu Liu2
1School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China; School of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing 110083, China.
ISA Transactions
|May 26, 2021
Summary
Synchronizing dual-cylinder hydraulic supports is crucial for stability. An adaptive sliding-mode control strategy effectively minimizes synchronization errors, outperforming traditional methods in hydraulic mining applications.
Area of Science:
- Mechanical Engineering
- Control Systems Engineering
- Mining Engineering
Background:
- Hydraulic supports in mining require synchronous dual-cylinder operation for stability and roof support.
- Pipeline dynamics significantly impact cylinder synchronization.
- Shared pump systems introduce displacement-force coupling challenges.
Purpose of the Study:
- To develop a mathematical model for dual-cylinder hydraulic supports considering pipeline length.
- To design an adaptive sliding-mode synchro-position control strategy (ASSC) for improved synchronization.
- To evaluate the proposed controller's performance against conventional methods.
Main Methods:
- Mathematical modeling of a dual-cylinder hydraulic support system.
- Implementation of a decoupling compensator to address displacement-force coupling.
- Design of an adaptive sliding-mode control strategy with an adaptive law for uncertainty compensation.
Main Results:
- The developed controller effectively reduces synchronization errors between dual-cylinder positions.
- Experimental validation on simulation and practical systems confirms superior control performance.
- The ASSC strategy demonstrates better synchronization than PI and fuzzy PID controllers.
Conclusions:
- The proposed adaptive sliding-mode control strategy offers enhanced synchronization for dual-cylinder hydraulic supports.
- This approach improves the balance and force delivery of hydraulic supports in mining operations.
- The controller effectively manages system uncertainties and pipeline influences.
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