Non-singular terminal sliding mode control of tunneling robot based on UDE

ZHANG Guotai; SHEN Gang; TANG Yu; LI Xiang

doi:10.13225/j.cnki.jccs.2022.1595

Journal of China Coal Society > 2023 > 48(S2): 790-801. > DOI: 10.13225/j.cnki.jccs.2022.1595

ZHANG Guotai, SHEN Gang, TANG Yu, et al. Non-singular terminal sliding mode control of tunneling robot based on UDE[J]. Journal of China Coal Society, 2023, 48(S2): 790-801. DOI: 10.13225/j.cnki.jccs.2022.1595

Citation:

PDF (14938 KB)

Non-singular terminal sliding mode control of tunneling robot based on UDE

School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China

More Information

Received Date: November 05, 2022
Revised Date: December 06, 2022
Available Online: March 07, 2024

Graphical Abstract

Abstract

Abstract

With the rapid development of science and technology, the coal mine boom-type roadheader is developing towards the direction of automation, fewer people, and more intelligence. The formation of roadway sections is the main task of the boom-type roadheader. A non-singular terminal sliding mode control method based on an unknown dynamic estimator (UDE) is proposed aiming at the trajectory control of the cutting head for the coal mine tunneling robot, which is affected by unknown external disturbance, system nonlinearity, and parametric uncertainty. Firstly, considering the hydraulic driving system, a 3-order nonlinear strict feedback state-space model of the roadheader cutting electro-hydraulic driving system is established. Secondly, a super spiral sliding mode differentiator with finite time state convergence is used to estimate the unknown speed state of the system. The UDE is designed based on a low-pass filter to estimate the lumped uncertainty of the unmatched items of the system, and a fast terminal sliding mode control law is designed using a nonsingular terminal sliding mode surface and a power exponential reaching law. Real-time feedforward compensation for the system disturbances observed by the UDE can effectively alleviate the controller chattering problem existing in traditional sliding mode control. At the same time, in order to reduce the computational complexity of derivatives of high-order virtual control variables, the command filtering technology is introduced, and high gain robust feedback is used to suppress the disturbance of system matching terms. The stability of the closed-loop system is proved by using the Lyapunov synthesis method. Finally, the prototype of the tunneling robot is utilized to carry out experimental verification. The experimental results show that when tracking step signals, 0.1 Hz sinusoidal signals, and mixed frequency signals, the average value of the tracking error of the proposed control method is reduced by 61.60%, 66.51%, and 66.27% respectively compared with the traditional PI control. And the root mean square value of the tracking error is reduced by 54.00%, 64.53%, and 61.90% respectively. The algorithm can effectively suppress the multi-source uncertainty disturbance of the system, and realize the high-precision position control and dynamic fast response of the cutting system of the roadheader robot.

FullText(HTML)

References (34)

References

[1]	杨健健,张强,王超,等. 煤矿掘进机的机器人化研究现状与发展[J]. 煤炭学报,2020,45(8):2995-3005. YANG Jianjian,ZHANG Qiang,WANG Chao,et al. Status and development of robotization research on roadheader for coal mines[J]. Journal of China Coal Society,2020,45(8):2995-3005.
[2]	杜雨馨,刘停,童敏明,等. 基于机器视觉的悬臂式掘进机机身位姿检测系统[J]. 煤炭学报,2016,41(11):2897-2906. DU Yuxin, LIU Tin, TONG Minming, et al. Pose measurement system of boom-tyte roadheader based on machine vision[J]. Journal of China Coal Mine Society,2016,41(11):2897-2906.
[3]	刘超,符世琛,成龙,等. 基于TSOA定位原理混合算法的掘进机位姿检测方法[J]. 煤炭学报,2019,44(4):1255-1264. LIU Chao,FU Shichen,CHEN Long,et al. Pose direction method based on hybrid algorithm of TSOA positioning principle for roadheader[J]. Journal of China Coal Mine Society, 2019, 44(4):1255-1264.
[4]	吉晓冬,瞿圆媛,符世琛,等. 基于SVD-Unscented卡尔曼滤波的掘进机行进调度纠偏研究[J]. 矿业科学学报,2022,7(3):354-363. JI Xiaodong,QU Yuanyuan,FU Shichen,et al. Path tracking of miniing boom road-header using SVD-Unscented Kalman Filtering[J]. Journal of Mining Science and Technology,2022,7(3):354-363.
[5]	张旭辉,赵建勋,杨文娟,等. 悬臂式掘进机视觉导航与定向掘进控制技术[J]. 煤炭学报,2021,46(7):2186-2196. ZHANG Xuhui, ZHAO Jianxun, YANG Wenjuan, et al. Visionbased navigation and directional heading control technologies of boom-type roadheader [J]. Journal of China Coal Mine Society, 2021,46(7):2186-2196.
[6]	WANG P J,SHEN Y,LI R,et al. Multisensor information-based adaptive control method for cutting head speed of roadheader[J]. Journal of Mechanical Engineering Science,2021,11:12-26.
[7]	张建广. 悬臂式掘进机自适应截割控制系统研究[J].煤炭科学技术,2016,44(2):148-152. ZHANG Jianguang. Study on adaptive cutting control system of boom-type roadheader [J]. Coal Science and Technology, 2016, 44(2):148-152.
[8]	杨文娟. 煤矿智能掘进机位姿视觉测量方法及系统研究[D]. 西安:西安科技大学,2021:125-132. YANG Wenjuan. Research on vision-based pose estimation methods and system for intelligent tunnel machine in coal mine[D]. Xi'an:Xi'an Unversity of Science and Technology,2021:148-152.
[9]	周红旭,孙海军,张雷,等. 基于一维卷积神经网络的掘进机截割部磁场辅助定位技术[J]. 河北科技大学学报,2022,43(3):231-239. ZHOU Hongxu,SUN Haijun,ZHANG Lei,et al. Magnetic field aided positioning technology of roadheader cutting part based on one-dimensional convolution neural network [J]. Journal of Hebei Unversity of Science and Technology,2022,43(3):231-239.
[10]	王元. 基于视觉的悬臂式掘进机断面成形与控制技术研究[D].上海:上海交通大学,2020:50-63. WANG Yuan. Research on automatic cross section profiling theory and control strategy for boom-type roadheader based on machine vision[D]. Shanghai:Shang'hai Jiao Tong University,2020:50-63.
[11]	张旭辉,赵建勋,张超,等.悬臂式掘进机视觉伺服截割控制系统研究[J]. 煤炭科学技术,2022,50(2):263-270. ZHANG Xuhui, ZHAO Jianxun, ZHANG Chao, et al. Study on visual servo control system for cutting of cantilever roadheader[J]. Coal Science and Technology,2022,50(2):263-270.
[12]	毛清华,陈磊,闫昱州,等. 煤矿悬臂式掘进机截割头位置精确控制方法[J]. 煤炭学报,2017,42(S2):562-567. MAO Qinghua, CHEN Lei, YAN Yuzhou, et al. Precise control method of cutting head position for boom-type roadheader in coal mine [J]. Journal of China Coal Mine Society, 2017, 42(S2):562-567.
[13]	凌睿,柴毅.悬臂式掘进机器人截割臂建模与二阶滑模控制器设计[J]. 控制理论与应用,2010,27(8):1037-1046. LING Rui,CHAI Yi. Dynamic modeling and design of second-order sliding-mode controller for arm of roadheader robot [J]. Control Theory & Application,2010,27(8):1037-1046.
[14]	张付凯,王福忠,高庆华. 掘进机截割臂运动轨迹的迭代学习控制[J]. 电子测量与仪器学报,2014,28(12):1355-1362. ZHANG Fukai,WANG Fuzhong,GAO Qinghua. Cutting arm trajectory control of roadheader based on adaptive iterative learning[J]. Journal of Electronic Measurement and Instrumentation, 2014, 28(12):1355-1362.
[15]	吴洪状. 掘进机自定位截割控制方法研究[D]. 徐州:中国矿业大学,2022:124-138. WU Hongzhuang. Research on self-positioning cutting control method of roadheaders [D]. Xuzhou:China Unversity of Mining and Technology,2022:124-138.
[16]	WANG M K,WANG Y,YANG R R,et al. A sliding mode control strategy for an electroHydrostatic actuator with damping variable sliding surface[J]. Actuators,2020,10(3):1-17.
[17]	XIAO B,YIN S,KAYNAK O. Tracking control of robotic manipulators with uncertain kinematics and dynamics [J]. IEEE Transactions on Industrial Electronics,2016,63(10),6439-6449.
[18]	秦武,上官文斌,吕辉.非线性两自由度主动悬架滑模控制方法的研究[J]. 机械工程学报,2020,56(1):58-68. QIN Wu, SHNAGGUAN Wenbin, LÜ Hui. Research on sliding mode control for nonlinear active suspension system with two degrees of freedom [J]. Journal of Mechanical Engineering,2020,56(1):56-68.
[19]	YEAM T I,LEE D C,et al. Design of sliding-mode speed controller with active damping control for single inverter dual-PMSM drive systems[J]. IEEE Transactions on Power Electronics, 2021, 5:5794-5801.
[20]	TRAN M D,KANG H J. A novel adaptive finite-time tracking control for robotic manipulators using nonsingular terminal sliding mode and RBF neural networks[J]. International Journal of Precision Engineering and Manufacturing,2016,17(7):863-870.
[21]	LI Y,WANG Q F. Adaptive neural finite-time trajectory tracking control of hydraulic excavators[J]. Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2018,232(7):909-925.
[22]	LI X,ZHU Z C,SHEN G. A switching-type controller for wire rope tension coordination of electro-hydraulic-controlled double-rope winding hosting systems[J]. Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2016,230(10):1126-1144.
[23]	TRAN D T,BA D X,AHN K K. Adaptive backstepping sliding mode control for equilibrium position tracking of an electrohydraulic elastic manipulator [J]. IEEE Transactions on Industrial Electronics,2020,67(5):3860-3869.
[24]	WANG J X,ZHAO L,LI Y. Adaptive terminal sliding mode control for magnetic levitation systems with enhanced disturbance compensation[J]. IEEE Transactions on Industrial Electronics, 2020, 68(1):756-766.
[25]	李建雄,张文博,章启宇,等. 基于扩张状态观测器的连铸结晶器振动位移系统自适应滑模控制[J]. 控制理论与应用,2019, 36(1):120-128. LI Jianxiong, ZHANG Wenbo, ZHANG Qiyu, et al. Adaptive sliding mode control for the oscillation displacement system of continuous casting mold based on extended state observer[J]. Control Theory and Applications,2019,36(1):120-128.
[26]	PALLI G,STRANO S,TERZO M. Sliding-mode observers for state and disturbance estimation in electro-hydraulic systems[J]. Control Engineering Practice,2018,74:58-70.
[27]	YI Y,SUN X K,LI X L,et al. Disturbance observer based composite speed controller design for PMSM system with mismatched disturbances[J]. Transactions of the Institute of Measurement and Control,2016,38(6):742-750.
[28]	NA J,CHEN Q,HERRMANN G,et al. Vehicle engine torque estimation via unknown observer and adaptive parameter estimation [J]. IEEE Transactions on Vehicular Tecnology,2017,67(1):409-422.
[29]	陈强,黄佳毅,南余荣. 基于未知系统动态估计器的Buck型变换器快速固定时间控制 [J]. 控制与决策, 2022, 37(3):746-752. CHEN Qiang, HUANG Jiayi, NAN Yurong. Unknown system dynamic estimator-based fast fixed-time control of Buck concerters [J]. Control and Decision,2022,37(3):746-752.
[30]	NA J,ANTHONY S C,HUANG Y B,et al. Air-Fuel ratio control of spark ignition engines with unknown system dynamics estimators:Theory and experiments[J]. IEEE Transactions on Control Systems Technology,2021,99:786-793.
[31]	LEVANT A. Robust exact differentiation via sliding mode technique [J]. Automatica,1998,34(3):379-384.
[32]	姚来鹏,侯保林,刘曦. 采用摩擦补偿的弹药传输机械臂自适应终端滑模控制[J]. 上海交通大学学报, 2020, 54(2):144-151. YAO Laipeng, HOU Baolin, LIU Xi. Adaptive terminal sliding mode control of a howitzer shell transfer arm with friction compensation [J]. Journal of Shanghai Jiaotong University, 2020,54(2):144-151.
[33]	米君杰,姚建勇,邓文翔. 基于神经网络的缠绕过程张力积分鲁棒控制[J]. 机械工程学报,2021,57(24):74-82. MI Junjie,YAO Jianyong,DENG Wenxiang. Neural network based RISE control of winding tension[J]. Journal of Mechanical Engineering,2021,57(24):74-82.
[34]	VENTURA U P,FRIDMAN L. Design of super-twisting control gains:A describing function based methodology [J]. Automatica, 2019,99:175-180.

Cited By

Cited by

Periodical cited type(4)

1.	焦秦华，何文博，黄枭，李泽霞，高金芳. 极端干旱生态移民区不同土地利用类型土壤呼吸对温湿度的响应. 中国农村水利水电. 2024(06): 90-97 .
2.	刘刚，张伟龙，宋子恒. 采煤沉陷区裂缝边缘带土壤、作物、微生物响应. 水土保持研究. 2023(03): 127-134+145 .
3.	庞景文，卜崇峰，郭琦，鞠孟辰，江熳，莫秋霞，王鹤鸣. 毛乌素沙地区域尺度生物结皮有机碳空间分布特征及其影响因素. 应用生态学报. 2022(07): 1755-1763 .
4.	贺伟. 采煤沉陷对沙地土壤水分运移的影响. 内蒙古煤炭经济. 2021(14): 21-22 .

Other cited types(0)

Get Citation

PDF

XML

Article views (26) PDF downloads (13) Cited by(4)

Turn off MathJax

Article Contents

Abstract

References

Non-singular terminal sliding mode control of tunneling robot based on UDE

Abstract

References

Cited by

Periodical cited type(4)

Other cited types(0)

Catalog

Links

Non-singular terminal sliding mode control of tunneling robot based on UDE

Abstract

References

Cited by

Periodical cited type(4)

Other cited types(0)

Catalog

Links

Export File

Citation

Format

Content