Abstract
The hydraulic support pushing mechanism is the primary equipment utilized in coal mine backfill operations, playing a crucial role in enhancing filling efficiency, ensuring a stable filling body, and managing gob safety. This paper focuses on analyzing the dynamic model and the interrelationship of the hydraulic cylinder, which serves as the power source for the pushing mechanism. To address the intricate coupling effects arising from the hydraulic cylinders and the displacement-force induced by the shared pump, this study employs feedforward compensation for decoupling analysis. Additionally, this article introduces an adaptive sliding mode approach law and an adaptive synovial controller to combat issues such as buffeting and interference. The simulation results demonstrate that the sliding mode reaching law proposed in this paper can achieve a stable state in approximately 3 seconds, which is significantly better than other methods. Combining the experimental equipment information from a mining area in Hebei Province with Amesim-Simulink simulation results, it is evident that the adaptive sliding mode controller exhibits an error range between approximately 1.33E-4 and 1.5E-4 during the stable phase. This performance surpasses traditional PI and fuzzy PID controllers in terms of path tracking ability, effectively enabling precise control of the filling support pushing mechanism.
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