Abstract
To improve the roadway adaptability and control accuracy of anchoring equipment, a stepping anchoring device was designed. A permanent-magnet synchronous motor control and a harmonic suppression algorithm were integrated to optimize the dynamic control system of stepping-type anchoring equipment. The results of an experimental simulation and analysis showed that when the coefficient of coal rock hardness f = 5, 6, and 7, the pulsation coefficient of the hydraulic pump outlet pressure, hydraulic motor output speed, and pump-controlled hydraulic cylinder advance speed in the hydraulic circuit of a pump-controlled motor did not exceed 3% after the equipment based on sliding mode control (SMC) entered the steady state, while the maximum pulsation coefficient was only 32.5% of the PI control. Based on the SMC, the harmonic components of the permanent magnet synchronous motor in the power system were suppressed and compensated for. This enhanced the stiffness of the hydraulic system under motor drive. When the rock stiffness factor gradually changed from f = 5 to f = 8 and increased suddenly from f = 5 to f = 6, the pressure overshoot at the outlet of the hydraulic pump of the pump-controlled motor system was reduced from 11.19% to 7.97% and from 61.19% to 52.88%, respectively, compared with that before the optimization. It was thereby proven that SMC based on harmonic suppression can effectively reduce the system pulsation caused by the multi-factor coupling of anchoring equipment and provide technical support for the optimal control of the power system of stepping-type anchoring equipment.
Highlights
Anchoring operation is an important task in coal mining
There are many kinds of electro-hydraulic control methods [6,7,8], mainly including valve control mode based on Intelligent PI control [9,10], intelligent PID control [11,12], sliding mode control (SMC) [13,14,15,16], and pump control mode based on variable speed driver technology [17,18]
Wang [25] proposed a hydraulic system control strategy for a roof bolter based on a variable-frequency pump-controlled hydraulic drive system and PID parameter tuning with an intelligent fusion optimization algorithm
Summary
Anchoring operation is an important task in coal mining. The high rate of occurrence of geological hazards in underground coal seams and strong contingency make this operation very challenging. Ahn et al [24] designed a set of adaptive robust force controllers and used the gradient descent method to adjust the controller parameters to improve the stability of the hydraulic system under time-varying parameters and large external load fluctuations This system has disadvantages, such as a poor lowspeed stability, limited speed adjustment range, slow response, and high requirements for oil quality. Wang [25] proposed a hydraulic system control strategy for a roof bolter based on a variable-frequency pump-controlled hydraulic drive system and PID parameter tuning with an intelligent fusion optimization algorithm. Simulations and experiments showed that under different working conditions, the roof bolter can apply intelligent fusion optimization algorithms to adjust the working parameters of the equipment automatically according to the changes in the peak oil pressure of the buffer chamber of the variable stroke mechanism. A coordinated control algorithm for PMSM harmonic suppression compensation was proposed to actively suppress the pulsation of stepping-type anchoring equipment
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