煤矿机械

清仓机器人在煤矿井下运行过程中受到渣浆泵负载影响会发生剧烈波动，进而对液压马达驱动系统产生显著影响，使其系统状态难以精确确定，引发非线性摩擦现象，加剧了控制器的不确定性，影响二阶滑模控制效果。为此，提出煤矿用清仓机器人渣浆泵液压马达驱动二阶滑模控制方法。分析清仓机器人渣浆泵液压马达驱动系统的实际状态，确定影响因素，并建立驱动系统的LuGre模型，计算摩擦力矩；考虑液压马达驱动系统的摩擦力矩，设计二阶滑模控制器的滑模面，并在控制过程中引入模糊控制。设置切换控制律补偿驱动系统存在的不确定性，即补偿系统摩擦力矩，实现渣浆泵液压马达驱动二阶滑模控制。实验结果表明，该方法可精准控制液压马达角速度与液压缸位移，实现渣浆泵液压马达驱动精准控制，应用效果较好。

During the operation of the clearance robot in underground coal mine, it will experience severe fluctuations due to the load of the slurry pump, which will have a significant impact on the hydraulic motor drive system, making it difficult to accurately determine its system state and causing nonlinear friction phenomena, exacerbating the uncertainty of the controller and affecting the effectiveness of second order sliding mode control. Therefore, a second order sliding mode control method for hydraulic motor drive of clearance robot slurry pump in coal mine was proposed. Analyzed the actual state of the hydraulic motor drive system for the slurry pump of the clearance robot,determined the influencing factors, and established a LuGre model for the drive system to calculate the friction torque. Considering the friction torque of the hydraulic motor drive system, designed the sliding surface of a second order sliding mode controller and introduced fuzzy control in the control process.Set a switching control law to compensate for the uncertainty of the drive system, that is, to compensate for the friction torque of the system, and achieved second order sliding mode control of the slurry pump hydraulic motor drive. The experimental results show that this method can accurately control the hydraulic motor angular velocity and hydraulic cylinder displacement, and realize the precise control of slurry pump hydraulic motor drive and good application effect.