煤矿机械

在煤矿井下恶劣环境中，转载机传送驱动系统面临强非线性时变扰动与相频特性失配导致的相位滞后问题，扩张状态观测器(ESO)的固定带宽无法兼顾快速响应与噪声抑制，固定阈值易导致扰动估计偏移。滑模控制仅能渐近收敛且存在奇异性，单纯反馈控制响应滞后，故障后控制结构固定，难以适应动态特性变化，鲁棒性不足。为此，提出融合自适应扩张状态观测器(AESO)与非奇异终端滑模控制(NTSMC)的抗扰容错控制方法。通过AESO实时精准估计系统总扰动，结合自适应带宽调节与故障检测阈值更新机制，确保高精度扰动估计与系统稳定性。设计非奇异终端滑模面实现转速跟踪误差的有限时间收敛，并通过前馈补偿与动态控制律重构策略，提升系统抗扰与容错能力。实验结果表明，所提方法在负载突变时速度跌落至1 300 r/min后0.7 s内回弹至额定值，传感器失效时J_FTC波动范围最小为[25,38]，参数漂移下目标转速1 400 r/min时4.5 s恢复平稳，在动态响应、容错性能及鲁棒性方面均显著优越。

In the harsh environment underground in coal mines, the transmission drive system of the transfer machine faces the problem of phase lag caused by strong nonlinear time-varying disturbances and phase frequency characteristic mismatch. The fixed bandwidth of the Extended State Observer(ESO) cannot balance fast response and noise suppression, and a fixed threshold can easily cause disturbance estimation bias. Sliding mode control can only asymptotically converge and exhibits singularity. Simple feedback control response lags, and the control structure remains fixed after a fault,making it difficult to adapt to changes in dynamic characteristics and lacking robustness. Therefore, a disturbance tolerant control method combining Adaptive Extended State Observer(AESO) and Non-singular Terminal Sliding Mode Control(NTSMC) was proposed. By using AESO to accurately estimate the total disturbance of the system in real-time, combined with adaptive bandwidth adjustment and fault detection threshold update mechanism, high-precision disturbance estimation and system stability were ensured. Designed a non-singular terminal sliding surface to achieve finite time convergence of speed tracking error, and improved the system's disturbance rejection and fault tolerance capabilities through feedforward compensation and dynamic control law reconstruction strategies. The experimental results show that the proposed method rebounds to the rated value within 0.7 s after the speed drops to1 300 r/min during a sudden load change. The minimum range of J_FTC fluctuation when the sensor fails is [25,38]. Under parameter drift, the target speed of 1 400 r/min returns to stability in 4.5 s, and it is significantly superior in dynamic response, fault tolerance, and robustness.