Kinematic Cooperative Optimization Control Algorithm for Underground Heavy-Load Robot

Abstract

Because of complex and strong coupling system, the precision and adaptability of underground robots are greatly restricted. Based on the newly developed intelligent underground heavy-load robot which is still a gap to fill in current coal mine machinery, this paper proposes a new dynamic cooperative optimization control algorithm. Firstly, the complex and strongly coupled Multi-disciplinary Design Optimization system of the robot is decoupled into horizontal/vertical motion space with the idea of hierarchical target transmission, in order to weaken the strong coupling relationship between each hydraulic loop. Then, the spatial posture coefficient is introduced into main/auxiliary feedback control loop in horizontal/vertical motion space, to realize optimal collaborative control of each hydraulic loop under the premise of weak coupling between each control loop, so as to obtain the precise dynamic control signals of each hydraulic loop, and finally realize the optimal control of overall system for the robot. Lastly, the experiment and simulation verify that the DCO control algorithm presented in this paper can obtain better control results: The executive efficiency of the overall system is improved by 14.2%; The control flow is saved by 9.98%, and the executive precision meets the engineering and technical requirements. This paper provides a new efficient method and idea for the control system of intelligent underground heavy-load robots. Furthermore, the algorithm has reference value on development and design of high precise control system for the same kind of complex intelligent engineering machinery products.

Intelligent optimal control considering dynamic posture compensation for a cantilever roadheader

“…Therefore, how to deal with the coupling relationships between mechanical structural and hydraulic control reasonably becomes an important point to obtain accurate output spatial posture of roadheader. Based on the minimum disturbance theory, parallel dynamic collaborative optimal (PDCO) control strategy is proposed in this paper, by combining with the results of PCA and MPSO, the controlling of spatial X/Z direction posture deviation, which directly affects the quality of cutting cross section is chosen as the main (external) feedback loop, while the Y direction posture deviation, which has less impact on quality of tunnel cross section is chosen as auxiliary (internal) feedback loop, so as to weaken the strong coupled relations of structural system, control system and implementation system [16]. Finally, the optimal efficient spatial posture control and implementation of the overall system can be realized.…”