基于准滑动模态的液压支架推移系统高精度位置控制
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中图分类号：TD355.4 文献标志码：A
Abstract：The control accuracy of the hydraulic support pushing system directly affects the straightness of the fully mechanized mining face.At present，most position control algorithms for front hydraulic support pushing systems suffer from limited state perception dimensions and complex dynamic disturbance coupling，which limits theactualefectivenessofthecontrolalgorithms.Inparticular，nonlinearfrictionefectsandunmodeleddynamic characteristics during the advancing process further aggravate the cumulative effect of system control deviations. To addressthe above problems，aquasi-sliding mode-based high-precision positioncontrol method for hydraulic support pushing systems was proposed.First，a nonlinear model integrating hydrauliccylinder dynamics，flow characteristics，and disturbancecoupling was established.A "double-powerreaching law and novel saturation function"coordinated framework was proposed to address the contradiction between fast convergence and chattering suppression in traditional sliding mode control（SMC）.Then，a quasi-sliding mode controler （QSMC） based on an extended state observer （ESO）was designed.The controller employed ESO to estimate unmodeled dynamics and external disturbances of the hydraulic support pushing system. A nonlinear feedback saturation function was adopted to accelerate system state convergence and effectively suppress the inherent chattering of sliding mode control. Simulation results showed that，compared with traditional sliding mode control methods， the proposed method shortened the steady-state time in the step response to ，representing a reduction of approximately 47.6% ，and the steady-state error approached zero.In the sinusoidal response， stable tracking was achieved within 0.2s ， with a peak error of about 0.001m ， representing a reduction of approximately 94.7% ，and it exhibited broader bandwidth characteristics.Under square wave input， the proposed method achieved smooth switching and exhibited stronger robustness.
Key words： hydraulic support pushing system; mining face straightness control; position control; sliding mode control; quasi-slidingmode; extended state observer
0引言
液压支架作为煤矿综采工作面“三机”配套中的核心支护设备，其可靠性和推移精度直接影响煤矿生产水平与开采效率[1-2]。（剩余12716字）