Trajectory tracking technology for boom-type roadheader based on improved sliding mode control
Aiming at the shortcomings of traditional sliding mode control in trajectory tracking of boom-type roadheader,such as slow global convergence and significant chattering,an improved sliding mode control method based on novel reaching law is proposed.By introducing lateral deviation and heading angle deviation of the roadheader body and adding power reaching term to the traditional exponential reaching law,the rapid convergence of trajectory deviation and chattering reduction for the roadheader were achieved.At the same time,the boundary layer method was employed to further suppress chattering,which addressed the problem of chattering easily caused by the product term of sign functions in the reaching law.The existence,reachability and stability of the novel reaching law were analyzed,and the interval of disturbance steady-state error was derived.Considering the uncertain disturbance of the roadheader,the simulation comparison was conducted between traditional sliding mode control method and improved sliding mode control method.The results indicated that the control accuracy,convergence speed and anti-interference ability of the improved sliding mode control were superior to the traditional sliding mode control. Finally,an experimental platform was set up to test the performance of the roadheader trajectory tracking control system,which verified the feasibility and effectiveness of the improved sliding mode control method. The research results can provide important reference for the intelligent control of mining equipment in the harsh environment of underground coal mine.
boom-type roadheadernovel reaching lawtrajectory trackingsliding mode control
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