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A Cooperative Control Method For Excavation Suppor
A Cooperative Control Method For Excavation Suppor
A Cooperative Control Method For Excavation Suppor
sciences
Article
A Cooperative Control Method for Excavation Support Robot
with Desired Position/Posture
Xigui Wang 1,2, * , Jie Tang 1 , Yongmei Wang 2,3, * and Chen Li 1
1 School of Engineering Technology, Northeast Forestry University, No. 26, Hexing Road, Xiangfang District,
Harbin 150040, China
2 School of Mechatronics and Automation, Huaqiao University, No. 668, Jimei Avenue, Jimei District,
Xiamen 361021, China
3 School of Motorcar Engineering, Heilongjiang Institute of Technology, No. 999, Hongqidajie Road,
Daowai District, Harbin 150036, China
* Correspondence: wyr20091207@126.com (X.W.); wyr20091207@163.com (Y.W.); Tel.: +86-133-8450-3780 (X.W.);
+86-150-4563-2699 (Y.W.)
Abstract: Desired deviation of the position/posture of Excavation Support Robot (ESR) have a
critical impact on the efficiency of underground mining. In this paper, a control method of desired
Citation: Wang, X.; Tang, J.; Wang, Y.;
position/posture coordinated adjustment by real-time posture data and sliding position mode
Li, C. A Cooperative Control Method control algorithm is proposed. The action stroke of the non-longitudinal Adjustment Hydraulic
for Excavation Support Robot with Cylinder (AHC) is controlled by adaptively adjusting the opening and time of the Electro-Hydraulic
Desired Position/Posture. Appl. Sci. Servo (EHS) valve, thereby adjusting the position offset and posture coordination of the ESR. The
2022, 12, 9262. https://doi.org/ mathematical model of hydraulic system is deduced. Considering the kinematic characteristics
10.3390/app12189262 of the ESR and the coupling relationship between the stroke and posture of the lateral AHC, a
Academic Editor: Bernhard Schrefler
coupled kinematics model of the robot and the support body is derived. The overall structure of
the posture adjustment control system and the calculation method of the stroke adjustment amount
Received: 26 August 2022 of the AHC are presented, and the controller is further optimized. The simulation analysis model
Accepted: 13 September 2022
and test verification system of the desired posture adjustment control system are determined. These
Published: 15 September 2022
results show that the control method is effective and significant compared with the manual control
Publisher’s Note: MDPI stays neutral system, which can meet the functional and precision requirements of position deviation and posture
with regard to jurisdictional claims in adjustment.
published maps and institutional affil-
iations. Keywords: excavation support robot; cooperative control method; position deviation; posture
adjustment; non-longitudinal hydraulic cylinder; sliding position mode algorithm
excavation
Appl. Sci. 2022, roadway is irreplaceable. Considering the complex construction road environ-
12, 9262 2 of 22
ment and the operation factors of on-site personnel, ESR is prone to position deviation
and posture offset during actual operation. The accumulated consequences of posi-
operation
tion/posture deviation canfactors
easilyof lead
on-site
topersonnel,
accidents ESR is prone
such to position
as side deviation
collision and posture offset
and overturning,
during actual operation. The accumulated consequences of position/posture deviation
which seriously affects mining efficiency and excavation safety. Therefore, whether the
can easily lead to accidents such as side collision and overturning, which seriously affects
position/posture deviation of ESR
mining efficiency andcan be adjusted
excavation automatically
safety. Therefore, whether and quickly to achieve
the position/posture deviation
the expected collaborative
of ESR can be value hasautomatically
adjusted become a key technical
and quickly problem
to achieve to be solved
the expected ur-
collaborative
gently. value has become a key technical problem to be solved urgently.
Figure 1. A scenarioFigure
simulation diagram of the actual operation of the ESR.
1. A scenario simulation diagram of the actual operation of the ESR.
correct the working posture of the single hydraulic support in the fully mechanized mining
face [20–22]. Faced with complex driving conditions, a motion control algorithm for driving
deviation correction is proposed, which can realize online real-time deviation correction
position adjustment of control parameters and real-time position control of driving devia-
tion [23–25]. Considering the inclined staggered posture of the fully mechanized mining
hydraulic support, a theoretical model of inclination deviation adjustment is established,
and an independent inclination deviation adjustment control method is proposed. In the
initial support stage, the balance cylinder and cylindrical cylinder are used to adjust the
posture of the top beam and the position of the deflection base, which can achieve precise
support position/posture coordinated control [26–28]. To sum up, the current research
mainly focuses on the fully mechanized mining face robot, vehicle-mounted equipment,
and single hydraulic support. The research on ESR position/posture adjustment control
method and collaborative strategy in fully mechanized mining and excavation is still in
the preliminary exploration stage and needs to be revealed in depth. The execution of
ESR action mainly relies on the centralized liquid supply of the hydraulic servo system
and the manual control and adjustment of the hydraulic valve. Restricted by factors such
as complex roadway environment and subjective judgment of personnel, ESR position
deviation/posture bias is a thorny problem that always exists.
This topic is a more in-depth discussion based on the technical accumulation of ESR
position/posture monitoring research results. Based on the ESR position/posture test data,
ESR position deviation correction and posture offset adjustment are guided. Furthermore,
an ESR desired position/posture coordinated adjustment control method based on real-
time position/posture data and sliding mode control algorithm is proposed. The action
stroke of the non-longitudinal hydraulic cylinder is controlled and coordinated according
to the expected position/posture adjustment value, and the real-time deviation position
and posture are quickly adjusted to ensure that the ESR reaches the optimal state of the
expected position/posture coordination.
The subject is organized as follows: the multiple models of ESR, including structure,
hydraulic servo system and kinematic models in Section 2, are presented. Section 3 focuses
on the description of the proposed controlled structure of the position/posture adjust-
ment system, and proposes a coordinated adjustment strategy for ESR position deviation,
posture bias, and optimized controller design. In Section 4, the numerical analysis of the
coordinated position/posture adjustment is presented., The field experiments are verified
in Section 5, where the results are discussed and the corresponding conclusions are drawn,
thus validating the cooperative control method proposed in this study.
Figure
Figure
Figure 2.
2. A A
A schematic
2.schematic diagram
diagram
schematic of
of the
of the ESR
diagram ESR
motion
the ESR motion
motion process.
process. process.
Figure
Figure 4. The
4. The geometrical
geometrical dimensions
dimensions ofstructure
of the core the coreofstructure
the ESR. of the ESR.
Q L = Kq xv − Kc p L (1)
where Kq is expressed as the flow gain of the EHS valve (directional valve) (m−3 · s−1 /m),
xv is the stroke (displacement) of the EHS valve spool (mm), Kc indicates the flow pressure
coefficient of the EHS valve m3 /(s/Pa) , and p L represents the lateral AHC pressure (Pa).
(2) The fluid continuity equations [30] for lateral AHC
The fluid flowing into the lateral AHC rodless cavity of the ESR is Qi , which is
expressed as:
dx p V dp
Qi = A p + i i + C pi ( pi − p0 ) + C pe pi (2)
dt β e dt
where A p represents the effective area of the AHC rod-end piston (m2 ), x p is the travel
stroke (displacement) of the AHC piston (m), pi is the oil pressure in the AHC rodless
cavity (Pa), p0 is the oil pressure of the AHC rod cavity (Pa), C pi is the leakage coefficient
in the laterally adjusted EHS cylinder, C pe is the external leakage coefficient of thelaterally
adjusted EHS cylinder, and Vi is the volume in the rodless cavity of the AHC (m 3 ; herein,
Vi = Vi0 + A p x p , β e is the elastic modulus of the effective volume (Pa).
Appl. Sci. 2022, 12, 9262 6 of 22
The flow rate in the rod cavity of the lateral AHC of ESR is Q0 , which is expressed as:
dx p V dp
Qi = A0p − 0 0 + C pi ( pi − p0 ) − C pe pi (3)
dt β e dt
where A0p is the effective area of the AHC rod end piston (m2 ), A0p = A p − πr2 , and V0 is
the volume inside the AHC rodless cavity (m 3 ); herein, V0 = V00 + A0p x p .
Q i + Q0
Set Q L = p L = pi − p0 , combining Equations (2) and (3), leading to
2 ,
dx p C pe
dp dp dp dp
Q L = ( A p − πr2 ) + (C pi + ) p L + 0.5β e Vi0 i − V00 0 + A p x p i + A0p x p 0 (4)
dt 2 dt dt dt dt
Then, set to equalize the compression flow in the hydraulic cylinder, that is, Vi0 =
Vi0 V00
V00 = V0 . Assuming that Vt = 2 = 2 holds, with this in mind, A p x p V0 ,A0p x p V0 ,
dx p
with dt ≈ 0, dp 0
dt ≈ 0. Equation (4) is simplified to:
dx p Vt dp L C pe
Q L = ( A p − πr2 ) + + (C pi + ) pL (5)
dt 4β e dt 2
dx p Vt dp L
Q L = A pe + + C pt p L (6)
dt 4β e dt
where A pe indicates the equivalent area of the AHC piston, A pe = A p − πr2 , x p represents
the (displacement) stroke of the AHC piston, and C pt denotes the total leakage coefficient.
(3) The expression of force balance equation with external load is rewritten as
d2 x p dx p
A pe p L = mt + ct + kt x p (7)
dt dt
where mt represents the effective total mass of the ESR (kg), ct is the viscous damping
coefficient of the piston in a transverse AHC with an external load (N · m/s), and k t
denotes stiffness coefficient with an external load (N/m).
Equations (1), (6), and (7) are expanded by the Laplace Transform, leading to:
Q L ( s ) = Kq xv ( s ) − Kc p L ( s )
Vt
Q L (s) = A pe sx p (s) + 4β e
sp L (s) + C pt p L (s) (8)
2
(m s +c s+k )
p L (s) = t A pet t x p (s)
Notice that the spool displacement is the input and the piston displacement of the
lateral AHC is the output. With this in mind, the transfer function of the system is ex-
pressed as:
Kp
G (s) =
(Kc +c pt )mt
(Kc +c pt )ct
(Kc +c pt )k t
(9)
mt Vt 3 ct Vt k t Vt
4A pe β e s + 4A pe β e + A pe s2 + A pe + A pe + 4A pe β e s+ A pe
Kp
G (s) =
Kcpt mt
Kcpt ct
Kcpt k t
(10)
mt Vt 3 ct Vt k t Vt
4A pe β e s + 4A pe β e + A pe s2 + A pe + A pe + 4A pe β e s+ A pe
Appl. Sci. 2022, 12, 9262 7 of 22
Considering that the viscous damping coefficient ct of the lateral AHC piston under
ct Kcpt
the external load is negligible, then A2pe
1 is satisfied. Simplified Equation (10) reads as
K p /A pe
G (s) = (11)
mt Vt 3 ct Vt K mt k t Vt Kcpt k t
4β e A2pe
s + 4βA2pe e
+ cpt
A2
s 2+ 1+
4β e A2pe
s+ A2pe
pe
4A2p β e
r q
mt Vt 1 Kcpt mt β e
Let 4β e A2pe
= ωt , A pe Vt = ξt, Vt = Kh hold, and the simplified Formula (11)
is expressed as
K p /A pe
G (s) =
Kcpt k t
(12)
1 3 2ξ t 2 kt
2 s + ωt s + 1 + K s+ A2pe
ω t h
√
Kcpt mt k t
Set the assumption that k 1 holds, further simplifying Equation (12), and is
(1+ Kt ) A2pe
h
written as:
K p /A pe
G (s) = (13)
Kcpt k t
kt 1 2 2ξ tn
1+ Kh s+ A2pe 2 s
ωtn
+ ωtn s + 1
q
kt
where ωtn represents the system integrated natural frequency, and ωtn = ωt 1 + Kh holds,
!
1 4Kcpt β e ct
ξ tn is the system integrated damping ratio, and ξ tn = 2ωtn k + mt holds.
(1+ Kt )Vt
h
K kK
As mentioned previously, the poles of the system are expressed as s = − (K cpt+kt ) A
h
2 ,
cpt t pe
p
s = −ωtn (ξ tn ± ξ 2 tn − 1). If the spool motion stroke xv of the EHS reversing valve is a
step signal, the piston displacement x p of the lateral AHC reads
K p /A pe
x p (s) = (14)
K k
kt 2ξ tn 2
1+ Kh s2 + Acpt2 t s ω12 s3 + ωtn s +s
pe tn
K k 2
where C1 = K p /A pe , C2 = 1 + Kkt , C3 = Acpt2 t , C4 = −[(1 + Kkt ) ωtn
2 + 2ξ ω (1 +
tn tn
kt
Kh )
h pe h
2 k2
K
q
Kcpt k t 2 − 1 t, C = − 2ω ξ (1 + k t ) − Kcpt k t .
A2
− Acpt4 t ], C5 = ωtn ξ tn 6 tn tn K A2 h
pe pe pe
Assuming that the current I denotes the input parameter, the spool displacement xv
of the EHS reversing valve is the output parameter, and the transfer function of the EHS
reversing valve is expressed as:
xv Ktv /K p
G (s) = = (16)
I 1 2
2 s + 2 ωξ tvtv s + 1
ωtv
where I represents the current input parameter, Ktv denotes the flow gain coefficient of
the EHS reversing valve, ξ tv is the damping ratio of EHS directional valve, and ωtv is the
natural frequency of EHS directional valve.
Servo (EHS) valve and its opening time. According to the mechanical structure and move-
ment form of the ESR, the two cylindrical AHCs on one side are connected to each other.
ment form of the ESR, the two cylindrical AHCs on one side are connected to each other.
The lateral cylindrical AHC works alone. A model of the hydraulic system with AHC for
The lateral cylindrical AHC works alone. A model of the hydraulic system with AHC for
ESR is illustrated in Figure 5. As mentioned above, the lateral AHCs belong to the single-
ESR is illustrated in Figure 5. As mentioned above, the lateral AHCs belong to the single-
stage hydraulic cylinder. The EHS reversing valve is identified as an ideal spool valve
stage hydraulic cylinder. The EHS reversing valve is identified as an ideal spool valve
Appl. Sci. 2022, 12, 9262 structure, which makes the return oil pressure of the spool valve zero; the oil supply pres-
structure, which makes the return oil pressure of the spool valve zero; the oil supply8 pres-
of 22
sure of the whole system is stable, and is not affected by the oil in the spool valve cavity.
sure of the whole system is stable, and is not affected by the oil in the spool valve cavity.
The hydraulic system with the lateral AHC for ESR is indicated in Figure 6.
The hydraulic system with the lateral AHC for ESR is indicated in Figure 6.
Figure 6. The hydraulic system with the lateral AHC for ESR.
Figure6.6.The
Figure Thehydraulic
hydraulicsystem
systemwith
withthe
thelateral
lateralAHC
AHCfor
forESR.
ESR.
2.3. Kinematic Model with AHC for ESR
The ESR proposed in this study is based on the extension and retraction of the lateral
AHC to adjust position/posture. The coupled motion model of the ESR and the support
body is illustrated in Figure 7, where the scroll angles of ESR are set as γL and γR , and
the declination angles are set as α L and α R . The distances from the position key points to
the defined edges are, respectively, identified as d1 to d8 . The specified space width is B
and the height is H. The expected distances between the ESR and the two edge sidewalls
are identified as d Le and d Re . The overall longitudinal length of the ESR is L, and the
lateral width is b. The distances from the support point of the core position to its center
point are respectively calibrated m and n. Taking the geometric center points (x L0 , y L0 , ZL0 )
and (x R0 , y R0 , ZR0 ) of the unilateral ESR as the origin of the body coordinate system, the
ESR body coordinate systems (OL − X L YL ZL ) and (OR − XR YR ZR ) are both feasible in the
kinematic model. The geometric center of the roadway section is set as the origin, the
walls are identified as dLe and dRe . The overall longitudinal length of the ESR is L , and
the lateral width is b . The distances from the support point of the core position to its
center point are respectively calibrated m and n . Taking the geometric center points (
xL 0 , yL 0 , Z L 0 ) and ( xR 0 , yR 0 , Z R 0 ) of the unilateral ESR as the origin of the body coordinate
Appl. Sci. 2022, 12, 9262
system, the ESR body coordinate systems ( OL − X LYL Z L ) and ( OR − X RYR Z R ) are both 9fea- of 22
sible in the kinematic model. The geometric center of the roadway section is set as the
origin, the direction of the roadway is the X 0 axis direction of the coordinate system,
and the direction
direction perpendicular
of the roadway is the Xto the side of the roadway is the axis direction of the co-
0 axis direction of the coordinate system, and the direction
ordinate system. The right-hand
perpendicular to the side of the roadway rule determines thedirection
is the axis directionofofthe Z 0 axis coordinate
thecoordinate system. The
system,
right-hand which follows
rule the roadway
determines absolute
the direction of thecoordinate O0 − X 0Ywhich
system ( system,
Z0 axis coordinate 0 Z 0 ). In the ESR
follows the
roadwaycoordinate
ontology absolute coordinate
system, the system (O0 − X0is
left support Y0taken
Z0 ). Inas
theanESR ontology
example coordinateand
to illustrate, system,
its
the left support
position key point is taken as an example
coordinates are to ( mand
illustrate,
marked , B /its
2, H / 2 ), (key
position −npoint
, B / 2,coordinates
H / 2 ), (
are marked (m, B/2, H/2), ( −
m, B / 2, − H / 2 ), and ( −n, B / 2, − H / 2 ). n, B/2, H/2), (m, B/2, − H/2), and ( − n, B/2, − H/2).
(a) (b)
Figure 7. The kinematic model of ESR. (a) Main view of the model. (b) Top view of the model.
Figure 7. The kinematic model of ESR. (a) Main view of the model. (b) Top view of the model.
The numerical algorithms for roll and declination angles are written as
(m+n)
α L = arccos q
(i = 1, 3)
(m+n)2 +(di+1 −di )2
(m+n) (17)
α R = arccos
q
2 2
(i = 5, 7)
(m+n) +(di+1 −di )
H cos γ L H
γL = arccos √ H 2 cos2 γ +(d −d
2
= arccos q (i = 1, 2)
L 3 1) cos2 γ L H 2 +(di+2 −di )2
H cos γ L H (18)
γR = arccos √
= arccos q (i = 5, 6)
H 2 cos2 γ L +(d3 −d1 )2 cos2 γ L H 2 +(d i +2 − d i )
2
The main view based on the kinematics model can be derived, which is expressed by
the distance x L from the coordinate origin OL to the left edge of the roadway side
m b
xL = ( d + d3 ) + cos α L (19)
(m + n) 1 2
Appl. Sci. 2022, 12, 9262 10 of 22
Then, the distance x R from the coordinate origin OR to the right edge of the roadway
is expressed as
m b
xR = ( d3 + d4 ) + cos α R (20)
(m + n) 2
The distance from the core position key point to the space edge is written as
xi = (b + di ) cos α (i = 1 − 8) (21)
When solving for the distance to the left of the edge, set α = α L to hold. When solving
the distance to the right side of the edge, set α = α R to hold. The deflection angle δi of the
lateral AHC is expressed as:
B − x i − x i +4
δi = arccos( ) ( i = 1 − 4) (22)
Hi
The distance difference d x between the two sides edge along the X-axis is written as:
L b
d x = H2 sin δ2 + − n (cos α L − cos α R ) − (sin α L − sin α R ) (23)
2 2
The top view in the kinematics model shows that the distance y L from the coordinate
origin OL to the left side of the edge denotes:
(b + d2 + d4 ) cos γL
yL = (24)
2
Then, the distance y R from the coordinate origin OR to the right-side edge of denotes:
(b + d6 + d8 ) cos γR
yR = (25)
2
The distance from the core key position point to space edge side is written as follows:
Herein, when solving for the distance to the left of the edge, let γ = γL hold. When
solving for the distance to the right of the edge, setting γ = γR holds.
Figure 8. The general configuration of desired position/posture adjustment control system for ESR.
Figure 8. The general configuration of desired position/posture adjustment control system for ESR.
Asthe
If shown
scroll in Figure
angles 10, ESRs
of the once the initial
on both position
sides and support
are adjusted close toposture are fixed
the desired and
expected
maintained in a steady state, the ESR enters the left and right position/real-time
values [31], the stroke coordination amounts ∆L2 and ∆R2 of the lateral AHC between the posture
adjustment
ESRs process as
are expressed after completing a certain stroke, and then judges the monitoring data
such as the unilateral declinationangle, scroll angle, and edge wall distance value of the
H amounts ΔL1 , ΔbL2 , ΔL3 , ΔR1 , ΔR2 , and ΔR3 of the lat-
ESR in turn. The stroke ∆L adjustment
2 ≈ − 2 sin γ Le + ( d2 + 2 ) cos γ L + y L
eral AHC are set based (28)
∆R2 the
on desired position/posture. Coordinate the ESR declination
≈ − H2 sin γRe + (d6 + 2b ) cos γR + y R
Appl. Sci. 2022, 12, 9262 14 of 22
Assuming that the distance between the ESR and the edge sidewall is adjusted to
the most desired expected value, first determine the minimum distance between the left
and right ESRs and the edge sidewall, let the left dmL = min(d1 , d2 , d3 , d4 ) and the right
dmR = min(d5 , d6 , d7 , d8 ) hold true, and comparing dmL and dmR with the expected distance
d Le and d Re of the edge sidewall, the amounts of stroke coordination ∆L3 and ∆R3 for the
lateral AHC between the ESRs are identified as
dmL − d Le (dmL ≥ d Le )
∆L3 = (29)
d Le − dmL (dmL < d Le )
dmR − d Re (dmR ≥ d Re )
∆R3 = (30)
d Re − dmR (dmR < d Re )
To sum up, the ESRs on the left and right sides are pre-adjusted to achieve the most
desired position/posture, and the stroke coordination amount of the lateral AHC is de-
noted as:
∆L = ∆L1 + ∆L2 + ∆L3
(31)
∆R = ∆R1 + ∆R2 + ∆R3
where if the lateral AHC shrinks, the values ∆Li and ∆Ri are negative, and when the lateral
AHC extends, the values ∆Li and ∆Ri are positive. The expected optimal length Ei of the
ESR lateral AHC corresponding to each desired position key point can be expressed as:
Ei = Hi + ∆L + ∆R (i = 1 − 4) (32)
The desired expected stroke value (displacement) for each lateral AHC is written as
ei = Ei − Lb0 (i = 1 − 4) (33)
where y(y ∈ Rm ) denotes the output vector of the ESR system, u(u ∈ Rm ) is the input
vector of the ESR system, and f ( f ∈ Rm ) and b(b ∈ Rm ) represents the state matrix of the
position/posture morphology of the ESR system.
Convert expression (34) in the form of state equation and write it as:
x1 = x2
x2 = x3
.. (35)
.
xn = f ( X, t) + ∆ f ( X, t) + b( X, t)u + d(t)
T
where xn = y(n−1) , X = x1T , x2T , · · · , xnT .
T T in real
T T
By tracking the expected desired position/posture Xd = x1d , x2d , · · · , xnd
time, the error vector is expressed as:
E = X − X d = e1 e2 · · · e n (36)
s( X, t) = CE − W (t) (37)
Appl. Sci. 2022, 12, 9262 15 of 22
h i n −1 h i
s( X, t) = CE − P(t) = Cn f ( X, t) + ∆ f ( X, t) + b( X, t)u + d(t) − x1d − p(t)(n) + ∑ Ck e(k) − p(t)(k)
(n)
(38)
k =1
n −1
h i h i CT s
u(t) = −b( X, t)−1 f ( X, t) − x1d − p(t)(n) + Cn−1 ∑ Ck e(k) − p(t)(k) = −b( X, t)−1 nT [ f ( X, t) + d(t) + k]
(n)
(39)
k =1
kCn sk
In Figure
In Figure 11, the 11, the
expected expected position/posture
position/posture value and value and the real-time
the real-time position/posture
position/posture
data obtained by monitoring are used as the input of the ESR position/posture adjustment
data obtained by monitoring are used as the input of the ESR position/posture adjustment
control system. Based on the real-time data analysis and judgment of position/posture,
control system. Based on the real-time data analysis and judgment of position/posture,
the lateral AHC stroke in ESR is coordinated by using the position and posture adjustment
control process.
the lateral AHC stroke in ESR is coordinated by using the position and posture adjustment
control process.
Set the most desired position/posture parameters expected by ESR, involving left
declination angle α Re = 0° , right
declination ◦
angle αinclination angle γ Reangle
Le = 0 , left inclination = 0°γ,Leright
= 0◦ , left
distance Le =
distanceddRe =1.0
1.0 m
m,, right
declination angle α = 0 ◦ , right inclination angle γ = 0 ◦ , right distance d = 1.0 m,
and so on. Re Re Re
and so on.
In the research of this subject, 20 groups of different initial position/posture support
In the research of this subject, 20 groups of different initial position/posture support
forms are randomlyforms
selected, and theselected,
are randomly key position/support posture is coordinated,
and the key position/support calcu- cal-
posture is coordinated,
lated, and analyzed,culated,
and then the expected
and analyzed, and thenposition/posture time-varyingtime-varying
the expected position/posture angles andangles
dis- and
distances of ESR is simulated
tances of ESR is simulated as shown in Figures 12–14. as shown in Figures 12–14.
Figure
Figure12.
12.Simulation
Simulationresults
resultsof
ofdeclination
declinationangles.
angles.
Figure
Figure13.
13.Simulation
Simulationresults
13.of
results
Figure ofscroll
scrollangles.
Simulation results of scroll angles.
angles.
Figure
Figure14.
14.Simulation
Simulationresults
results of
ofedge
edgedistances.
distances.
Figure 14. Simulation results of edge distances.
Figure
Figure12
12analyzes
analyzesthe thesimulation
Figure
simulationcalculation
calculationresults
12 analyzes the simulation
resultsof ofthe
calculation
theESR
resultsdeclination
ESR declinationangle anglead-
of the ESR declination
ad-
angle
justment adjustment on both sides. With 20 groups of different initial positions/support posture
justmenton
onboth
bothsides.
sides. With 20
states,With
based 20
groups of
on groups ofdifferent
different
the coordinated
initial
initial
adjustment
positions/support
positions/support
of the
posture
posture
position/support posture
states,
states,
control system,
based on the coordinated
based on the coordinated adjustment
adjustment
the ESR declination
of the
of the
angle
position/support
position/support
on both
posture
sides drops to aboutposture control
0◦ within
control system,
10 s,system,
the
the
the collaborative
ESR
ESR declination
declination angle on
on both
adjustment
angle sides
numerical
both drops
sideserror
drops to
to about
is within ±0.50°
about 0° within
◦ , and 10
10 s,s, the
the minimum
within collaborative
deviation
the between the
collaborative
simulation calculation results and the desired expected value is only within 0.2◦ .
Figure 13 shows the simulation results of the scroll angle adjustment of the ESRs on
both sides. With 20 groups of different initial positions/support postures, based on the
coordinated adjustment of the position/posture adjustment control system, the scroll angle
of the ESRs on both sides can also be reduced to about 0◦ within 10 s, the numerical error
of the coordinated adjustment remains within ±0.5◦ , and the minimum deviation between
the simulation calculation results and the desired expected value is only within 0.10◦ .
Figure 14 demonstrates the simulation calculation results of the distance adjustment
between the edge walls on both sides of the ESR. Based on the adjustment of the posi-
tion/posture adjustment control system, the distance between the edge walls on both
sides of the ESR reaches about 1.0 m within 10 s, and the adjustment value error is within
±0.03 m. The minimum deviation between the simulation calculation result and the desired
expected value is controlled at not more than 0.01 m.
In summary, from the simulation calculation results in Figures 12–14, aiming at the ESR
key position/support posture adjustment control, the desired expected posture adjustment
of the ESR reaches about 1.0 m within 10 s, and the adjustment value error is within ±0.03
m. The minimum deviation between the simulation calculation result and the desired ex-
pected value is controlled at not more than 0.01 m.
In summary, from the simulation calculation results in Figures 12–14, aiming at the
Appl. Sci. 2022, 12, 9262 18 of 22
ESR key position/support posture adjustment control, the desired expected posture ad-
justment control method quickly adjusts the deviation/posture state in a short time, based
on the collaborative adjustment proposed in this paper. The control method is effective,
control method quickly adjusts the deviation/posture state in a short time, based on the
the deviation adjustment precision
collaborative is high,
adjustment and the
proposed support
in this paper. posture stability
The control methodisisreliable.
effective, the
deviation adjustment precision is high, and the support posture stability is reliable.
5. Experimental Verification and Analysis
5. Experimental Verification and Analysis
In the actual space, the position/posture coordinated adjustment control system is
In the actual space, the position/posture coordinated adjustment control system is
tested, and the coordinated adjustment
tested, and the coordinatedperformance of the ESR of
adjustment performance keytheposition/support pos-
ESR key position/support
ture is verified onposture
site. Field testing
is verified on and
site. actual verification
Field testing of verification
and actual ESR are illustrated
of ESR are in Figure in
illustrated
15. Figure 15.
In the
In the field test and field test and performance
performance verification, verification,
the ESR on the both
ESR on both of
sides sides
theofspace
the space edge
edge
has different degrees of heading deflection and lateral tilt in the initial time after startup.
has different degrees of heading deflection and lateral tilt in the initial time after startup.
The difference between the distance between the key position of ESR and the side edge
The difference between
wall of thetheroadway
distance between
is not the keySetposition
as optimistic. of expected
the desired ESR andposition/posture
the side edge of
wall of the roadway ESR,isincluding
not as optimistic. Setangle
left declination α Le = 0◦ , expected
the desired angle γLe = 0◦ , left
position/posture
left inclination of distance
ESR,
d Le = 1.0 m,angle
including left declination α Le = 0° angle
right declination ◦
Re = 0 , right angle
, left αinclination γ Le angle
inclination = 0° ,γRe
left ◦
= 0distance
, and right
distance d Re = 1.0 m. The ESR position/posture monitoring system is used to collect the
d Le = 1.0 m , rightposition/posture
declination angle α Re =initial
state at the
0° , right inclination angle γ Re = 0The
moment after each ESR movement.
° , and right
experimental
distance d Re = 1.0results
m . The ESR
of the position/posture
coordinated monitoring
ESR position/posture systemcontrol
adjustment is used to collect
system the in
is indicated
Tables 2–4.
position/posture state at the initial moment after each ESR movement. The experimental
results of the coordinated ESR position/posture
Table 2. Experimental data of declinationadjustment
angle of ESR. control system is indicated in
Tables 2–4.
Left/Right Edge Side Number of Groups Initial Data Simulation Data
1 3.62 0.42
2 −2.43 −0.31
Left edge side α L (◦ ) 3 2.94 0.42
4 −4.57 −0.49
5 2.62 0.42
1 2.13 0.49
2 1.64 0.42
Right edge side α R (◦ ) 3 −2.36 −0.42
4 −2.81 0.23
5 1.92 0.32
Appl. Sci. 2022, 12, 9262 19 of 22
The experimental data of the ESR declination angle adjustment on both sides of the
edge space are shown in Table 2. The ESR position/posture adjustment system cooperates
with five groups of declination postures, and within 15 s, the ESR declination angle on
both sides is adjusted to be close to 0◦ , and the declination angle adjustment result is
controlled within ±0.5◦ . The minimum deviation of the experimental results from the
desired expected value does not exceed 0.2◦ .
The experimental data of ESR scroll angle adjustment on both sides of the edge are
shown in Table 3. The position/posture adjustment system cooperates with five sets of
deviation postures. Within 15 s, the ESR scroll angle of the two side walls tends to 0◦ ,
and the scroll angle adjustment data is coordinated and controlled to be no more than
±0.5◦ . The experimental data is in line with the expected expectations, and the minimum
deviation value is not higher than 0.2◦ .
The experimental data for adjusting the distance between the ESRs on both sides to
the sidewall of the space edge are shown in Table 4. After the coordinated adjustment of
the position/posture adjustment system, the distance between the ESR on both sides and
the side wall of the space edge can achieve the desired expected value of 1.0 m within 15 s.
By adjusting the position/posture field test, the distance error to the side wall of the space
edge is limited to the expected value of ±0.03 m, and the minimum deviation between the
experimental value and the desired expected value is controlled within the range of no
more than 0.01 m.
The field test data in the above Figures and Tables demonstrates that the ESR posi-
tion/posture adjustment control system has a fast response speed, and coordinately adjusts
the deviation position and supporting posture of the ESR in a short period of time. Parame-
ters such as the posture angles and the distances from the key position point to the side
wall of the space edge in the verification process are adjusted by the system to the desired
state and close to the minimum deviation area of the expected value. It is pointed out here
that the maximum error of the posture angle is controlled to be no more than 0.5◦ , and the
Appl. Sci. 2022, 12, 9262 20 of 22
maximum error of the distance between the key position point and the edge of the space
domain is no more than 0.03 m, which meets the actual collaborative adjustment accuracy
requirements. Compared with the traditional manual adjustment method, the adjustment
accuracy is significantly improved, the synergistic effect is credible, and the promotion and
application prospects are promising.
7. Conclusions
(1) The desired expected position/posture coordinated adjustment control method
of ESR is effective, and the proposed ESR control system is adapted to the performance
requirements of field applications.
(2) The minimum error of the declination angle in the simulation calculation results is
less than 0.2◦ , and the error is limited to within ±0.5◦ . The minimum error of the roll angle
in the results does not exceed 0.1◦ , and the error is controlled within ±0.5◦ . The minimum
error of the simulated sidewall distance is not more than 0.01 m, and the error range is
within ±0.03 m of the desired expected value.
(3) The minimum error of the declination angle in the experimental test results of the
field verification link is controlled within 0.2◦ , and the error does not exceed ±0.5◦ . The
minimum error of the scroll angle in the test results is less than 0.2◦ , and the error is limited
to within ±0.5◦ . The minimum error of the margin in the test results is not more than
0.01 m, and its error range is within the desired expected value of ±0.03 m.
(4) The main reason for ESR position deviation/support posture inclination is the
combined influence of the unaccounted instantaneous fluctuation of the excavation floor
and the ESR transient push-pull effect in the space environment. The position stroke of
each lateral adjustment hydraulic cylinder is adjusted to coordinate the deviation state of
the ESR support posture, which verifies the effectiveness and feasibility of the proposed
adjustment strategy and cooperative control process.
Author Contributions: Methodology, X.W. and J.T.; formal analysis, Y.W., C.L. and X.W.; investiga-
tion and Resources, J.T. and Y.W.; writing—original draft preparation, X.W., J.T. and C.L.; writing—
review and editing and supervision: J.T. and C.L. All authors have read and agreed to the published
version of the manuscript.
Appl. Sci. 2022, 12, 9262 21 of 22
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