Robust Output Feedback Position Control of Hydraulic Support with Neural Network Compensator

Abstract

Hydraulic support is important equipment in the fully mechanized mining face, and the control performance of the hydraulic support multi-cylinder system directly affects the smooth progress of coal mining process, which is the basis for the continuous advancement of the coal face. However, the friction force of the hydraulic support in the process of pulling the frame is complex due to the underground environmental load. Moreover, the parameters of the moving cylinder are uncertain, and the state of the system cannot be fully measured, which increases the difficulty of control. A proportional-integral-derivative controller is usually used in electro-hydraulic closed-loop control systems because of its computational complexity, but its robustness is poorly adapted to variable load conditions in the coal mine. Therefore, a robust output feedback position controller is proposed in this paper to improve control accuracy and system robustness with only position signal. The multi-cylinder system of hydraulic support is modeled as a standard type, and then a high-order differentiator is proposed to estimate the immeasurable system states using the output position signal. A neural network compensator is applied to estimate and compensate for the external disturbance of the moving cylinder. Furthermore, the parameters of the ZY3200/08/18D hydraulic support are adopted to analyze the effectiveness of the designed controller in simulations. Finally, a real-time control system of hydraulic support is built, and the experimental results show that the novel robust output feedback controller has improved by 47.2% and 30.6% in tracking accuracy compared to PI controller.

Study on Working Characteristics of 4-Column Hydraulic Support in Lifting–Lowering–Moving State Based on Microcontact Theory and Rigid–Flexible–Mechanical–Hydraulic Coupling Simulation Model

“…For the purpose of studying the influence of support moving height on support moving with pressure, support moving simulation experiments were carried out at support moving height of 2500 mm and residual working resistance of 500 kN at support moving speeds of 100 mm per second, 200 mm per second, 300 mm per second, 400 mm per second, and 500 mm per second [43].…”

A Simulation Study of an Electro-Hydraulic Load-Sensitive Variable Pressure Margin Diverter Synchronous Drive System with Time-Varying Load Resistance

“…Ma [12] proposed the improved automatic anti-interference controllerimproved particle swarm optimized position synchronous control method to solve the problem of insufficient platform synchronous control accuracy of the multi-hydraulic cylinder group platform of an anchor digging support robot. The results show that the method has better position tracking performance and shorter adjustment time, its stepping signal synchronous error was controlled within 5.0 mm, and the adjustment time was less than 2.55 s. Ding [13] proposed the robust output feedback position controller to solve the problem of the poor robustness of the conventional PID controller of the hydraulic support. The results show that the tracking accuracy of this controller was 47.2% and 30.6% higher than the conventional controller, respectively.…”