Multi-cylinder asymptotic tracking pre-scheduled performance adaptive control method for excavator-anchor integrated machine

Abstract

The application provides a multi-hydraulic-cylinder asymptotic tracking pre-determined performance adaptive control method of a digging-anchor integrated machine, which comprises the following steps: establishing a multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine, obtaining parameters of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine, and obtaining a state space expression of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine based on the parameters; setting a limited time pre-determined performance function to constrain tracking errors of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine; using an adaptive technology to estimate unknown parameters of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine and internal disturbances and external disturbances of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine; and recursively obtaining a final controller by using a backstepping control theory, introducing an inequality and an integral bounded function, and realizing asymptotic tracking control. The final controller obtained by the application can make the tracking error converge in a limited time and stabilize more quickly.

Description

Technical Field

[0001] This invention relates to intelligent control technology for mining equipment, specifically to an adaptive control method for multi-hydraulic cylinder asymptotic tracking predetermined performance of an integrated tunneling and anchoring machine. Background Technology

[0002] The multi-hydraulic cylinder of a roadheader / anchor is an electro-hydraulic servo system. As a crucial component of the roadheader / anchor's working device, its performance directly impacts the overall working efficiency and safety of the machine. With the development and intelligent transformation of the coal industry, the performance requirements for the multi-hydraulic cylinder of roadheaders / anchors are becoming increasingly stringent.

[0003] In practical applications, the components of multi-hydraulic cylinders in integrated tunneling and anchoring machines experience wear and tear, leading to changes in corresponding parameters and affecting control performance. Furthermore, when modeling multi-hydraulic cylinders in integrated tunneling and anchoring machines, linearization of some dynamic equations is often performed to simplify the model, introducing modeling errors. Errors also exist in the measurement of flow gain. Therefore, multi-hydraulic cylinders in integrated tunneling and anchoring machines are uncertain nonlinear systems. During the start-up phase, due to the large load, a long period of pressure accumulation and a large flow rate are required to drive the load, resulting in a longer response time and overshoot due to inertia, causing continuous oscillations in control performance. Current control methods can only improve the system's speed, steady-state error, and overshoot by adjusting the controller gain. Therefore, designing a reasonable control method to ensure the stability of multi-hydraulic cylinders in integrated tunneling and anchoring machines within a finite time is a problem that researchers urgently need to solve. Summary of the Invention

[0004] To solve the above-mentioned technical problems, or at least partially solve them, this disclosure provides a multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for an integrated tunneling and anchoring machine.

[0005] This disclosure provides a method for adaptive control of a multi-hydraulic cylinder asymptotic tracking predetermined performance of a roadheader / anchor operator, comprising: establishing a position servo system for the multi-hydraulic cylinder of the roadheader / anchor operator and obtaining the parameters of the position servo system; obtaining the state-space expression of the position servo system based on the parameters; setting a finite-time preset performance function to constrain the tracking error of the position servo system; estimating the unknown parameters, internal disturbances, and external disturbances of the position servo system using adaptive technology; and recursively obtaining the final virtual controller through backstepping control theory, while simultaneously introducing inequalities and integral bounded functions, thereby achieving asymptotic tracking control.

[0006] Optionally, obtaining the state-space expression of the multi-hydraulic cylinder position servo system of the integrated tunneling and anchoring machine based on the parameters of the integrated tunneling and anchoring machine multi-hydraulic cylinder position servo system includes: obtaining the mathematical model of the integrated tunneling and anchoring machine multi-hydraulic cylinder position servo system based on the parameters of the integrated tunneling and anchoring machine multi-hydraulic cylinder position servo system; and performing state transformation on the mathematical model of the integrated tunneling and anchoring machine multi-hydraulic cylinder position servo system based on preset state variables to obtain the state-space expression of the integrated tunneling and anchoring machine multi-hydraulic cylinder position servo system.

[0007] Optionally, the mathematical model of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine is as follows: In the formula: θ1=4βA 2 / V t m, θ2=B / m+4βK c / V t , b = 4βAK s / V t m. Where β is the bulk modulus of elasticity of the hydraulic medium, A is the effective area of ​​the two cavities of the hydraulic cylinder, and V t Let m represent the total capacity of the hydraulic cylinder during its movement, and B represent the total mass of the load and piston rod, with B being the coefficient of viscous friction during the piston rod's movement, and K being the total mass of the piston rod. c F is the total pressure-flow coefficient. l To include friction and other unmodeled dynamics, K s For the flow gain at the servo valve, For F l The first derivative.

[0008] Optionally, the mathematical model of the controlled object in the multi-hydraulic cylinder position servo nonlinear system of the tunneling and anchoring machine: Where β is the bulk modulus of elasticity of the hydraulic medium, A is the effective area of ​​the two chambers of the hydraulic cylinder, and V t Let m represent the total capacity of the hydraulic cylinder during its movement, and B represent the total mass of the load and piston rod, with B being the coefficient of viscous friction during the piston rod's movement, and K being the total mass of the piston rod. c F is the total pressure-flow coefficient. l To include friction and other unmodeled dynamics, K s For the flow gain at the servo valve, For F l The first derivative.

[0009] Optionally, the preset state variable is: x1 = y, The state-space expression is:

[0010] In the formula: y is the displacement of the piston rod in the cylinder, which is equivalent to the preset state variable x1; The first derivative of the displacement of the piston rod in the cylinder is equivalent to the preset state variable x2; is the second derivative of the piston rod's displacement in the cylinder block, equivalent to the preset state variable x3; d represents the internal and external disturbances of the system; b is the control gain, the magnitude of which is unknown; and u is the real-time control input. d is bounded. It is an unknown positive number.

[0011] Optionally, a finite-time preset performance function is set to constrain the tracking error of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine. Specifically, an obstacle function is introduced; a standardized error is defined based on the tracking error and the finite-time preset performance function; and the tracking error of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine is constrained based on the obstacle function and the standardized error.

[0012] Optionally, the finite-time preset performance function is: In the formula, μ 0、 The positive design parameters for the performance function are preset for a finite time, where T is the set time and e is the natural exponential function.

[0013] Optionally, before deriving the final virtual controller through backstepping control theory, the method may also include: introducing a nonlinear filter to avoid continuous differentiation of the virtual controller.

[0014] Optionally, after recursively obtaining the final virtual controller through backstepping control theory, the process includes: recursively obtaining the real-time control input through the virtual controller; the real-time control input is: In the formula, s3 is the system error, α3 is the final controller, and δ(t) is the integral bounded function.

[0015] Optionally, the final controller is: Where k3 is the positive design parameter of the controller, ψ=||β||, defined as follows: δ(t) is an integral bounded function.

[0016] Optionally, after recursively obtaining the final virtual controller through backstepping control theory, the process further includes: designing an adaptive law based on the final virtual controller; the adaptive law is: Where γ is the positive design parameter of the adaptive law, and s3 is the defined system error. δ(t) is a bounded integral function δ(t) = e -t , where e is the natural exponential function.

[0017] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0018] The adaptive control method for asymptotic tracking predetermined performance of a multi-hydraulic cylinder in a roadheader provided in this embodiment includes the following steps: establishing a position servo system for the multi-hydraulic cylinder of the roadheader, and obtaining the parameters of the position servo system; obtaining the state-space expression of the position servo system based on the parameters; setting a finite-time preset performance function to constrain the tracking error of the position servo system; estimating the unknown parameters, internal disturbances, and external disturbances of the position servo system using adaptive technology; and recursively obtaining the final controller by introducing inequalities and integral bounded functions through backstepping control theory, thereby enabling the multi-hydraulic cylinder of the roadheader to stabilize within a finite time and achieve asymptotic tracking control. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating a specific example of the adaptive control method for the multi-hydraulic cylinder asymptotic tracking predetermined performance of the tunneling and anchoring integrated machine according to an embodiment of this disclosure.

[0022] Figure 2 This is a simulation diagram of the performance response curve of the multi-hydraulic cylinder position tracking error of the tunneling and anchoring integrated machine according to an embodiment of this disclosure;

[0023] Figure 3 This is a simulation diagram of the multi-hydraulic cylinder position tracking performance response curve of the tunneling and anchoring integrated machine according to an embodiment of this disclosure;

[0024] Figure 4 This is a specific example structural diagram of a computer device according to an embodiment of the present disclosure. Detailed Implementation

[0025] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0026] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0027] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0028] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0029] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0030] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0031] The multi-hydraulic cylinder of the tunneling and anchoring machine mentioned in this embodiment is the actuator of the electro-hydraulic servo system. It controls the hydraulic oil flow through a proportional valve, thereby controlling the piston rod of the hydraulic cylinder to achieve telescopic movement and drive the load to reciprocate.

[0032] Figure 1 The diagram shows a flowchart of a multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for an integrated tunneling and anchoring machine provided in an embodiment of this disclosure.

[0033] like Figure 1 As shown, the adaptive control method for multi-hydraulic cylinder asymptotic tracking predetermined performance of the integrated tunneling and anchoring machine includes the following steps:

[0034] S100. Establish a multi-hydraulic cylinder position servo system for the tunneling and anchoring machine, and obtain the parameters of the multi-hydraulic cylinder position servo system for the tunneling and anchoring machine. Based on the parameters of the multi-hydraulic cylinder position servo system for the tunneling and anchoring machine, obtain the state-space expression of the multi-hydraulic cylinder position servo system for the tunneling and anchoring machine.

[0035] In this embodiment of the disclosure, the parameter data of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine includes the cylinder body load flow data, the hydraulic cylinder piston rod motion equation data, and the servo valve load flow data.

[0036] In this embodiment of the disclosure, considering the influence of factors such as external leakage of multiple hydraulic cylinders and pipeline dynamics of the integrated tunneling and anchoring machine, the hydraulic oil flow equation at the rodless chamber is expressed as: The equation for the hydraulic oil flow rate at the rod chamber is expressed as: Where Q1 represents the inflow rate of hydraulic oil into the rodless chamber, Q2 represents the outflow rate of hydraulic oil into the rod chamber, A1 represents the effective area of ​​the rodless chamber, A2 represents the effective area of ​​the rod chamber, and x d c represents the displacement of the hydraulic cylinder piston rod. p V represents the cylinder internal leakage coefficient, P1 represents the rodless chamber cylinder pressure, P2 represents the rod chamber cylinder pressure, and V... 10 V represents the initial volume of the rodless cavity. 20 β represents the initial volume of the rod cavity. e q1 represents the volumetric elastic modulus of the hydraulic medium, q2 represents the unknown flow dynamics in the rodless cavity, and q3 represents the unknown flow dynamics in the rod cavity.

[0037] In this embodiment of the disclosure, the load flow rate, load pressure, total volume during cylinder movement, average effective cylinder area, and unknown flow dynamics are defined as follows: the load flow rate is Q. L = (Q1+Q2) / 2, load pressure P L = (P1-P2) / 2, total volume V during cylinder movement t =V 10 +A1x d +V 20 -A2x d cylinder average effective area A P = (A1+A) / 2, unknown flow dynamic q = (q1+q2) / 2. According to the above definition, the hydraulic oil flow equation at the rodless chamber and the hydraulic oil flow equation at the rod chamber can be used to obtain the expression for the load flow of the multi-cylinder body of the anchor-digging machine: in, Let be the first derivative of the displacement of the piston rod in the cylinder. For P L The first derivative.

[0038] In this embodiment of the disclosure, considering the differences in the reversing process of the multiple hydraulic cylinders in the integrated excavator and anchorer, the motion equation of the hydraulic cylinder piston rod can be obtained from Newton's laws of motion as follows: Where m represents the load and the mass of the piston rod, B d The coefficient of friction during the piston rod's movement, g d F represents the acceleration due to gravity. L This represents other frictional forces and unmodeled dynamics.

[0039] In this embodiment of the disclosure, the equation of motion for the hydraulic cylinder piston rod is simplified to obtain: Where, f1=(P2(A1-A2)-mg d +F L ) / m.

[0040] In this embodiment, the servo valve has zero opening and the four throttle ports are symmetrical, with a set return oil pressure P. r =0, when the valve core displacement x v When the flow rate is ≥0, the flow rate of the multi-hydraulic cylinder of the tunneling and anchoring machine is expressed as: When the valve core displacement is x v When the flow rate is <0, the flow rate of the multi-hydraulic cylinder of the tunneling and anchoring machine is expressed as: Among them, c v W represents the valve orifice flow coefficient. V P represents the area gradient of the valve, ρ represents the hydraulic oil density, and P represents the area gradient of the valve. s This indicates the oil supply pressure. The servo valve provided in this embodiment is only a preferred solution; other types of servo valves can also be selected. The flow expression of the multi-hydraulic cylinder of the tunneling and anchoring machine can be adjusted according to different types of servo valves, but this invention does not limit the scope of the invention.

[0041] In this embodiment, the flow equation of the multi-cylinder body of the tunneling and anchoring machine has a highly nonlinear characteristic. Therefore, linearization is considered, and the load flow rate Q is taken as the linearization method. L = (Q1+Q2) / 2, then the servo valve load flow can be expressed as: Where sgn(x) v () represents a symbolic function, and its specific expression is:

[0042] In this embodiment of the disclosure, under ideal conditions, the servo amplifier can be represented as a proportional element, and the relationship between the control input of the servo amplifier and the valve core displacement is: x v =k v u, where k v represents the proportional gain coefficient, and u represents the real-time control input current, or the real-time control input voltage.

[0043] In this embodiment of the disclosure, for the high-frequency response characteristics of the servo valve, the expression for the servo valve load flow rate can be simplified to: Q L =k a u+q3, where k a q represents the valve outlet flow gain, and q3 represents the modeling error caused by the simplification process.

[0044] Optionally, the above expressions can be simplified. Since the controlled object corresponding to each parameter in the multi-hydraulic cylinder position servo system of the integrated tunneling and anchoring machine has nonlinear characteristics, the mathematical model of the controlled object in the nonlinear system of the multi-hydraulic cylinder position servo system of the integrated tunneling and anchoring machine can be simplified as follows: In the formula: θ1=4βA 2 / V t m, θ2=B / m+4βK c / V t , b = 4βAK s / V t m. Where β is the bulk modulus of elasticity of the hydraulic medium, A is the effective area of ​​the two cavities of the hydraulic cylinder, and V t Let m represent the total capacity of the hydraulic cylinder during its movement, and B represent the total mass of the load and piston rod, with B being the coefficient of viscous friction during the piston rod's movement, and K being the total mass of the piston rod. c F is the total pressure-flow coefficient. l To include friction and other unmodeled dynamics, K s For the flow gain at the servo valve, For F l The first derivative.

[0045] Optionally, define x1 = y. The state-space expression for the state transition is:

[0046] Where y is the displacement of the piston rod in the cylinder, which is equivalent to the preset state variable x1; The first derivative of the displacement of the piston rod in the cylinder is equivalent to the preset state variable x2; d represents the second derivative of the piston rod's displacement, equivalent to the preset state variable x3; d represents the unknown internal and external disturbances of the system; b represents the control gain, the magnitude of which is unknown; and u represents the real-time control input.

[0047] In this embodiment of the disclosure, in order to improve the robustness of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine, θ1 and θ2 are regarded as unknown parameters.

[0048] In this embodiment of the disclosure, b is the control gain, whose direction is known but whose magnitude is unknown, and there exists an unknown positive constant. b and Make it satisfy For the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine, the disturbance d is bounded and has an unknown normal value. satisfy:

[0049] S200: Set a finite-time preset performance function to constrain the tracking error of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine.

[0050] Optionally, an obstacle function is introduced; a standardized error is defined based on the obstacle function and the finite-time preset performance function; and the tracking error of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine is constrained based on the standardized error.

[0051] In this embodiment of the disclosure, the barrier function is: The finite-time preset performance function is: in, μ 0、 Pre-set positive design parameters for the performance function within a finite time frame, and T represents the set time, and e represents the natural exponential function.

[0052] In this embodiment of the disclosure, the standardization error is: Define the tracking error as e(t) = yy d y d Given a reference signal, for any initial value of the tracking error satisfying h2(0)<e(0) d , where z d Since η is a positive constant, we can deduce that -1 < η(t) < 1. According to the definition of the formula η(t), the tracking error satisfies the constraint condition: h2(t) < e(t) < h1(t).

[0053] S300. The unknown parameters of the multi-hydraulic cylinder position servo system of the integrated tunneling and anchoring machine, as well as the internal and external disturbances of the multi-hydraulic cylinder position servo system, are estimated using adaptive technology.

[0054] In this embodiment of the disclosure, a single-parameter adaptive law is used to estimate the unknown parameters and the internal and external disturbances of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine.

[0055] S400, through backstepping control theory, and by introducing inequalities and integral bounded functions, recursively obtains the final virtual controller, realizing asymptotic tracking control.

[0056] Optionally, before deriving the final virtual controller through backstepping control theory, the method may also include: introducing a nonlinear filter to avoid continuous differentiation of the virtual controller.

[0057] ​In this embodiment of the disclosure, the controller error is defined according to the obstacle function, and its expression is: Where, ω i The output of the virtual controller after passing through the filter is defined as: y i =ω i -α i-1 (i = 2, 3), where α i-1 This is the input to the filter corresponding to each iteration of the virtual controller.

[0058] In this embodiment of the disclosure, the first Lyapunov function is designed as follows: Differentiating the first Lyapunov function, the result is: Based on backstep control theory and the differential derivative of the first Lyapunov function, the first virtual controller is designed as follows: Where p1 > 0 and k1 > 0 are the design parameters for α1.

[0059] In this embodiment of the disclosure, to avoid continuous differentiation of the first virtual controller, a first nonlinear filter is introduced, which is: Where χ2 is the filtering time constant, For the estimation of the initial condition invariant set, ρ2 is a design parameter, and is defined as follows: For differential filtering, δ 2 Let δ(t) denote the bounded integral function, and δ(t) = e^(-t / t). -t , where e is the natural exponential function.

[0060] In this embodiment of the disclosure, the second Lyapunov function is designed as follows: Differentiating the second Lyapunov function The derivative is: Based on backstep control theory and the differential results of the second Lyapunov function, the second virtual controller is designed as follows: Where p2>0 and k2>0 are the design parameters for α2.

[0061] In this embodiment of the disclosure, to avoid continuous differentiation of the second virtual controller, a second nonlinear filter is introduced, which is: Where χ3 is the filtering time constant. For the estimation of the initial condition invariant set, ρ3 is a design parameter, and is defined as follows: This is a differential filter.

[0062] In this embodiment of the disclosure, the third Lyapunov function is designed as follows: Differentiating the third Lyapunov function, we get in,

[0063] In this embodiment of the disclosure, the scaling inequality is: Where ψ=||β||, defined

[0064] In this embodiment of the disclosure, the final virtual controller is: Where k3 is the positive design parameter of the final virtual controller, ψ=||β||, defined as follows:

[0065] In this embodiment of the disclosure, the real-time control input is: Where s3 is the system error, α3 is the final controller, and δ 2 (t) is an integrally bounded function.

[0066] Optionally, after obtaining the final virtual controller through backstepping control theory, the method further includes: designing an adaptive law based on the final virtual controller.

[0067] In this embodiment of the disclosure, the adaptive law is: Where γ is the positive design parameter of the adaptive law, and s3 is the system error. For adaptive parameter estimation.

[0068] The adaptive control method for asymptotic tracking predetermined performance of a multi-hydraulic cylinder in a roadheader provided in this embodiment establishes a position servo system for the roadheader's multi-hydraulic cylinder and obtains its parameters. Based on these parameters, a state-space expression for the position servo system is derived. A finite-time preset performance function is set to constrain the tracking error of the system. Adaptive techniques are used to estimate the unknown parameters, internal disturbances, and external disturbances of the system. Through backstepping control theory, inequalities, and integral bounded functions are introduced to recursively obtain the final controller, thereby enabling the multi-hydraulic cylinder to stabilize within a finite time and achieve asymptotic tracking control.

[0069] under, Figure 2 , Figure 3 A simulation analysis was conducted using the parameters of a multi-hydraulic cylinder system of a mining tunneling and anchoring machine as an example.

[0070] During the simulation, the initial state parameters of the system are designed as follows: x(0) = [0.5, 0, 0] Τ The initial parameters of the adaptive law are: The preset anchor bolt installation position signal is designed as: y d =80; The design parameters for each controller are: k1=k2=k3=5; p2=p3=1; χ2=χ3=0.001; γ=0.5; The parameters of the finite-time preset performance function are designed as follows: μ 0 = 88, T = 0.5s,

[0071] Depend on Figure 2 It can be seen that, compared with unconstrained control, the tracking effect under the control constraint of the finite-time preset performance function designed in the embodiments of this disclosure is better and the convergence speed is faster.

[0072] Depend on Figure 3 It can be seen that under the control constraints of the finite-time preset performance function designed in the embodiments of this disclosure, the tracking error converges to the preset range within a preset time, thus solving the contradiction between the steady-state error and the fast convergence of the system.

[0073] According to the simulation analysis results of this disclosure, the adaptive control method for multi-hydraulic cylinder asymptotic tracking predetermined performance of the tunneling and anchoring machine provided in the embodiments of this disclosure does not require specific physical parameter information of the model. It only requires parameter design of each module of the system to achieve adaptive tracking control, and has a certain degree of universality.

[0074] This disclosure also provides an adaptive control device for asymptotic tracking of a multi-hydraulic cylinder in a roadheader, comprising: a data acquisition module for establishing a position servo system for the roadheader's multi-hydraulic cylinder and acquiring its parameters, and obtaining a state-space expression for the system based on these parameters; an error constraint module for setting a finite-time preset performance function to constrain the tracking error of the system; a data estimation module for estimating the unknown parameters, internal disturbances, and external disturbances of the system using adaptive technology; and a control module for recursively obtaining the final controller through backstepping control theory, while simultaneously introducing inequalities and integral bounded functions, to achieve asymptotic tracking control.

[0075] The specific limitations and beneficial effects of the multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control device for the roadheader / anchor integrated machine can be found in the above-mentioned limitations of the multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for the roadheader / anchor integrated machine, and will not be repeated here. Each module of the aforementioned multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control device for the roadheader / anchor integrated machine can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the electronic device, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0076] This invention also provides a computer device, such as... Figure 4 As shown, Figure 4 This is a schematic diagram of a computer device provided in an optional embodiment of the present invention. The computer device may include at least one processor 41, at least one communication interface 42, at least one communication bus 43, and at least one memory 44. The communication interface 42 may include a display screen and a keyboard; optionally, the communication interface 42 may also include a standard wired interface or a wireless interface. The memory 44 may be a high-speed RAM (Random Access Memory) or a non-volatile memory, such as at least one disk storage device. Optionally, the memory 44 may also be at least one storage device located remotely from the aforementioned processor 41. The processor 41 may be integrated with a multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control device for a tunneling and anchoring machine. The memory 44 stores an application program, and the processor 41 calls the program code stored in the memory 44 to execute the steps of the multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for a tunneling and anchoring machine according to any of the above method embodiments.

[0077] The communication bus 43 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus 43 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0078] The memory 44 may include volatile memory, such as random-access memory (RAM); the memory may also include non-volatile memory, such as flash memory, hard disk drive (HDD) or solid-state drive (SSD); the memory 44 may also include a combination of the above types of memory.

[0079] The processor 41 can be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP.

[0080] The processor 41 may further include a hardware chip. This hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0081] Optionally, memory 44 is also used to store program instructions. Processor 41 can invoke program instructions to implement the present invention. Figure 1 The embodiment illustrates a multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for an integrated tunneling and anchoring machine.

[0082] This invention also provides a non-transitory computer storage medium storing computer-executable instructions that can execute the methods described in any of the above-described method embodiments. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium may also include combinations of the above types of memory.

[0083] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0084] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for an integrated tunneling and anchoring machine, characterized in that, include: Establish a multi-hydraulic cylinder position servo system for the tunneling and anchoring machine, and obtain the parameters of the multi-hydraulic cylinder position servo system for the tunneling and anchoring machine. Based on the parameters of the multi-hydraulic cylinder position servo system for the tunneling and anchoring machine, obtain the state space expression of the multi-hydraulic cylinder position servo system for the tunneling and anchoring machine. A finite-time preset performance function is set to constrain the tracking error of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine; Adaptive technology is used to estimate the unknown parameters, internal disturbances, and external disturbances of the multi-hydraulic cylinder position servo system of the integrated tunneling and anchoring machine. By using backstepping control theory and introducing inequalities and integral bounded functions, the control input that can be applied to the final controller is obtained recursively, thus realizing asymptotic tracking control. After obtaining the control input that can be applied to the final controller through recursion, the process includes: Real-time control input is obtained through recursion by the final controller; The real-time control input is: in, For systematic error, To control the input, It is an integrally bounded function; The control input is: in, To control the positive design parameters input, , ,definition , , , It is an integrally bounded function.

2. The multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for the tunneling and anchoring integrated machine according to claim 1, characterized in that, The state-space expression of the multi-hydraulic cylinder position servo system of the integrated tunneling and anchoring machine, obtained based on the parameters of the multi-hydraulic cylinder position servo system, includes: The mathematical model of the multi-hydraulic cylinder position servo system of the integrated tunneling and anchoring machine is obtained based on the parameters of the integrated tunneling and anchoring machine. Based on preset state variables, the mathematical model of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine is transformed to obtain the state space expression of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine.

3. The multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for the tunneling and anchoring integrated machine according to claim 2, characterized in that, The mathematical model of the multi-hydraulic cylinder position servo system of the integrated tunneling and anchoring machine is as follows: In the formula: , , , ;in, The bulk modulus of elasticity of the hydraulic medium. The effective area of ​​the two chambers of the hydraulic cylinder. This refers to the total capacity during the movement of the hydraulic cylinder. To represent the load and the total mass of the piston rod, The coefficient of viscous friction during the piston rod's movement. The total pressure-flow coefficient, To include friction and other unmodeled dynamics, For the flow gain at the servo valve, for The first derivative.

4. The multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for the tunneling and anchoring integrated machine according to claim 2, characterized in that, The preset state variable is: , , , The state-space expression is: In the formula: The displacement of the piston rod in the cylinder is equivalent to the preset state variable. ; The first derivative of the piston rod's displacement in the cylinder is equivalent to the preset state variable. ; The second derivative of the displacement of the piston rod in the cylinder is equivalent to the preset state variable. ; These are disturbances both inside and outside the system. To control the gain, and the magnitude is unknown. For real-time control input; among which, , It is bounded. It is an unknown positive number.

5. The multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for the tunneling and anchoring integrated machine according to claim 1, characterized in that, The finite-time preset performance function constrains the tracking error of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine, specifically as follows: Introduce a barrier function; The standardized error is defined based on the tracking error and the finite-time preset performance function; The tracking error of the multi-hydraulic cylinder position servo system of the tunneling and anchoring machine is constrained based on the obstacle function and the standardized error.

6. The multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for the tunneling and anchoring integrated machine according to claim 1, characterized in that, The finite-time preset performance function is: in, , , Pre-set positive design parameters for the performance function within a finite time frame. To set the time, It is a natural exponential function.

7. The adaptive control method for multi-hydraulic cylinder asymptotic tracking predetermined performance of the tunneling and anchoring integrated machine according to claim 1, characterized in that, Before the recursion yields the control input applicable to the final controller, it also includes: A nonlinear filter is introduced to avoid continuous differentiation of the virtual controller.

8. The multi-hydraulic cylinder asymptotic tracking predetermined performance adaptive control method for the tunneling and anchoring integrated machine according to claim 1, characterized in that, After recursively obtaining the control inputs that can be applied to the final controller, the process also includes: Design an adaptive law based on the aforementioned control input; The adaptive law is: in, For the positive design parameters of the adaptive law, , For bounded integral functions , This is an adaptive estimate.

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