Motion Strategy of Drilling Anchor Manipulator Based on Intelligent Optimization Algorithm

摘要

Abstract The drilling and anchoring robot is an important equipment to realize the intellectualization of fully mechanized coal mining. The control effect of its manipulator directly affects the safety and efficiency of the support operation of the drilling and anchoring robot. The control of drilling anchor manipulator usually adopts PID controller, but due to the limitation of integer order PID control algorithm and traditional empirical parameter adjustment, it is difficult to find a group of parameters with the best control effect in a short time, resulting in the failure of timely and accurate positioning of the end of the manipulator. In this paper, the combination of numerical modeling and simulation analysis is used to adjust the parameters of fractional order PI λ D μ controller by using search algorithm (GPS) and applied to the motion control of manipulator; Based on the independent joint control theory, the single input single output system model of hydraulic cylinder at the joint of manipulator is established by using Matlab-Simulink software and fractional PI λ D μ control technology. The fractional order control system is regulated by input shaping feedforward control technology(IS). The step response effect of the hydraulic system is further analyzed by setting input feedforward controllers with different gain ratios. The numerical simulation results show that the control strategy of “Input Shaping(IS) + Intelligent optimization algorithm (GPS) parameter adjustment + Fractional PI λ D μ control technology” can effectively improve the spatial accurate positioning of mining manipulator. The research expand the application of intelligent control technology in the field of mining equipment.