A LESO Based Backstepping Controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

CHEN Luefeng, LIU Xiao, WU Min, LU Chengda, PEDRYCZ Witold, HIROTA Kaoru

Journal of Systems Science & Complexity ›› 2024, Vol. 37 ›› Issue (5) : 1789-1808.

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Journal of Systems Science & Complexity ›› 2024, Vol. 37 ›› Issue (5) : 1789-1808. DOI: 10.1007/s11424-024-3256-3

A LESO Based Backstepping Controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

  • CHEN Luefeng1,2,3, LIU Xiao1,2,3, WU Min1,2,3, LU Chengda1,2,3, PEDRYCZ Witold4, HIROTA Kaoru5
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Abstract

In the process of coal mine drilling, controlling the rotary speed is important as it determines the efficiency and safety of drilling. In this paper, a linear extended state observer (LESO) based backstepping controller for rotary speed is proposed, which can overcome the impact of changes in coal seam hardness on rotary speed. Firstly, the influence of coal seam hardness on the drilling rig's rotary system is considered for the first time, which is reflected in the numerical variation of load torque, and a dynamic model for the design of rotary speed controller is established. Then an LESO is designed to observe the load torque, and feedforward compensation is carried out to overcome the influence of coal seam hardness. Based on the model of the compensated system, a backstepping method is used to design a controller to achieve tracking control of the rotary speed. Finally, the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments, the steady-state error of the rotary speed in field is 1 r/min, and the overshoot is reduced to 5.8. This greatly improves the stability and security, which is exactly what the drilling process requires.

Key words

Backstepping / extended state observer / hydraulic tunnel drilling machine / rotary speed

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CHEN Luefeng , LIU Xiao , WU Min , LU Chengda , PEDRYCZ Witold , HIROTA Kaoru. A LESO Based Backstepping Controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process. Journal of Systems Science & Complexity, 2024, 37(5): 1789-1808 https://doi.org/10.1007/s11424-024-3256-3

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Funding

This work was supported by the National Natural Science Foundation of China under Grant Nos. 62373334, 62273317, and 61973286, the 111 Project under Grant No. B17040, and the Fundamental Indoor Funds for the Central Universities, China University of Geosciences under Grant No. 2021063.
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