Kinematic Cooperative Optimization Control Algorithm for Underground Heavy-Load Robot

Abstract

AbstractBecause of complex and strong coupling system, the precision and adaptability of underground robots are greatly restricted. Based on the newly developed intelligent underground heavy-load robot which is still a gap to fill in current coal mine machinery, this paper proposes a new dynamic cooperative optimization control algorithm. Firstly, the complex and strongly coupled Multi-disciplinary Design Optimization system of the robot is decoupled into horizontal/vertical motion space with the idea of hierarchical target transmission, in order to weaken the strong coupling relationship between each hydraulic loop. Then, the spatial posture coefficient is introduced into main/auxiliary feedback control loop in horizontal/vertical motion space, to realize optimal collaborative control of each hydraulic loop under the premise of weak coupling between each control loop, so as to obtain the precise dynamic control signals of each hydraulic loop, and finally realize the optimal control of overall system for the robot. Lastly, the experiment and simulation verify that the DCO control algorithm presented in this paper can obtain better control results: The executive efficiency of the overall system is improved by 14.2%; The control flow is saved by 9.98%, and the executive precision meets the engineering and technical requirements. This paper provides a new efficient method and idea for the control system of intelligent underground heavy-load robots. Furthermore, the algorithm has reference value on development and design of high precise control system for the same kind of complex intelligent engineering machinery products.