Research on the Force Control System of Rotary Crusher Loading Testbed

Abstract

As an essential device in mining and metallurgical processes, rotary crushers are subjected to intricate stresses and harsh working conditions. To ensure their safe and stable operation, it is imperative to employ a rotary crusher loading testbed (RCLT) for simulating the complex loading environment and to implement critical construction and material testing of the rotary crusher. The force control system of a rotary crusher is studied for the purpose of implementing load conditions under the influence of vibrational coupling with multidegree‐of‐freedom (multi‐DOF). Considering nonlinear factors, uncertainties associated with the electrohydraulic servo drive system, as well as vibration interference, significantly impact the force control system of RCLT. Traditional force control algorithms cannot guarantee the precision of force control under complex disturbances. Therefore, an adaptive terminal sliding mode force control strategy is proposed to enhance the precision of force control in coupled systems affected by vibration disturbances. A terminal sliding mode loading control (TSMC) method is designed to estimate the disturbance in the coupled system using a fuzzy adaptive law. Accurate feedback of hydraulic cylinder velocity and pressure difference signals is achieved through a variable gain state observer (VGSO), which constructs a loading control strategy capable of online compensation for coupling effects caused by vibration disturbances. Finally, experimental verification confirms the effectiveness of the proposed force control strategy.