关键词: 多缸位置同步, 干扰观测器, 状态受限, 障碍李雅普诺夫函数, 动态面

Abstract: Proposed in this paper is a state-constrained synchronous control strategy based on disturbance observer for the multi-cylinder synchronous pulling process of hydraulic support group. First, The relationship among multiple cylinders is analyzed. Next, based on the theory of equal control, a disturbance observer is designed for each subsystem to estimate and compensate the uncertainties and external disturbances of the system. Then, the maximum errors of the systems position and velocity are limited by using the barrier Lyapunov theory, and the dynamic surface theory is introduced to avoid differential explosion in backstepping design and simplify the design of the controller. Moreover, ZY3200/08/18D electro-hydraulic control hydraulic support is used as a model to carry out simu-lation analysis in Simulink, and, finally, a simulation test platform is built for verification. Simulation and experiment results show that the proposed control strategy is of higher trajectory tracking accuracy and synchronization accuracy.

Key words: multi-cylinder position synchronization, disturbance observer, state constraint, barrier Lyapunov function, dynamic surface