Study on Variable Structure Force Control of Manipulator on Boom Type Mine Roadheader

According to the multi variation and nonlinear features of the electric and hydraulic control model on the manipulator of the boom type mine roadheader, a study on the variable structure force control of the manipulator on the mine roadheader was conducted.The basic idea was to control each oil cylinder output of the m anipulator in order to trace the expected output of the planning.A force contral model of the lifting and rotary hydraulic system on the manipulator was established.Base d on the deviation of the oil cylinder output as the switching plane, the variable structure contral function was designed.A smooth function was applied to eliminate the v ibration phenomenon on the sliding model.The tracing planning was conducted on the straight line cutting route.The simulation results showed that the variable structur e force control would have an excellent control effect.