A variable structure robust control strategy for automatic drilling tools loading and unloading system

• Published in: Control engineering practice Vol. 161; p. 106340
• Main Authors: Chen, Miao, Si, Lei, Dai, Jialiang, Liu, Yang, Wang, Zhongbin, Wei, Dong, Li, Xin
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.08.2025
• Subjects: Drilling tools loading and unloading system; Electro-hydraulic control system; Fuzzy neural network; Sliding mode controller; Fuzzy neural network; Drilling tools loading and unloading system; Electro-hydraulic control system; Sliding mode controller
• ISSN: 0967-0661
• DOI: 10.1016/j.conengprac.2025.106340

Drilling tools loading and unloading for drilling machine is a labor-intensive task. The automatic loading and unloading function of the drilling machine can prominently lessen the labor intensity borne by workers and serves as a key requisite for the full automation of underground drilling equipment. The drilling tools loading and unloading system (DTLUS) is subject to a relatively large load, leading to fluctuations in the hydraulic system’s pressure and flow rate. In view of this, a robust control strategy based on the sliding mode controller is proposed. Aiming at the requirement of suppressing chattering during the operation of the sliding mode controller (SMC), a fuzzy neural network (FNN) parameter adjustment method based on the variable structure control framework is designed, which is intended to enhance the stability and control accuracy of the system, so as to better cope with the complex working conditions of the DTLUS and ensure its efficient and stable operation. The experimental results indicate that the designed controller can reduce mechanical impact and enhance the efficiency of drilling tools loading and unloading. •The model of the drilling tools loading and unloading system is established.•By employing FNN, the chattering phenomenon of the SMC is alleviated.•A control method strong robustness and high precision is presented.•Co-simulations and industrial experiments are carried out.