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Mathematical Problems in Engineering
Volume 2018, Article ID 3707359, 8 pages
Research Article

Study on the Control Method of Mine-Used Bolter Manipulator Based on Fractional Order Algorithm and Input Shaping Technology

1School of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China
2Collaborative Innovation Center of Taiyuan Heavy Machinery Equipment, Taiyuan 030024, China
3Taiyuan Institute of China Coal Technology Engineering Group, Taiyuan 03006, China

Correspondence should be addressed to Jun Zhang; moc.361@03216891nadjz and Qingxue Huang; moc.361@qjxxdjkyt

Received 7 July 2018; Revised 15 November 2018; Accepted 28 November 2018; Published 23 December 2018

Academic Editor: Guangming Xie

Copyright © 2018 Jun Zhang and Qingxue Huang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Mine-used bolter is the main equipment to solve the imbalance of excavation and anchor in well mining, and the manipulator is the main working mechanism of mine bolt drilling rig. The manipulator positioning requires high rapidity and stability. For this reason, this paper proposes a composite control method of “input shaping + fractional order control”. According to the mathematical model of the valve-controlled cylinder, the fractional-order controller is developed. At the same time, the input shaping is used to feed forward the accurate positioning and path planning of the manipulator, which not only improves the robustness of the system, but also shortens the stability time of the system and restrains the maximum amplitude of the system vibration. In this paper, the control effects of fractional order controller and integer order controller are compared. The results show that the maximum amplitude of the control system is reduced by 75% and the stabilization time is reduced by 60% after using the fractional order controller, which fully reflects the superiority of the fractional order controller in response speed, adjusting time, and steady-state accuracy. Finally, the control effects of “input shaping + fractional order control” and fractional order controller on the stability of the system are compared. The maximum amplitude of the system was reduced by 50% by using “input shaping + fractional order control”. Numerical simulation confirms the feasibility and effectiveness of the composite control method. This composite control method provides theoretical support for the precise positioning of the manipulator, and the high stability and high safety of the manipulator also expand the application scope and depth of the composite control method.