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

Table 1

Parameters of valve controlled hydraulic cylinder.

Parameters of the symbol	Parameter name	Unit	Oil cylinder
L	trip	mm	1100
D	cylinder bore	mm	80
d	piston rod diameter	mm	45
	hydraulic damping ratio	--	0.4
	drive equivalent load	kg	2000
	oil equivalent elastic modulus	Pa	7.010^8
	proportional valve core area gain	mm	18
	proportional valve rated core inlet and outlet differential pressure		1.6
	the oil density		860