applied
sciences
Article
A Cooperative Control Method for Excavation Support Robot
with Desired Position/Posture
Xigui Wang 1,2, * , Jie Tang 1 , Yongmei Wang 2,3, * and Chen Li 1
Citation: Wang, X.; Tang, J.; Wang, Y.;
Li, C. A Cooperative Control Method
for Excavation Support Robot with
Desired Position/Posture. Appl. Sci.
2022, 12, 9262. https://doi.org/
10.3390/app12189262
Academic Editor: Bernhard Schrefler
Received: 26 August 2022
Accepted: 13 September 2022
Published: 15 September 2022
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Attribution (CC BY) license (https://
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4.0/).
Appl. Sci. 2022, 12, 9262. https://doi.org/10.3390/app12189262
1 School of Engineering Technology, Northeast Forestry University, No. 26, Hexing Road, Xiangfang District,
Harbin 150040, China
2 School of Mechatronics and Automation, Huaqiao University, No. 668, Jimei Avenue, Jimei District,
Xiamen 361021, China
3 School of Motorcar Engineering, Heilongjiang Institute of Technology, No. 999, Hongqidajie Road,
Daowai District, Harbin 150036, China
* Correspondence: wyr20091207@126.com (X.W.); wyr20091207@163.com (Y.W.); Tel.: +86-133-8450-3780 (X.W.);
+86-150-4563-2699 (Y.W.)
Featured Application: An improved control method of desired position/posture coordinated ad-
justment by real-time posture data and sliding position mode control algorithm is proposed. A
mathematical model of the non-longitudinal adjustment hydraulic system is presented, the cou-
pling relationship between the stroke and posture of the lateral Adjustment Hydraulic Cylinder
(AHC) considering the kinematic characteristics of the Excavation Support Robot (ESR) is de-
duced, and the controller is designed for optimization analysis. The simulation model desired
position/posture adjustment control system is determined. The proposed control algorithm is ver-
ified by experiments, and the position deviation accuracy and posture adjustment coordination
are greatly improved.
Abstract: Desired deviation of the position/posture of Excavation Support Robot (ESR) have a
critical impact on the efficiency of underground mining. In this paper, a control method of desired
position/posture coordinated adjustment by real-time posture data and sliding position mode
control algorithm is proposed. The action stroke of the non-longitudinal Adjustment Hydraulic
Cylinder (AHC) is controlled by adaptively adjusting the opening and time of the Electro-Hydraulic
Servo (EHS) valve, thereby adjusting the position offset and posture coordination of the ESR. The
mathematical model of hydraulic system is deduced. Considering the kinematic characteristics
of the ESR and the coupling relationship between the stroke and posture of the lateral AHC, a
coupled kinematics model of the robot and the support body is derived. The overall structure of
the posture adjustment control system and the calculation method of the stroke adjustment amount
of the AHC are presented, and the controller is further optimized. The simulation analysis model
and test verification system of the desired posture adjustment control system are determined. These
results show that the control method is effective and significant compared with the manual control
system, which can meet the functional and precision requirements of position deviation and posture
adjustment.
Keywords: excavation support robot; cooperative control method; position deviation; posture
adjustment; non-longitudinal hydraulic cylinder; sliding position mode algorithm
1. Introduction
An advanced hydraulic unit is the Excavation Support Robot (ESR). A scenario simu-
lation diagram of the actual operation of the ESR is illustrated in Figure 1. The Adjustment
Hydraulic Cylinder (AHC) is composed of a driving system as the ESR power actuator, and
the excavation is alternately advanced. In particular, the roof supporting the excavation
roadway is irreplaceable. Considering the complex construction road environment and the
https://www.mdpi.com/journal/applsci
x FOR PEER REVIEW 2 of 22

excavation
Appl. Sci. 2022, roadway is irreplaceable. Considering the complex construction road environ-
12, 9262 2 of 22
ment and the operation factors of on-site personnel, ESR is prone to position deviation
and posture offset during actual operation. The accumulated consequences of posi-
operation
tion/posture deviation canfactors
easilyof lead
on-site
topersonnel,
accidents ESR is prone
such to position
as side deviation
collision and posture offset
and overturning,
during actual operation. The accumulated consequences of position/posture deviation
which seriously affects mining efficiency and excavation safety. Therefore, whether the
can easily lead to accidents such as side collision and overturning, which seriously affects
position/posture deviation of ESR
mining efficiency andcan be adjusted
excavation automatically
safety. Therefore, whether and quickly to achieve
the position/posture deviation
the expected collaborative
of ESR can be value hasautomatically
adjusted become a key technical
and quickly problem
to achieve to be solved
the expected ur-
collaborative
gently. value has become a key technical problem to be solved urgently.

Figure 1. A scenarioFigure
simulation diagram of the actual operation of the ESR.
1. A scenario simulation diagram of the actual operation of the ESR.

Within the aforementioned

Within the aforementioned context, the context,
deviation the deviation of the position
of the position and the andquick
the quick
ad-ad-
justment of the posture are the technical bottlenecks
justment of the posture are the technical bottlenecks in the field of engineering control.in the field of engineering control.
Scholars have achieved fruitful results in the field of coordinated adjustment of posi-
Scholars have achieved fruitful
tion/posture [1,2]. results
The ESR in the adjustment
posture field of coordinated
control algorithm adjustment of posi-
and the integral sliding
tion/posture [1,2].mode
The control
ESR posture adjustment control algorithm and the integral
controller are designed to correct and adjust the position/posture devia- sliding
mode control controller are designed
tion generated by the ESR to during
correctthe and adjust of
execution thetheposition/posture
task, which makesdeviation
the deviation
correction error converge with a negative exponent [3,4].
generated by the ESR during the execution of the task, which makes the deviation correc- A memory network neural im-
mune control algorithm for rapid posture adjustment of manned exploration device is
tion error converge with a negative exponent [3,4]. A memory network neural immune
proposed [5]. Based on the PID fuzzy algorithm with the optimal deviation path, the overall
control algorithmcontrol
for rapid
schemeposture adjustment
has a simple structureofand manned
a small exploration device which
amount of calculation, is proposed
can realize
[5]. Based on the PID fuzzy algorithm
the optimal control of the with the optimal deviation
position/posture path, the
action coordination overall
[6–8]. control
A basic posture
scheme has a simpleadjustment
structurealgorithm
and for singular
a small robust path
amount planning is expounded,
of calculation, which can so realize
as to realize
thethe
rapid coordinated adjustment of the basic posture of space satellites [9,10]. A robust model-
optimal control of the position/posture action coordination [6–8]. A basic posture adjust-
free adaptive control algorithm and strategy based on adaptive backward technology is
ment algorithm for singularwhich
discussed, robust path planning
is oriented is expounded,
to the position/posture so as to realize
adjustment problemthe rapid
of quadrotor
coordinated adjustment of theAn
aircraft [11,12]. basic posture
adaptive sliding of mode
spacecontrol
satellites
method [9,10].
basedA onrobust model-free
the neural network min-
adaptive control algorithm and strategy based on adaptive backward technology is
imum parameter learning method is presented, which improves the convergence dis-and
speed
cussed, which is oriented to the position/posture adjustment problem of quadrotor aircraft[13].
better meets the requirements of real-time control of the magnetic levitation system
A new coupled sliding mode control is investigated, which plays an important role in
[11,12]. An adaptive sliding mode control method based on the neural network minimum
pendulum stability control of an inverted pendulum system [14]. A sliding mode control
parameter learning method
method is presented,
for uncertain systemswhich improves
with nonlinear the convergence
disturbance observer is speed
proposed,and bet-has
which
ter meets the requirements
better integralofperformance
real-time than control of the
the basic magnetic
sliding mode controllevitation system [13].
[15]. Considering A
the robust
sliding surface configuration with the optimal coefficient
new coupled sliding mode control is investigated, which plays an important role in pen- ratio, a sliding surface algorithm
based on the optimal coefficient ratio and an integral sliding mode robust tracking control
dulum stability control of an inverted pendulum system [14]. A sliding mode control
method are proposed. Even in the presence of design parameter disturbances, the expected
method for uncertain systems
sliding surface with
obtained nonlinear disturbance
by this method observer
is robust and optimal is proposed,
[16]. Several which has
optimization
better integral performance
algorithms in system optimization are mentioned, which make the control systemro-
than the basic sliding mode control [15]. Considering the have
bust sliding surface configuration
higher with the
convergence accuracy andoptimal coefficient
faster convergence speedratio, a sliding
[17–19]. surface
Considering theal-
prob-
gorithm based onlem theofoptimal
ESR posture adjustment
coefficient ratio in and
the process of excavation,
an integral sliding an modeoptimized
robust plane linear
track-
correction curve model and a double closed-loop posture control strategy are expounded to
ing control method are proposed. Even in the presence of design parameter disturbances,
the expected sliding surface obtained by this method is robust and optimal [16]. Several
optimization algorithms in system optimization are mentioned, which make the control
system have higher convergence accuracy and faster convergence speed [17–19]. Consid-
Appl. Sci. 2022, 12, 9262 3 of 22

correct the working posture of the single hydraulic support in the fully mechanized mining
face [20–22]. Faced with complex driving conditions, a motion control algorithm for driving
deviation correction is proposed, which can realize online real-time deviation correction
position adjustment of control parameters and real-time position control of driving devia-
tion [23–25]. Considering the inclined staggered posture of the fully mechanized mining
hydraulic support, a theoretical model of inclination deviation adjustment is established,
and an independent inclination deviation adjustment control method is proposed. In the
initial support stage, the balance cylinder and cylindrical cylinder are used to adjust the
posture of the top beam and the position of the deflection base, which can achieve precise
support position/posture coordinated control [26–28]. To sum up, the current research
mainly focuses on the fully mechanized mining face robot, vehicle-mounted equipment,
and single hydraulic support. The research on ESR position/posture adjustment control
method and collaborative strategy in fully mechanized mining and excavation is still in
the preliminary exploration stage and needs to be revealed in depth. The execution of
ESR action mainly relies on the centralized liquid supply of the hydraulic servo system
and the manual control and adjustment of the hydraulic valve. Restricted by factors such
as complex roadway environment and subjective judgment of personnel, ESR position
deviation/posture bias is a thorny problem that always exists.
This topic is a more in-depth discussion based on the technical accumulation of ESR
position/posture monitoring research results. Based on the ESR position/posture test data,
ESR position deviation correction and posture offset adjustment are guided. Furthermore,
an ESR desired position/posture coordinated adjustment control method based on real-
time position/posture data and sliding mode control algorithm is proposed. The action
stroke of the non-longitudinal hydraulic cylinder is controlled and coordinated according
to the expected position/posture adjustment value, and the real-time deviation position
and posture are quickly adjusted to ensure that the ESR reaches the optimal state of the
expected position/posture coordination.
The subject is organized as follows: the multiple models of ESR, including structure,
hydraulic servo system and kinematic models in Section 2, are presented. Section 3 focuses
on the description of the proposed controlled structure of the position/posture adjust-
ment system, and proposes a coordinated adjustment strategy for ESR position deviation,
posture bias, and optimized controller design. In Section 4, the numerical analysis of the
coordinated position/posture adjustment is presented., The field experiments are verified
in Section 5, where the results are discussed and the corresponding conclusions are drawn,
thus validating the cooperative control method proposed in this study.

2. ESR System Modeling and Description

2.1. Structural Model of ESR
The ESR motion process has six degrees of freedom, namely, lower left support,
push left support, raise left support, lower right support, push right support, and raise
right support. The ESR motion process is schematically shown in Figure 2. The detailed
mechanical structure of ESR is illustrated in Figure 3. Herein, the upper lateral AHC is
represented by U1–U3, the lower lateral AHC is indicated with U4–U5, and the cylindrical
AHC is marked as C1–C8. The geometrical dimensions of the core structure of the ESR are
shown in Figure 4, where, the length of a single ERS is indicated as L, the original value of
the cylindrical AHC length is La0, and its extension maximum is La1. The original value
of the lateral AHC length is Lb0 and its extension maximum is Lb1. The minimum value
corresponding to the lateral AHC length of the labels U1–U5 is Lb0, and the maximum
value is Lb0 + Lb1. The minimum value of the cylindrical AHC length of the labels C1–C8
is La0, and the maximum value is La0 + La1.
Appl. Sci.
Sci. 2022,
Appl.Appl. 2022, 12, xx FOR
12,12, FOR PEER
PEER REVIEW
REVIEW
Sci. 2022, 9262 4 of 22

Figure
Figure
Figure 2.
2. A A
A schematic
2.schematic diagram
diagram
schematic of
of the
of the ESR
diagram ESR
motion
the ESR motion
motion process.
process. process.

Figure 3. The detailed mechanical structure of the

Figure 3. The detailed mechanical the ESR.
Figure 3. The detailed mechanical structurestructure
of the ESR.of
ESR.
Appl. Sci. 2022, 12, 9262 5 of 22

Figure 3. The detailed mechanical structure of the ESR.

Figure
Figure 4. The
4. The geometrical
geometrical dimensions
dimensions ofstructure
of the core the coreofstructure
the ESR. of the ESR.

2.2. Hydraulic System Model with AHC for ESR

Considering the workload and other on-site environmental factors, a digital AHC
cannot be used effectively for excavation operations. An ESR with a cylindrical AHC
working stroke is regulated by controlling the opening degree of the Electro-Hydraulic
Servo (EHS) valve and its opening time. According to the mechanical structure and
movement form of the ESR, the two cylindrical AHCs on one side are connected to each
other. The lateral cylindrical AHC works alone. A model of the hydraulic system with
AHC for ESR is illustrated in Figure 5. As mentioned above, the lateral AHCs belong to
the single-stage hydraulic cylinder. The EHS reversing valve is identified as an ideal spool
valve structure, which makes the return oil pressure of the spool valve zero; the oil supply
pressure of the whole system is stable, and is not affected by the oil in the spool valve cavity.
The hydraulic system with the lateral AHC for ESR is indicated in Figure 6.
In Figure 6, three sets of balance equations are listed, such as the EHS diverter valve
flow equation, the lateral AHC flow continuity equation, and the force balance equation
with external load.
(1) The EHS diverter valve flow equation [29] is expressed as

Q L = Kq xv − Kc p L (1)

where Kq is expressed as the flow gain of the EHS valve (directional valve) (m−3 · s−1 /m),
xv is the stroke (displacement) of the EHS
valve spool (mm), Kc indicates the flow pressure
coefficient of the EHS valve m3 /(s/Pa) , and p L represents the lateral AHC pressure (Pa).
(2) The fluid continuity equations [30] for lateral AHC
The fluid flowing into the lateral AHC rodless cavity of the ESR is Qi , which is
expressed as:
dx p V dp
Qi = A p + i i + C pi ( pi − p0 ) + C pe pi (2)
dt β e dt
where A p represents the effective area of the AHC rod-end piston (m2 ), x p is the travel
stroke (displacement) of the AHC piston (m), pi is the oil pressure in the AHC rodless
cavity (Pa), p0 is the oil pressure of the AHC rod cavity (Pa), C pi is the leakage coefficient
in the laterally adjusted EHS cylinder, C pe is the external leakage coefficient of thelaterally
adjusted EHS cylinder, and Vi is the volume in the rodless cavity of the AHC (m 3 ; herein,
Vi = Vi0 + A p x p , β e is the elastic modulus of the effective volume (Pa).
Appl. Sci. 2022, 12, 9262 6 of 22

The flow rate in the rod cavity of the lateral AHC of ESR is Q0 , which is expressed as:

dx p V dp
Qi = A0p − 0 0 + C pi ( pi − p0 ) − C pe pi (3)
dt β e dt

where A0p is the effective area of the AHC rod end piston (m2 ), A0p = A p − πr2 , and V0 is
the volume inside the AHC rodless cavity (m 3 ); herein, V0 = V00 + A0p x p .
Q i + Q0
Set Q L = p L = pi − p0 , combining Equations (2) and (3), leading to
2 ,

dx p C pe
   
dp dp dp dp
Q L = ( A p − πr2 ) + (C pi + ) p L + 0.5β e Vi0 i − V00 0 + A p x p i + A0p x p 0 (4)
dt 2 dt dt dt dt
Then, set to equalize the compression flow in the hydraulic cylinder, that is, Vi0 =
Vi0 V00
V00 = V0 . Assuming that Vt = 2 = 2 holds, with this in mind, A p x p  V0 ,A0p x p  V0 ,
dx p
with dt ≈ 0, dp 0
dt ≈ 0. Equation (4) is simplified to:

dx p Vt dp L C pe
Q L = ( A p − πr2 ) + + (C pi + ) pL (5)
dt 4β e dt 2

Further sorting out Equation (5) leads to:

dx p Vt dp L
Q L = A pe + + C pt p L (6)
dt 4β e dt

where A pe indicates the equivalent area of the AHC piston, A pe = A p − πr2 , x p represents
the (displacement) stroke of the AHC piston, and C pt denotes the total leakage coefficient.
(3) The expression of force balance equation with external load is rewritten as

d2 x p dx p
A pe p L = mt + ct + kt x p (7)
dt dt
where mt represents the effective total mass of the ESR (kg), ct is the viscous damping
coefficient of the piston in a transverse AHC with an external load (N · m/s), and k t
denotes stiffness coefficient with an external load (N/m).
Equations (1), (6), and (7) are expanded by the Laplace Transform, leading to:


 Q L ( s ) = Kq xv ( s ) − Kc p L ( s )

Vt

Q L (s) = A pe sx p (s) + 4β e
sp L (s) + C pt p L (s) (8)
2

 (m s +c s+k )
p L (s) = t A pet t x p (s)



Notice that the spool displacement is the input and the piston displacement of the
lateral AHC is the output. With this in mind, the transfer function of the system is ex-
pressed as:

Kp
G (s) = 
(Kc +c pt )mt
 
(Kc +c pt )ct

(Kc +c pt )k t
(9)
mt Vt 3 ct Vt k t Vt
4A pe β e s + 4A pe β e + A pe s2 + A pe + A pe + 4A pe β e s+ A pe

Assuming that Kcpt = Kc + c pt holds gives the simplified equation:

Kp
G (s) = 
Kcpt mt
 
Kcpt ct

Kcpt k t
(10)
mt Vt 3 ct Vt k t Vt
4A pe β e s + 4A pe β e + A pe s2 + A pe + A pe + 4A pe β e s+ A pe
Appl. Sci. 2022, 12, 9262 7 of 22

Considering that the viscous damping coefficient ct of the lateral AHC piston under
ct Kcpt
the external load is negligible, then A2pe
 1 is satisfied. Simplified Equation (10) reads as

K p /A pe
G (s) =     (11)
mt Vt 3 ct Vt K mt k t Vt Kcpt k t
4β e A2pe
s + 4βA2pe e
+ cpt
A2
s 2+ 1+
4β e A2pe
s+ A2pe
pe

4A2p β e
r q
mt Vt 1 Kcpt mt β e
Let 4β e A2pe
= ωt , A pe Vt = ξt, Vt = Kh hold, and the simplified Formula (11)
is expressed as
K p /A pe
G (s) =  
Kcpt k t
(12)
1 3 2ξ t 2 kt
2 s + ωt s + 1 + K s+ A2pe
ω t h
√
Kcpt mt k t
Set the assumption that k  1 holds, further simplifying Equation (12), and is
(1+ Kt ) A2pe
h
written as:
K p /A pe
G (s) =   (13)
Kcpt k t
 
kt 1 2 2ξ tn
1+ Kh s+ A2pe 2 s
ωtn
+ ωtn s + 1
q
kt
where ωtn represents the system integrated natural frequency, and ωtn = ωt 1 + Kh holds,
!
1 4Kcpt β e ct
ξ tn is the system integrated damping ratio, and ξ tn = 2ωtn k + mt holds.
(1+ Kt )Vt
h
K kK
As mentioned previously, the poles of the system are expressed as s = − (K cpt+kt ) A
h
2 ,
cpt t pe
p
s = −ωtn (ξ tn ± ξ 2 tn − 1). If the spool motion stroke xv of the EHS reversing valve is a
step signal, the piston displacement x p of the lateral AHC reads

K p /A pe
x p (s) =   (14)
K k
 
kt 2ξ tn 2
1+ Kh s2 + Acpt2 t s ω12 s3 + ωtn s +s
pe tn

Take Equation (14) as the inverse Laplace transform, leading to:

sin C5 (C2 ωtn ξ 2 tn −C3 ξ tn −C2 ωtn )

   
C1 C1 C3 e−ωtn ξ tn t cos C5 − √
C6 ξ tn −1 C1 C22 C3
C2 t
x p (t) = − + + e  (15)
C2 C4 C3

K k 2
where C1 = K p /A pe , C2 = 1 + Kkt , C3 = Acpt2 t , C4 = −[(1 + Kkt ) ωtn
2 + 2ξ ω (1 +
tn tn
kt
Kh )
h pe h
2 k2
   
K
q
Kcpt k t 2 − 1 t, C = − 2ω ξ (1 + k t ) − Kcpt k t .
A2
− Acpt4 t ], C5 = ωtn ξ tn 6 tn tn K A2 h
pe pe pe
Assuming that the current I denotes the input parameter, the spool displacement xv
of the EHS reversing valve is the output parameter, and the transfer function of the EHS
reversing valve is expressed as:

xv Ktv /K p
G (s) = = (16)
I 1 2
2 s + 2 ωξ tvtv s + 1
ωtv

where I represents the current input parameter, Ktv denotes the flow gain coefficient of
the EHS reversing valve, ξ tv is the damping ratio of EHS directional valve, and ωtv is the
natural frequency of EHS directional valve.
 Servo (EHS) valve and its opening time. According to the mechanical structure and move-
ment form of the ESR, the two cylindrical AHCs on one side are connected to each other.
ment form of the ESR, the two cylindrical AHCs on one side are connected to each other.
The lateral cylindrical AHC works alone. A model of the hydraulic system with AHC for
The lateral cylindrical AHC works alone. A model of the hydraulic system with AHC for
ESR is illustrated in Figure 5. As mentioned above, the lateral AHCs belong to the single-
ESR is illustrated in Figure 5. As mentioned above, the lateral AHCs belong to the single-
stage hydraulic cylinder. The EHS reversing valve is identified as an ideal spool valve
stage hydraulic cylinder. The EHS reversing valve is identified as an ideal spool valve
Appl. Sci. 2022, 12, 9262 structure, which makes the return oil pressure of the spool valve zero; the oil supply pres-
structure, which makes the return oil pressure of the spool valve zero; the oil supply8 pres-
of 22
sure of the whole system is stable, and is not affected by the oil in the spool valve cavity.
sure of the whole system is stable, and is not affected by the oil in the spool valve cavity.
The hydraulic system with the lateral AHC for ESR is indicated in Figure 6.
The hydraulic system with the lateral AHC for ESR is indicated in Figure 6.

Figure 5. A model of the hydraulic system with AHC for ESR.

Figure5.5.AAmodel
Figure modelofofthe
thehydraulic
hydraulicsystem
systemwith
withAHC
AHCfor
forESR.
ESR.

Figure 6. The hydraulic system with the lateral AHC for ESR.
Figure6.6.The
Figure Thehydraulic
hydraulicsystem
systemwith
withthe
thelateral
lateralAHC
AHCfor
forESR.
ESR.
2.3. Kinematic Model with AHC for ESR
The ESR proposed in this study is based on the extension and retraction of the lateral
AHC to adjust position/posture. The coupled motion model of the ESR and the support
body is illustrated in Figure 7, where the scroll angles of ESR are set as γL and γR , and
the declination angles are set as α L and α R . The distances from the position key points to
the defined edges are, respectively, identified as d1 to d8 . The specified space width is B
and the height is H. The expected distances between the ESR and the two edge sidewalls
are identified as d Le and d Re . The overall longitudinal length of the ESR is L, and the
lateral width is b. The distances from the support point of the core position to its center
point are respectively calibrated m and n. Taking the geometric center points (x L0 , y L0 , ZL0 )
and (x R0 , y R0 , ZR0 ) of the unilateral ESR as the origin of the body coordinate system, the
ESR body coordinate systems (OL − X L YL ZL ) and (OR − XR YR ZR ) are both feasible in the
kinematic model. The geometric center of the roadway section is set as the origin, the
 walls are identified as dLe and dRe . The overall longitudinal length of the ESR is L , and
the lateral width is b . The distances from the support point of the core position to its
center point are respectively calibrated m and n . Taking the geometric center points (
xL 0 , yL 0 , Z L 0 ) and ( xR 0 , yR 0 , Z R 0 ) of the unilateral ESR as the origin of the body coordinate
Appl. Sci. 2022, 12, 9262
system, the ESR body coordinate systems ( OL − X LYL Z L ) and ( OR − X RYR Z R ) are both 9fea- of 22
sible in the kinematic model. The geometric center of the roadway section is set as the
origin, the direction of the roadway is the X 0 axis direction of the coordinate system,
and the direction
direction perpendicular
of the roadway is the Xto the side of the roadway is the axis direction of the co-
0 axis direction of the coordinate system, and the direction
ordinate system. The right-hand
perpendicular to the side of the roadway rule determines thedirection
is the axis directionofofthe Z 0 axis coordinate
thecoordinate system. The
system,
right-hand which follows
rule the roadway
determines absolute
the direction of thecoordinate O0 − X 0Ywhich
system ( system,
Z0 axis coordinate 0 Z 0 ). In the ESR
follows the
roadwaycoordinate
ontology absolute coordinate
system, the system (O0 − X0is
left support Y0taken
Z0 ). Inas
theanESR ontology
example coordinateand
to illustrate, system,
its
the left support
position key point is taken as an example
coordinates are to ( mand
illustrate,
marked , B /its
2, H / 2 ), (key
position −npoint
, B / 2,coordinates
H / 2 ), (
are marked (m, B/2, H/2), ( −
m, B / 2, − H / 2 ), and ( −n, B / 2, − H / 2 ). n, B/2, H/2), (m, B/2, − H/2), and ( − n, B/2, − H/2).

(a) (b)
Figure 7. The kinematic model of ESR. (a) Main view of the model. (b) Top view of the model.
Figure 7. The kinematic model of ESR. (a) Main view of the model. (b) Top view of the model.

The numerical algorithms for roll and declination angles are written as
 (m+n)
 α L = arccos q
 (i = 1, 3)
(m+n)2 +(di+1 −di )2
(m+n) (17)
 α R = arccos
 q
2 2
(i = 5, 7)
(m+n) +(di+1 −di )

H cos γ L H

 γL = arccos √ H 2 cos2 γ +(d −d
 2
= arccos q (i = 1, 2)
L 3 1) cos2 γ L H 2 +(di+2 −di )2
H cos γ L H (18)
 γR = arccos √
 = arccos q (i = 5, 6)
H 2 cos2 γ L +(d3 −d1 )2 cos2 γ L H 2 +(d i +2 − d i )
2

The main view based on the kinematics model can be derived, which is expressed by
the distance x L from the coordinate origin OL to the left edge of the roadway side
 
m b
xL = ( d + d3 ) + cos α L (19)
(m + n) 1 2
Appl. Sci. 2022, 12, 9262 10 of 22

Then, the distance x R from the coordinate origin OR to the right edge of the roadway
is expressed as  
m b
xR = ( d3 + d4 ) + cos α R (20)
(m + n) 2
The distance from the core position key point to the space edge is written as

xi = (b + di ) cos α (i = 1 − 8) (21)

When solving for the distance to the left of the edge, set α = α L to hold. When solving
the distance to the right side of the edge, set α = α R to hold. The deflection angle δi of the
lateral AHC is expressed as:

B − x i − x i +4
δi = arccos( ) ( i = 1 − 4) (22)
Hi

The distance difference d x between the two sides edge along the X-axis is written as:
 
L b
d x = H2 sin δ2 + − n (cos α L − cos α R ) − (sin α L − sin α R ) (23)
2 2

The top view in the kinematics model shows that the distance y L from the coordinate
origin OL to the left side of the edge denotes:

(b + d2 + d4 ) cos γL
yL = (24)
2
Then, the distance y R from the coordinate origin OR to the right-side edge of denotes:

(b + d6 + d8 ) cos γR
yR = (25)
2
The distance from the core key position point to space edge side is written as follows:

yi = (di + b) cos γ (i = 1 − 8) (26)

Herein, when solving for the distance to the left of the edge, let γ = γL hold. When
solving for the distance to the right of the edge, setting γ = γR holds.

3. Cooperative Control Method

3.1. Overall Controlled Structure Model of the ESR System
When the ESR system is running, the dynamic posture monitoring system is subject to
position information. The desired position of the ESR and the real-time position captured
by monitoring are identified as inputs to the control system. The desired posture control
system brings the ESR to the desired position/posture due on the coordinated adjustment
between the ESR position and the lateral AHC stroke. The general configuration of the
desired position/posture adjustment control system for is illustrated in Figure 8.
Figure 8 describes the three processes of ESR: position/posture detection, position/
posture discrimination and position/posture adjustment. The sliding mode controller
controls the EHS valve to adjust multiple lateral AHC strokes according to the set desired
value, which dynamically adjusts the ESR even in the presence of deviations.

3.2. Position/Posture Detailed Description for ESR

Considering the space environment conditions in which the ESR is located and its
working process constraints, the position/posture deviation of different states is caused.
The position/posture morphological motion trend sets of ESR are represented in Figure 9.
 3.1. Overall Controlled Structure Model of the ESR System
When the ESR system is running, the dynamic posture monitoring system is subject
to position information. The desired position of the ESR and the real-time position cap-
tured by monitoring are identified as inputs to the control system. The desired posture
control system brings the ESR to the desired position/posture due on the coordinated ad-
Appl. Sci. 2022, 12, 9262 11 of 22
justment between the ESR position and the lateral AHC stroke. The general configuration
of the desired position/posture adjustment control system for is illustrated in Figure 8.

Figure 8. The general configuration of desired position/posture adjustment control system for ESR.
Figure 8. The general configuration of desired position/posture adjustment control system for ESR.

Figure 8 describes the three

As shown processes
in Figure 9, in theof ESR:presentable
pre-set position/posture
state, thedetection,
declinationposi-
and scroll angles
tion/posture discrimination
of the ESRs onand position/posture
both sides are both 0◦adjustment. The sliding
, and the distance from themode
edgecontroller
sidewall is within the
controls the EHSexpected
valve tolimit.
adjust multiple
Under lateral AHC
the influence of thestrokes according toand
space environment theESR
set desired
motion, the ESRs on
value, which dynamically adjusts the ESR even in the presence of deviations.
both sides of the edge are prone to different degrees of deviation such as declination and
lateral incline.
3.2. Position/Posture Detailed Description for ESR
3.3. Desired Position/Posture Coordination Strategy
Considering the space environment conditions in which the ESR is located and its
The ESR moves
working process constraints, along a preset path
the position/posture for a certain
deviation displacement,
of different states iswhich requires timely
caused.
adjustment of the positional deviation and support posture and is specifically expressed as
The position/posture morphological motion trend sets of ESR are represented in Figure 9.
the adjustment phase in which one side of the ESR is raised to a supported fixed posture
and the other side of the ESR is lowered to the initial supported position. The desired
position/posture coordination adjustment process of the ESR is illustrated in Figure 10.
Appl. Sci. 2022, 12, 9262 12 of 22
Appl. Sci. 2022, 12, x FOR PEER REVIEW 12 of 22

Figure 9. The position/posture morphological motion trend sets of ESR.

Figure 9. The position/posture morphological motion trend sets of ESR.
As shown in Figure 9, in the pre-set presentable state, the declination and scroll an-
As shown in Figure 10, once the initial position and support posture are fixed and
gles of the ESRs on both sides are both 0°, and the distance from the edge sidewall is
maintained in a steady state, the ESR enters the left and right position/real-time posture
within the expected limit. Under the influence of the space environment and ESR motion,
adjustment process after completing a certain stroke, and then judges the monitoring data
the ESRs on both sides of the edge are prone to different degrees of deviation such as
such as the unilateral declination angle, scroll angle, and edge wall distance value of the
declination and lateral incline.
ESR in turn. The stroke adjustment amounts ∆L1 , ∆L2 , ∆L3 , ∆R1 , ∆R2 , and ∆R3 of the
lateral AHC are set based on the desired position/posture. Coordinate the ESR declination
3.3. Desired Position/Posture Coordination Strategy
angle, scroll angle, and distance to the edge walls on both sides one by one until the most
The ESR
expected moves along aispreset
position/posture adjusted.path for a certain displacement, which requires timely
adjustment of seen
It can be the positional deviationmodel
from the kinematic and support posture chapter
in the previous and is specifically expressed
that if the declination
as the adjustment
angle of the ESR phase
on theinleft
which
andone side
right of the
sides ESR is raised
is adjusted to adesired
to the supported fixed
value, theposture
stroke
coordination amounts ∆L1 and ∆R1 of the lateral AHC between the ESRs are written as
and the other side of the ESR is lowered to the initial supported position. The desired
position/posture coordination
 adjustment process of the ESR is illustrated
 in Figure 10.
 ∆L1 ≈ − ( L − m) sin α Le + (d1 + b ) cos α L + x L
 2 2  (27)
 ∆R1 ≈ − ( L − m) sin α Re + (d5 + b ) cos α R + x R
2 2
Appl. Sci. 2022, 12, 9262 13 of 22
Appl. Sci. 2022, 12, x FOR PEER REVIEW 13 of 22

Figure 10. Desired position/posture coordination adjustment process of the ESR.

Figure 10. Desired position/posture coordination adjustment process of the ESR.

Asthe
If shown
scroll in Figure
angles 10, ESRs
of the once the initial
on both position
sides and support
are adjusted close toposture are fixed
the desired and
expected
maintained in a steady state, the ESR enters the left and right position/real-time
values [31], the stroke coordination amounts ∆L2 and ∆R2 of the lateral AHC between the posture
adjustment
ESRs process as
are expressed after completing a certain stroke, and then judges the monitoring data
such as the unilateral declinationangle, scroll angle, and edge wall distance value of the
H amounts ΔL1 , ΔbL2 , ΔL3 , ΔR1 , ΔR2 , and ΔR3 of the lat-

ESR in turn. The stroke ∆L adjustment
2 ≈ − 2 sin γ Le + ( d2 + 2 ) cos γ L + y L
eral AHC are set based (28)
 ∆R2 the
on desired position/posture. Coordinate the ESR declination
 
≈ − H2 sin γRe + (d6 + 2b ) cos γR + y R
Appl. Sci. 2022, 12, 9262 14 of 22

Assuming that the distance between the ESR and the edge sidewall is adjusted to
the most desired expected value, first determine the minimum distance between the left
and right ESRs and the edge sidewall, let the left dmL = min(d1 , d2 , d3 , d4 ) and the right
dmR = min(d5 , d6 , d7 , d8 ) hold true, and comparing dmL and dmR with the expected distance
d Le and d Re of the edge sidewall, the amounts of stroke coordination ∆L3 and ∆R3 for the
lateral AHC between the ESRs are identified as

dmL − d Le (dmL ≥ d Le )
∆L3 = (29)
d Le − dmL (dmL < d Le )

dmR − d Re (dmR ≥ d Re )
∆R3 = (30)
d Re − dmR (dmR < d Re )
To sum up, the ESRs on the left and right sides are pre-adjusted to achieve the most
desired position/posture, and the stroke coordination amount of the lateral AHC is de-
noted as:
∆L = ∆L1 + ∆L2 + ∆L3

(31)
∆R = ∆R1 + ∆R2 + ∆R3
where if the lateral AHC shrinks, the values ∆Li and ∆Ri are negative, and when the lateral
AHC extends, the values ∆Li and ∆Ri are positive. The expected optimal length Ei of the
ESR lateral AHC corresponding to each desired position key point can be expressed as:

Ei = Hi + ∆L + ∆R (i = 1 − 4) (32)

The desired expected stroke value (displacement) for each lateral AHC is written as

ei = Ei − Lb0 (i = 1 − 4) (33)

3.4. Control Algorithm for Coordinated ESR Position/Posture

This subject adopts the sliding mode control algorithm design, and then seeks the
posture adjustment controller to dominate the stroke of the lateral AHC in the ESR, which
realizes the coordination of the ESR relative to the edge space support posture in stages.
For any nth order MIMO (Multiple Input Multiple Output) system [32],

y(n) = f (y(n−1) , · · · , y, t) + ∆ f (y(n−1) , · · · , y, t) + b(y(n−1) , · · · , y, t)u + d(t) (34)

where y(y ∈ Rm ) denotes the output vector of the ESR system, u(u ∈ Rm ) is the input
vector of the ESR system, and f ( f ∈ Rm ) and b(b ∈ Rm ) represents the state matrix of the
position/posture morphology of the ESR system.
Convert expression (34) in the form of state equation and write it as:


 x1 = x2
 x2 = x3

.. (35)


 .
xn = f ( X, t) + ∆ f ( X, t) + b( X, t)u + d(t)


T
where xn = y(n−1) , X = x1T , x2T , · · · , xnT .


T T in real
 T T 
By tracking the expected desired position/posture Xd = x1d , x2d , · · · , xnd
time, the error vector is expressed as:
 
E = X − X d = e1 e2 · · · e n (36)

The designed sliding mode switching surface is expressed as:

s( X, t) = CE − W (t) (37)
 Appl. Sci. 2022, 12, 9262 15 of 22

where C = [C1 , C2 , · · · , Cn ], W (t) = Cp i ( t ), 

 n n n
 ∑ 1 e (0) ( k ) t k + ∑ ∑
α jL
e ( 0 ) ( L)
t j + n +1 (0 ≤ t ≤ T )
ki i T j − L + n +1 i
herein, pi (t) = j =0 L = 0
 k =0
0 (t > T )
The sliding mode controller is expressed as

h i n −1 h i
s( X, t) = CE − P(t) = Cn f ( X, t) + ∆ f ( X, t) + b( X, t)u + d(t) − x1d − p(t)(n) + ∑ Ck e(k) − p(t)(k)
(n)
(38)
k =1

The desired position/posture coordination adjustment system controller in ESR is

written as:

n −1
h i h i CT s
u(t) = −b( X, t)−1 f ( X, t) − x1d − p(t)(n) + Cn−1 ∑ Ck e(k) − p(t)(k) = −b( X, t)−1 nT [ f ( X, t) + d(t) + k]
(n)
(39)
k =1
kCn sk

4. Simulation Calculation of Desired Expected Value for ESR

4.1. Simulink Controlled System Model
The desired position/posture adjustment control system for ESR proposed in this study
includes a posture monitoring subsystem, a lateral AHC subsystem, and a position/posture
22, 12, x FOR PEER REVIEW 16 of 22
adjustment controller. The Simulink model of the desired position/posture adjustment
control system is revealed in Figure 11.

Figure 11. Simulink model

Figure of the desired
11. Simulink position/posture
model of adjustment adjustment
the desired position/posture control system.
control system.

In Figure
In Figure 11, the 11, the
expected expected position/posture
position/posture value and value and the real-time
the real-time position/posture
position/posture
data obtained by monitoring are used as the input of the ESR position/posture adjustment
data obtained by monitoring are used as the input of the ESR position/posture adjustment
control system. Based on the real-time data analysis and judgment of position/posture,
control system. Based on the real-time data analysis and judgment of position/posture,
the lateral AHC stroke in ESR is coordinated by using the position and posture adjustment
control process.

4.2. Numerical Results and Simulation Analysis

 Appl. Sci. 2022, 12, 9262 16 of 22

the lateral AHC stroke in ESR is coordinated by using the position and posture adjustment
control process.

4.2. Numerical Results and Simulation Analysis

The lateral AHC parameter settings of the ESR position/posture adjustment control
system with fifth order are shown in Table 1. The parameters of the ESR position/posture
adjustment controller are as follows: C1 = 100, C2 = 30, C3 = 30, C4 = 10, C3 = 1.0.

Table 1. Parameters of lateral AHC for ESR.

Parameters Names Values Units

m2 /s



Flow gain (k q ) 4.15
Pressure coefficient (Kc ) 5.32 m3 /s · Pa
Effective cross-sectional area of AHC
m2


0.68
piston ( A pe )
0.78 × 10−11 m3 /s · Pa


Leakage coefficient (ctp )
Effective volume modulus ( β e ) 6.9 × 108 (Pa)
Equivalent volume (Vt ) 0.386 (m 3
FOR PEER REVIEW AHC length ( L a0 ) 1.48 m) of 22
(17
Maximum stroke ( L a1 ) 1.19 (m)

Set the most desired position/posture parameters expected by ESR, involving left
declination angle α Re = 0° , right
declination ◦
angle αinclination angle γ Reangle
Le = 0 , left inclination = 0°γ,Leright
= 0◦ , left
distance Le =
distanceddRe =1.0
1.0 m
m,, right
declination angle α = 0 ◦ , right inclination angle γ = 0 ◦ , right distance d = 1.0 m,
and so on. Re Re Re
and so on.
In the research of this subject, 20 groups of different initial position/posture support
In the research of this subject, 20 groups of different initial position/posture support
forms are randomlyforms
selected, and theselected,
are randomly key position/support posture is coordinated,
and the key position/support calcu- cal-
posture is coordinated,
lated, and analyzed,culated,
and then the expected
and analyzed, and thenposition/posture time-varyingtime-varying
the expected position/posture angles andangles
dis- and
distances of ESR is simulated
tances of ESR is simulated as shown in Figures 12–14. as shown in Figures 12–14.

Figure 12. SimulationFigure

results
12.of declination
Simulation angles.
results of declination angles.
Appl. Sci. 2022, 12, 9262 17 of 22

Figure
Figure12.
12.Simulation
Simulationresults
resultsof
ofdeclination
declinationangles.
angles.

Figure
Figure13.
13.Simulation
Simulationresults
13.of
results
Figure ofscroll
scrollangles.
Simulation results of scroll angles.
angles.

Figure
Figure14.
14.Simulation
Simulationresults
results of
ofedge
edgedistances.
distances.
Figure 14. Simulation results of edge distances.

Figure
Figure12
12analyzes
analyzesthe thesimulation
Figure
simulationcalculation
calculationresults
12 analyzes the simulation
resultsof ofthe
calculation
theESR
resultsdeclination
ESR declinationangle anglead-
of the ESR declination
ad-
angle
justment adjustment on both sides. With 20 groups of different initial positions/support posture
justmenton
onboth
bothsides.
sides. With 20
states,With
based 20
groups of
on groups ofdifferent
different
the coordinated
initial
initial
adjustment
positions/support
positions/support
of the
posture
posture
position/support posture
states,
states,
control system,
based on the coordinated
based on the coordinated adjustment
adjustment
the ESR declination
of the
of the
angle
position/support
position/support
on both
posture
sides drops to aboutposture control
0◦ within
control system,
10 s,system,
the
the
the collaborative
ESR
ESR declination
declination angle on
on both
adjustment
angle sides
numerical
both drops
sideserror
drops to
to about
is within ±0.50°
about 0° within
◦ , and 10
10 s,s, the
the minimum
within collaborative
deviation
the between the
collaborative
simulation calculation results and the desired expected value is only within 0.2◦ .
Figure 13 shows the simulation results of the scroll angle adjustment of the ESRs on
both sides. With 20 groups of different initial positions/support postures, based on the
coordinated adjustment of the position/posture adjustment control system, the scroll angle
of the ESRs on both sides can also be reduced to about 0◦ within 10 s, the numerical error
of the coordinated adjustment remains within ±0.5◦ , and the minimum deviation between
the simulation calculation results and the desired expected value is only within 0.10◦ .
Figure 14 demonstrates the simulation calculation results of the distance adjustment
between the edge walls on both sides of the ESR. Based on the adjustment of the posi-
tion/posture adjustment control system, the distance between the edge walls on both
sides of the ESR reaches about 1.0 m within 10 s, and the adjustment value error is within
±0.03 m. The minimum deviation between the simulation calculation result and the desired
expected value is controlled at not more than 0.01 m.
In summary, from the simulation calculation results in Figures 12–14, aiming at the ESR
key position/support posture adjustment control, the desired expected posture adjustment
 of the ESR reaches about 1.0 m within 10 s, and the adjustment value error is within ±0.03
m. The minimum deviation between the simulation calculation result and the desired ex-
pected value is controlled at not more than 0.01 m.
In summary, from the simulation calculation results in Figures 12–14, aiming at the
Appl. Sci. 2022, 12, 9262 18 of 22
ESR key position/support posture adjustment control, the desired expected posture ad-
justment control method quickly adjusts the deviation/posture state in a short time, based
on the collaborative adjustment proposed in this paper. The control method is effective,
control method quickly adjusts the deviation/posture state in a short time, based on the
the deviation adjustment precision
collaborative is high,
adjustment and the
proposed support
in this paper. posture stability
The control methodisisreliable.
effective, the
deviation adjustment precision is high, and the support posture stability is reliable.
5. Experimental Verification and Analysis
5. Experimental Verification and Analysis
In the actual space, the position/posture coordinated adjustment control system is
In the actual space, the position/posture coordinated adjustment control system is
tested, and the coordinated adjustment
tested, and the coordinatedperformance of the ESR of
adjustment performance keytheposition/support pos-
ESR key position/support
ture is verified onposture
site. Field testing
is verified on and
site. actual verification
Field testing of verification
and actual ESR are illustrated
of ESR are in Figure in
illustrated
15. Figure 15.

Figure 15. ESR fieldFigure

testing
15. and actual
ESR field verification.
testing and actual verification.

In the
In the field test and field test and performance
performance verification, verification,
the ESR on the both
ESR on both of
sides sides
theofspace
the space edge
edge
has different degrees of heading deflection and lateral tilt in the initial time after startup.
has different degrees of heading deflection and lateral tilt in the initial time after startup.
The difference between the distance between the key position of ESR and the side edge
The difference between
wall of thetheroadway
distance between
is not the keySetposition
as optimistic. of expected
the desired ESR andposition/posture
the side edge of
wall of the roadway ESR,isincluding
not as optimistic. Setangle
left declination α Le = 0◦ , expected
the desired angle γLe = 0◦ , left
position/posture
left inclination of distance
ESR,
d Le = 1.0 m,angle
including left declination α Le = 0° angle
right declination ◦
Re = 0 , right angle
, left αinclination γ Le angle
inclination = 0° ,γRe
left ◦
= 0distance
, and right
distance d Re = 1.0 m. The ESR position/posture monitoring system is used to collect the
d Le = 1.0 m , rightposition/posture
declination angle α Re =initial
state at the
0° , right inclination angle γ Re = 0The
moment after each ESR movement.
° , and right
experimental
distance d Re = 1.0results
m . The ESR
of the position/posture
coordinated monitoring
ESR position/posture systemcontrol
adjustment is used to collect
system the in
is indicated
Tables 2–4.
position/posture state at the initial moment after each ESR movement. The experimental
results of the coordinated ESR position/posture
Table 2. Experimental data of declinationadjustment
angle of ESR. control system is indicated in
Tables 2–4.
Left/Right Edge Side Number of Groups Initial Data Simulation Data
1 3.62 0.42
2 −2.43 −0.31
Left edge side α L (◦ ) 3 2.94 0.42
4 −4.57 −0.49
5 2.62 0.42
1 2.13 0.49
2 1.64 0.42
Right edge side α R (◦ ) 3 −2.36 −0.42
4 −2.81 0.23
5 1.92 0.32
Appl. Sci. 2022, 12, 9262 19 of 22

Table 3. Experimental data of scroll angle of ESR.

Left/Right Edge Side Number of Groups Initial Data Simulation Data

1 3.83 0.33
2 −3.16 −0.42
Left edge side γ L (◦ ) 3 2.37 0.23
4 3.72 0.52
5 −3.34 −0.49
1 2.43 0.42
2 1.82 −0.23
Right edge side γR (◦ ) 3 −2.06 0.33
4 −2.42 −0.52
5 2.93 0.23

Table 4. Experimental data of distance.

Left/Right Edge Side Number of Groups Initial Data Simulation Data

1 0.696 0.986
2 1.236 1.035
Left edge side dmL (m) 3 0.787 0.982
4 1.102 1.042
5 0.993 1.031
1 0.832 0.973
2 0.879 0.998
Right edge side dmR (m) 3 1.187 1.023
4 1.236 1.039
5 0.819 0.989

The experimental data of the ESR declination angle adjustment on both sides of the
edge space are shown in Table 2. The ESR position/posture adjustment system cooperates
with five groups of declination postures, and within 15 s, the ESR declination angle on
both sides is adjusted to be close to 0◦ , and the declination angle adjustment result is
controlled within ±0.5◦ . The minimum deviation of the experimental results from the
desired expected value does not exceed 0.2◦ .
The experimental data of ESR scroll angle adjustment on both sides of the edge are
shown in Table 3. The position/posture adjustment system cooperates with five sets of
deviation postures. Within 15 s, the ESR scroll angle of the two side walls tends to 0◦ ,
and the scroll angle adjustment data is coordinated and controlled to be no more than
±0.5◦ . The experimental data is in line with the expected expectations, and the minimum
deviation value is not higher than 0.2◦ .
The experimental data for adjusting the distance between the ESRs on both sides to
the sidewall of the space edge are shown in Table 4. After the coordinated adjustment of
the position/posture adjustment system, the distance between the ESR on both sides and
the side wall of the space edge can achieve the desired expected value of 1.0 m within 15 s.
By adjusting the position/posture field test, the distance error to the side wall of the space
edge is limited to the expected value of ±0.03 m, and the minimum deviation between the
experimental value and the desired expected value is controlled within the range of no
more than 0.01 m.
The field test data in the above Figures and Tables demonstrates that the ESR posi-
tion/posture adjustment control system has a fast response speed, and coordinately adjusts
the deviation position and supporting posture of the ESR in a short period of time. Parame-
ters such as the posture angles and the distances from the key position point to the side
wall of the space edge in the verification process are adjusted by the system to the desired
state and close to the minimum deviation area of the expected value. It is pointed out here
that the maximum error of the posture angle is controlled to be no more than 0.5◦ , and the
Appl. Sci. 2022, 12, 9262 20 of 22

maximum error of the distance between the key position point and the edge of the space
domain is no more than 0.03 m, which meets the actual collaborative adjustment accuracy
requirements. Compared with the traditional manual adjustment method, the adjustment
accuracy is significantly improved, the synergistic effect is credible, and the promotion and
application prospects are promising.

6. Discussion of the Results

Compared with the simulation data, the desired co-adjustment time of the expected
position deviation and the support posture in the experimental test is prolonged. The
main reason is that the fluctuation effect of the support base of the ESR space environment
has contributed to the additional resistance in the adjustment process, prolonged the
coordination time, and led to an increase in the dispersion of the test data relative to the
desired expected value.
The data parsed by the simulation calculation is almost close to the lower limit of the
error range, whereas most of the experimental test data in the verification process reaches
the upper limit of the error range. The main reason for the analysis is attributed to the
combined effect of ESR’s hydraulic system leakage and experimentally verified field system
response delay.
Regarding the comprehensive analysis of the simulation calculation results and test
data, it is confirmed without hesitation that the desired expected position/posture coordi-
nated adjustment control method based on the sliding mode control algorithm is effective
and credible. The sliding mode controller has the characteristics of high reliability, stability,
and adjustment accuracy.
Compared with the traditional manual control of the lateral AHC stroke to adjust the
position deviation and support posture of the ESR, the method proposed in this paper
has a more significant effect and higher adjustment accuracy, and realizes the lateral AHC
posture coordination in the position deviation adjustment. The specific parameterization
has important practical value and industrial promotion significance.

7. Conclusions
(1) The desired expected position/posture coordinated adjustment control method
of ESR is effective, and the proposed ESR control system is adapted to the performance
requirements of field applications.
(2) The minimum error of the declination angle in the simulation calculation results is
less than 0.2◦ , and the error is limited to within ±0.5◦ . The minimum error of the roll angle
in the results does not exceed 0.1◦ , and the error is controlled within ±0.5◦ . The minimum
error of the simulated sidewall distance is not more than 0.01 m, and the error range is
within ±0.03 m of the desired expected value.
(3) The minimum error of the declination angle in the experimental test results of the
field verification link is controlled within 0.2◦ , and the error does not exceed ±0.5◦ . The
minimum error of the scroll angle in the test results is less than 0.2◦ , and the error is limited
to within ±0.5◦ . The minimum error of the margin in the test results is not more than
0.01 m, and its error range is within the desired expected value of ±0.03 m.
(4) The main reason for ESR position deviation/support posture inclination is the
combined influence of the unaccounted instantaneous fluctuation of the excavation floor
and the ESR transient push-pull effect in the space environment. The position stroke of
each lateral adjustment hydraulic cylinder is adjusted to coordinate the deviation state of
the ESR support posture, which verifies the effectiveness and feasibility of the proposed
adjustment strategy and cooperative control process.

Author Contributions: Methodology, X.W. and J.T.; formal analysis, Y.W., C.L. and X.W.; investiga-
tion and Resources, J.T. and Y.W.; writing—original draft preparation, X.W., J.T. and C.L.; writing—
review and editing and supervision: J.T. and C.L. All authors have read and agreed to the published
version of the manuscript.
Appl. Sci. 2022, 12, 9262 21 of 22

Funding: This research received no external funding.

Institutional Review Board Statement: Not applicable.
Informed Consent Statement: Not applicable.
Data Availability Statement: This study did not report any data and we have chosen to exclude
this claim.
Acknowledgments: The authors would like to thank the Northeast Forestry University (NEFU), Hei-
longjiang Institute of Technology (HLJIT), Huaqiao University, and the Harbin Institute of Technology
(HIT) for their support. The research topic was supported by The Innovation Foundation for Doctoral
Program of Forestry Engineering of Northeast Forestry University (Grant No. 000/4111410203, Jie
Tang, NEFU), the Doctoral Research Startup Foundation Project of Heilongjiang Institute of Tech-
nology (Grant No. 2020BJ06, Yongmei Wang, HLJIT), the Natural Science Foundation Project of
Heilongjiang Province (Grant No. LH2019E114, Baixue Fu, HLJIT), the Basic Scientific Research
Business Expenses (Innovation Team Category) Project of Heilongjiang Institute of Engineering
(Grant No. 2020CX02, Baixue Fu, HLJIT), the Special Project for Double First-Class-Cultivation of
Innovative Talents (Grant No. 000/41113102, Jiafu Ruan, NEFU), the Special Scientific Research
Funds for Forest Non-profit Industry (Grant No.201504508), the Youth Science Fund of Heilongjiang
Institute of Technology (Grant No. 2015QJ02), and the Fundamental Research Funds for the Central
Universities (Grant No. 2572016CB15).
Conflicts of Interest: The authors declare no conflict of interest.

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