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

<div>Comparison of unit step response between fractional order <svg height="10.0062pt" id="M106" style="vertical-align:-0.04980946pt" version="1.1" viewbox="-0.0498162 -9.95639 23.0129 10.0062" width="23.0129pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.243,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.201,-5.741)"><path d="M546 97L529 123C499 91 459 65 450 65C443 65 439 73 445 106C468 226 496 341 523 451H513L436 424C423 357 412 311 403 276C356 195 245 59 190 59C165 59 158 99 166 135L236 445L227 451L152 428L60 18C43 -58 24 -145 24 -183C24 -237 43 -257 66 -257C96 -257 123 -236 130 -224L129 -216C115 -205 96 -156 96 -102C96 -57 105 -7 113 26H115C127 -1 137 -12 158 -12S198 -5 230 19C284 60 332 117 385 186H387C381 154 378 142 370 107C347 1 367 -12 388 -12C422 -12 492 32 546 97Z"></path></g></svg> controller and “input shaping + fractional order <svg height="10.0062pt" id="M107" style="vertical-align:-0.04980946pt" version="1.1" viewbox="-0.0498162 -9.95639 23.0129 10.0062" width="23.0129pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.243,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.201,-5.741)"><path d="M546 97L529 123C499 91 459 65 450 65C443 65 439 73 445 106C468 226 496 341 523 451H513L436 424C423 357 412 311 403 276C356 195 245 59 190 59C165 59 158 99 166 135L236 445L227 451L152 428L60 18C43 -58 24 -145 24 -183C24 -237 43 -257 66 -257C96 -257 123 -236 130 -224L129 -216C115 -205 96 -156 96 -102C96 -57 105 -7 113 26H115C127 -1 137 -12 158 -12S198 -5 230 19C284 60 332 117 385 186H387C381 154 378 142 370 107C347 1 367 -12 388 -12C422 -12 492 32 546 97Z"></path></g></svg>”.</div>

Mathematical Problems in Engineering

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Figure 7

Figure 7: Study on the Control Method of Mine-Used Bolter Manipulator Based on Fractional Order Algorithm and Input Shaping Technology 