Analysis and Solutions for Electro-Hydraulic Servo Control of Open-Pit Mining Machinery

Open-pit coal mining machinery electro-hydraulic servo systems suffer from nonlinearity, time-varying load, and disturbances, leading to lag, overshoot, and safety risks. This study proposes a genetic algorithm optimized PID control method to achieve high-precision, stable, and safe operation.

1. Core Control Problems

• Strong nonlinearity of servo valves and asymmetric cylinder forces
• Time-varying parameters and large external load disturbances
• Traditional PID with fixed parameters causes slow response and large overshoot
• Coupling between flow, pressure, and displacement reduces stability

2. Optimized Control Method

• Dynamic modeling of hydraulic system to analyze parameter coupling
• PID controller with cylinder flow as the main control variable
• Genetic algorithm optimizes Kp, Ki, Kd globally
• Fitness function based on ITAE (Integral Time Absolute Error)
• Self-tuning parameters to adapt to variable working conditions

3. Experimental System Parameters

4. Test Results & Performance

• Overshoot strictly controlled within 0.2%
• Flow curve highly matches target value
• Response speed increased significantly, steady-state error eliminated
• Performance exceeds improved PSO-PID and quasi-sliding mode control
• Strong robustness under load disturbance and parameter variation

5. Advantages & Conclusion

• Realizes fast, accurate, and stable hydraulic control
• Greatly improves safety and reduces accident risks
• Adapts to harsh open-pit mine environments
• Provides a reliable solution for intelligent mining equipment