The manipulator is the key component of the anchor drilling robot to automatically complete the anchoring operation underground. Due to the complexity of its motion equation and the limitations of its control strategy, the real-time pose and the positioning accuracy of the manipulator are inferior, which seriously restricts the safety, efficiency, and speed of roadway excavation. In order to improve the positioning accuracy and realize the optimal efficiency of the manipulator, this article designs a manipulator structure with four degrees of freedom. With the help of the D-H method and the intelligent parameter setting method, this article carries out the basic theoretical research on the kinematics and the fractional order FOPID control algorithm of the manipulator of the mining roof bolter, and formulates a manipulator motion control strategy. At the same time, combined with numerical simulations and field experiments, we explore the robustness and control efficiency of the hydraulic system of the manipulator under the working conditions of a harsh environment and limited space, and reveal that the intelligent optimization algorithm can control the motion state of the manipulator more accurately and stably after the parameters of the fractional order FOPID controller are positively determined. This study effectively solved the dynamic model uncertainty caused by time-varying internal parameters and external loads of the hydraulic servo system, optimized and reconstructed the structure and motion coefficient parameters of the manipulator, and revealed the control mechanism of a precise spatial positioning and online trajectory planning of the hydraulic servo system of the manipulator. Compared with the traditional PID control algorithm, this algorithm has a faster response speed and better expected track tracking ability. This research lays a theoretical foundation for the precise positioning and automatic support of the manipulator, and also provides a reference for the design of similar motion control algorithms.

In the current study, a numerical scheme based on Chebyshev polynomials is proposed to solve the problem of fractional control system. The operational matrix of fractional derivative is derived and that is used to transform the original problem into a system of linear equations. Lastly, several numerical examples are presented to verify the effectiveness and feasibility of the given method.

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 PDμ control”. According to the mathematical model of the valve-controlled cylinder, the fractional-order controller PDμ 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 PDμ controller and integer order PD 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 PDμ 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 PDμ control” and fractional order PDμ 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 PDμ 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.

The power head is the key part of the rock breaking work of the raise boring machine. Because the power head cannot adjust speed in time with the change in complex rock stratum, it leads to high failure rate, low work efficiency, and even accidents, so it is urgent to improve the controllability of the power head. In this paper, the electrohydraulic coupling mathematical model of the power head is established using the characteristic equations of dynamics and hydraulic components, and the control strategy of the fractional electrohydraulic drive system of the power head is proposed; genetic algorithm (GA), particle swarm optimization (PSO), and whale optimization algorithm (WOA) are used to adjust the parameters of FOPID, so as to improve the control effect of electrohydraulic system. The results show that the step response of WOA-FOPID control strategy is also better than that of genetic algorithm (GA) and particle swarm optimization (PSO). It can reach a stable state in 0.02 seconds, and the overshoot is only 0.12137%. The test verifies the correctness of the adaptive control and simulation results of the power head, which can effectively improve the adaptability of the power head to complex coal seams.

At present, traditional tools such as coal electric drills and pneumatic rock drills are still widely used in the process of anchor rod support in coal mine tunnels. Moreover, due to the long-term drilling work of support workers in coal mine tunnels and various safety precautions, they are prone to visual fatigue, making it difficult to ensure long-term work. Currently, coal mine tunnel support robots represented by anchor rod drilling robots should have the ability to perceive themselves and liberate support workers in coal mine tunnels from adverse environments such as roof fall hazards and respirable dust. This project is a study on image recognition technology during the automatic drilling process of anchor rod drilling machines, with the aim of achieving automatic and accurate recognition and positioning of hole coordinates during the anchor rod support process, thereby achieving automation and unmanned anchor rod support process.

To advance the construction of intelligent mining, electro-hydraulic digital control technology has emerged as a critical direction for the digital transformation of mining machinery. This study proposes a digital control scheme based on the pressure state of the system and the operating state of the actuator. The scheme utilises a novel convergence rate sliding film position control method to regulate the system pressure in real time by controlling the pilot valve, which is driven by a permanent magnet synchronous motor (PMSM). Moreover, a prototype of an incremental digital pressure control valve was developed for high-pressure, high water-based working conditions. A simulation model of the valve was established using AMESim/Simulink, and dynamic characteristics under various operating conditions were analyzed. The relative error between simulated and experimental pressure results remained within ±4.7%. Finally, a multi-parameter optimization was conducted using a genetic algorithm. The results demonstrate that the optimized digital pressure control valve achieved a stabilized inlet pressure within 44.8 ms, with a pressure overshoot of 4.1% and a response time of 20.1 ms, exhibiting excellent real-time dynamic pressure regulation capabilities. This study provides a theoretical foundation and practical reference for comprehensive research on pressure control in underground emulsion pump stations.