In order to solve the problems of nonlinearity, uncertainty and coupling of multi-hydraulic cylinder group platform of a digging-anchor-support robot, as well as the lack of synchronization control accuracy of hydraulic synchronous motors, an improved Automatic Disturbance Rejection Controller-Improved Particle Swarm Optimization (ADRC-IPSO) position synchronization control method is proposed. The mathematical model of a multi-hydraulic cylinder group platform of a digging-anchor-support robot is established, the compression factor is used to replace the inertia weight, and the traditional Particle Swarm Optimization (PSO) algorithm is improved by using the genetic algorithm theory to improve the optimization range and convergence rate of the algorithm, and the parameters of the Active Disturbance Rejection Controller (ADRC) were adjusted online. The simulation results verify the effectiveness of the improved ADRC-IPSO control method. The experimental results show that, compared with the traditional ADRC, ADRC-PSO and PID controller, the improved ADRC-IPSO has better position tracking performance and shorter adjusting time, and its step signal synchronization error is controlled within 5.0 mm, and the adjusting time is less than 2.55 s, indicating that the designed controller has better synchronization control effect.

A theoretical model for the calculation of thermal elastohydrodynamic lubrication performance of the flow distribution pair of piston pumps is established, which is composed of the oil film pressure governing equation and energy equation, and solved by means of numerical solution and simulation. We carry out quantitative analysis of the influence of various parameters on the thermal elastohydrodynamic lubrication characteristics of the flow distribution pair. The results indicate that both the oil film thickness and the cylinder tilt angle of the flow distribution pair vary in a periodic manner. The increase in the rotational speed of the cylinder block will increase the film thickness of the oil film and reduce the fluctuation, and the inclination angle of the cylinder block and its fluctuation amplitude will decrease. An increase in working pressure will lead to a decrease in the average oil film thickness, an increase in fluctuations, and an elevation in both the tilt angle of the cylinder block and its fluctuation amplitude. The increase in the rotational speed of the cylinder block and the increase in the working pressure will lead to the increase in the viscous friction dissipation of the flow distribution pair, the increase in the oil film temperature and the increase in the leakage. The reduction in the sealing belt will lead to the reduction in oil film friction torque and leakage.

In order to study the frictional lubrication characteristics of a piston pump under varying loads and speeds in actual work, mathematical models, such as a cylinder dynamics model, cylinder micro-motion model, and external return spherical bearing pair lubrication model, were established under full working conditions. The influence of different parameters on the lubrication characteristics of the external return mechanism under full working conditions was analyzed. The results show that in a working cycle, when the pump was at low working pressure, the maximum value of the maximum oil film pressure increased with an increase in the cylinder block speed, which is basically consistent with the ideal conditions. With an increase in the working pressure, the maximum value first decreased and then increased with an increase in the cylinder block speed. When the cylinder block speed was constant, the total friction power increased with an increase in the working pressure and the internal as well as external swash plates’ inclination; considering the contact surface roughness of a friction pair under full working conditions, the total friction power increased by 46.8% compared with the ideal working conditions. The axial leakage flow increased with an increase in the external swash plate inclination and remained unchanged with an increase in the internal swash plate inclination. This research is beneficial for improving the lubrication theory of the external return mechanism and lays a foundation for improving its working performance.

To improve the performance of electrochemical deburring for microhole drilling (MD-ECD), the distribution and dynamic change of the current density in the machining area during the electrolysis process were analyzed, and the synchronous change relationship between the current density and the burr profile was studied. The effects of process parameters, such as machining voltage U, initial machining gap d, electrolyte concentration C, and electrode radius r₁ on the deburring process, were studied. The results show that the magnitude of the current density value in the burr area reflects the MD-ECD’s deburring performance. The current density near the burr tip is high, and the material is preferentially removed. The non-processed area has a low current density and slow material removal. As the machining progresses, the burr tip becomes blunt and the current in the burr area gradually transfers to the non-machining area, resulting in the transfer of the material removal area from the burr area to the adjacent non-machining area. Then, a chamfer is formed at the orifice; the chamfer width is larger than the chamfer height. When U = 4 V, d = 0.35 mm, C = 12%, and r₁ = 0.4 mm, the burr removal efficiency and accuracy can be guaranteed. The chamfer width and chamfer height obtained from the test are 29 μm and 17 μm, and the burr removal effect is good.

Aiming at the operation conflict problem of multi-objective, multi-path and multi-vehicle relay during mine locomotive operation under complex geological conditions, a mine operation of locomotive modeling method based on an object-oriented stratified timed Petri net is proposed. In order to load and transport materials as object oriented, which are combined with the mine operation of locomotive rules and time constraints, stratified modeling of an underground roadway route is carried out. In addition, given token time parameters to describe the dynamic behavior of the locomotive, through the model to analyze the operation of a mine transport locomotive, the correlation matrix and accessibility tree analysis are used to study the conflict. Taking the actual operation of a locomotive in a complex mine in Guizhou as an example, the operation of locomotive behavior model was established to detect the interval and time of operation conflicts. The experimental results show that the proposed operation of locomotive modeling and conflict analysis method are effective and feasible, and have important application value to the safe operation of a mine production system.