The axial piston pump (APP) is the core power component of hydraulic systems. Its friction pair wear can cause the degradation of piston pump performance until the function is completely lost or the service life is terminated. The slipper pair, prone to wear failure, is selected as the research object in this paper. The prediction method for the eccentric wear of the slipper pair is established, and the gradual change rules of the performance with wear accumulation are explored. The micro-surface rough peak contact and the stress state of the slipper pair are analyzed, and the mixed lubrication model of the slipper pair is established based on the elastohydrodynamic lubrication (EHL) model of the slipper pair. Grid discretization of a sealing belt of the slipper pair is carried out based on two-body abrasive wear and Archard adhesive wear models to improve the prediction method for eccentric wear of the slipper pair. The effectiveness of the proposed method is verified by a surface morphology analysis of the worn slipper. The results showed that the wear depth and wear width of the outer edge of the slipper bottom surface are positively correlated with the oil discharge pressure and the inclination angle of the swashplate, and negatively correlated with the rotational speed and the dynamic oil viscosity. The outer edge of the slipper is wedged after eccentric wear, and the hydrodynamic effect of the lubricating oil film of the slipper pair is enhanced. Hence, proper wear can improve the lubrication performance of the slipper pair.

To address the challenges of strong electromechanical coupling, nonlinear friction, and poor disturbance rejection in semi-direct-drive scraper conveyor systems under complex coal mining conditions, this paper aims to propose a high-performance drive control strategy that balances dynamic response speed with steady-state operational smoothness. First, an integrated electromechanical coupling dynamic model incorporating Permanent Magnet Synchronous Motor (PMSM) vector control and the time-varying meshing stiffness of a two-stage planetary gear train is established. Subsequently, a Sliding Mode Control (SMC) strategy optimized with a saturation boundary layer is designed and compared with traditional Proportional-Integral (PI) control under multiple operating conditions. Time-frequency domain analysis indicates that SMC significantly enhances the dynamic stiffness of the drive system. Under sudden load change conditions, the speed recovery time is shortened by approximately 76%, and the steady-state error is reduced by 37% compared to PI control. Microscopic characteristic evaluation based on FFT and Total Variation (TV) metrics reveals that SMC achieves active disturbance rejection through spectral broadening of the electromagnetic torque. Crucially, the steady-state cumulative control effort of SMC is equivalent to that of PI, implying no additional mechanical stress burden, while the equivalent dynamic transmission force fluctuation in the mechanical chain is reduced by about 3%. The study confirms that the proposed strategy successfully achieves a synergistic optimization of “macroscopic rapid response” and “microscopic smooth operation,” providing a theoretical basis for the high-precision control of heavy-duty underground transmission equipment.