Coordinated Sliding Mode Control for Dual-Motor Hoisting in Electric Rope Shovels with Disturbance Decoupling

This paper proposes a coordinated sliding mode controller for the dual-motor hoisting system of electric rope shovels. Using a mean-filtered RBF network, the controller accurately estimates internal friction based on motor speed, isolating it from external load disturbances. The nonlinear disturbance observer then estimates external disturbances, allowing for precise anti-disturbance control. This integrated approach improves control accuracy and stability, making it well-suited to the challenging operating conditions in mining.