A Composite Controller for the Intelligent Rail Bulk Cargo Unloading Device

To address the precise position control and vibration suppression requirements of the intelligent rail bulk cargo unloading device under various application scenarios and multiple disturbances, this paper proposes a composite controller based on Non-Singular Fast Terminal Sliding Mode Control (NFTSMC) and Linear Extended State Observer (LESO) compensation. The device aims to achieve smooth unloading of bulk cargo across diverse scenarios, including low cargo positions, flat cargo positions, and network configurations (full network, half network, and no network), while enabling material handling and transfer during unloading. To handle the uncertainties and complex disturbances introduced by these functional goals, an NFTSMC is designed to ensure fast and accurate tracking of target positions, while the LESO dynamically compensates for unknown disturbances in the system, effectively mitigating the chattering issue of sliding mode control. Simulation results demonstrate that this composite control strategy achieves stable operation of the unloading device under multi-disturbance conditions, significantly enhancing position control accuracy and vibration suppression, thus meeting the complex functional requirements of bulk cargo unloading.