A Digital Twin-Based Adaptive Height Control for a Shearer
Round 1
Reviewer 1 Report
Comments and Suggestions for AuthorsThe paper presents an approach for utilizing a five-dimensional digital twin to effectively control shearer height. Some remarks to improve the quality of the manuscript:
1. Define the scientific contributions of this publication clearly in the Introduction. What are you aiming to find out with this study? For example, the contributions of this work are as follows: 1. Feasibility study on utilizing a DT for shearer height control. \newline
2. I am missing a discussion section before the Conclusions. First, define the scientific contributions of this work or valid research problems and then discuss the results, were you able to solve the problem with the methods you presented or is the presented approach feasible. \newline
3. Each figure caption is missing a dot at the end.
4. The caption of Figure 7 has capitals for each word. Please use capital in the first word only and a dot at the end.
5. In Table 1. the Heading has a typo. Change "parmeters" to "parameters". Use a capital letter at the beginning of each sentence in the table, and if the item is a full sentence, then use a dot at the end.
6. Line 110. Please change "oil cylinder" to "hydraulic cylinder."
7. Line 276. You can remove the model 7LS8LWS762 or add a citation for details. I believe the double-drum shearer provides enough detail.
8. Please consider changing the title to "A digital twin-based adaptive height control for a shearer."
Comments on the Quality of English LanguageOnly some minor remarks.
Author Response
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Comments 1: Define the scientific contributions of this publication clearly in the Introduction. What are you aiming to find out with this study? For example, the contributions of this work are as follows: 1. Feasibility study on utilizing a DT for shearer height control |
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Response : Thank you for your comment. We have supplemented the scientific contributions of this publication at paragraph 5 of Introduction, and the architecture of article at the last paragraph of Introduction |
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“This main contributions of the article can be summarized as follows: (1) An architecture for digital twin-based height adjustment control of a shearer is constructed . (2) A linear state estimator is designed to estimate the displacement of the shearer accurately. (3) An adaptive fuzzy sliding mode controller is developed for adjusting the displacement of a shearer. The rest of the article is organized as follows. The framework of digital twin-based height adjustment control for a shearer is illustrated in Section 2. The model of height adjustment system for a shear is formulated in Section 3. The corresponding control method is presented and the experimental results are summarized in Section 4. Finally, the core idea is sum up and the future work is given.”
Comments 2: I am missing a discussion section before the Conclusions. First, define the scientific contributions of this work or valid research problems and then discuss the results, were you able to solve the problem with the methods you presented or is the presented approach feasible. |
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Response : Thank you for your comment. We have supplemented the discussion for experimental results at last paragraph of Section 4.4 as follows. “Based on the simulation analysis described above, the performance of the controllers was compared using three metrics: rising time, settling time, and response time. The AFSMC method exhibited the fastest response time. Figures 9 and 10 illustrate the tracking error and control input for all compared control methods. The steady-state performance is compared using steady-state error and control input. The adaptive fuzzy sliding mode controller demonstrated superior stability and robustness.”
Comments 3: Each figure caption is missing a dot at the end Response : Thank you for your comment. We have supplemented a dot at the end of figures. For more details, please refer to the revised article.
Comments 4: The caption of Figure 7 has capitals for each word. Please use capital in the first word only and a dot at the end. Response : Thank you for your comment. We have revised the caption of Figure 7 as follows. “Figure 7. Displacement estimation of a shearer based on digital twin.”
Comments 5: In Table 1. the Heading has a typo. Change "parmeters" to "parameters". Use a capital letter at the beginning of each sentence in the table, and if the item is a full sentence, then use a dot at the end. Response : Thank you for your comment. We have revised the syntax error of caption for Table 1. “Table 1. The parameters of the hydraulic cylinder for height adjustment.”
Comments 6: Line 110. Please change "oil cylinder" to "hydraulic cylinder." Response : Thank you for your comment. We have checked the whole article and changed "oil cylinder" to "hydraulic cylinder.". For more details, please refer to the revised article.
Comments 7: Line 276. You can remove the model 7LS8LWS762 or add a citation for details. I believe the double-drum shearer provides enough detail. Response : Thank you for your comment. We have revised. “By modeling the double-drum shearer, the sliding mode controller can make the output of the system track the desired signal.”
Comments 8: Please consider changing the title to "A digital twin-based adaptive height control for a shearer." Response : Thank you for your comment. Following your comment, we have revised the title of the article to “A digital twin-based adaptive height control for a shearer.”.
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Author Response File: 
Author Response.pdf
Reviewer 2 Report
Comments and Suggestions for AuthorsOverall the research seems relevant, especially for the coal mining industry. However, the structure can be improved together with the explanation of the experiments and the results. In my opinion, this does not necessarily need to be defined as a Digital Twin, but go ahead if that suits you best, as long as you make it clear that your focus is on creating an optimal controller for the height adjustment, and that you use simulations to test it. For example if it is a DT, then one might ask if you have thought of how you would calibrate the controller once the shearer dynamics have changed?
I didn't understand how you arrived at using those specific controllers for the experiments.
I think the abstract could be made much clearer by describing that you are creating a controller for adjusting the shear height of a mining face machine, and that you use simulations to find the optimal controller. And potentially also describe the error of the controller. The choice of the specific experiments also needs to be clarified.
Comments for author File: Comments.pdf
There are a number of improvements to be made in the quality of the language. These are commented on in the attached pdf :)
Author Response
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Comments 1: I reckon this sentence will benefit from being rephrased, and instead of starting with "as the issue", describe that a major challenge of shearers, is their inability to .. |
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Response : Thank you for your comment. We have corrected syntax errors and revised the whole abstract as follows. “The shearer is an important component of the smart mining workface, and its effective control is a key aspect that guarantees safe and high-efficient production in coal mines. To address the issue of autonomous height adjustment during the shearer's cutting process, a self-adaptive speed control method driven by digital twin technology is proposed. A digital twin-based control architecture for the shearer is first established, which consists of physical and the corresponding virtual entities, as well as reality-virtual interaction between them. Based on the mathematic model formulated for height adjustment system of the shearer, an adaptive fuzzy sliding mode controller with the displacement estimation is designed for the virtual entity，with the purpose of guiding the operation of the corresponding physical entity. Simulation experiments on MATLAB compares the control performance among the proposed method and four comparative ones, including PID, Integral Sliding Mode, Feedback Linearization, and Fuzzy Sliding Mode controllers. The experimental results confirm the effectiveness of the proposed AFSMC. More especially, its steady-state error is 0.024, the maximum absolute control input is 8.43, and the response time is 1.74s. This also proves that digital twin-based control method enables precise adaptive height adjustment of the shearer, providing valuable guidance for the intelligent development of smart mining workface.” |
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Comments 2: This sentence can be improved grammatically to reduce confusion. E.g. you write "'by establishing %, but you don't write 'so and so will occur, instead you have designing height afterwards, which confuses the reader |
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Response : Thank you for your comment. We have corrected syntax errors and revised the whole abstract as follows. “The shearer is an important component of the smart mining workface, and its effective control is a key aspect that guarantees safe and high-efficient production in coal mines. To address the issue of autonomous height adjustment during the shearer's cutting process, a self-adaptive speed control method driven by digital twin technology is proposed. A digital twin-based control architecture for the shearer is first established, which consists of physical and the corresponding virtual entities, as well as reality-virtual interaction between them. Based on the mathematic model formulated for height adjustment system of the shearer, an adaptive fuzzy sliding mode controller with the displacement estimation is designed for the virtual entity，with the purpose of guiding the operation of the corresponding physical entity. Simulation experiments on MATLAB compares the control performance among the proposed method and four comparative ones, including PID, Integral Sliding Mode, Feedback Linearization, and Fuzzy Sliding Mode controllers. The experimental results confirm the effectiveness of the proposed AFSMC. More especially, its steady-state error is 0.024, the maximum absolute control input is 8.43, and the response time is 1.74s. This also proves that digital twin-based control method enables precise adaptive height adjustment of the shearer, providing valuable guidance for the intelligent development of smart mining workface.” |
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Comments 3: What type of maintenance decisions? Hmm, I don' feel entirely sure of what this paper is about, just from reading the abstract. ls it possible to try and make it a bit more precise? Response : Thank you for your comment. In order to clarify our point of view, we have revised the whole abstract as follows. “The shearer is an important component of the smart mining workface, and its effective control is a key aspect that guarantees safe and high-efficient production in coal mines. To address the issue of autonomous height adjustment during the shearer's cutting process, a self-adaptive speed control method driven by digital twin technology is proposed. A digital twin-based control architecture for the shearer is first established, which consists of physical and the corresponding virtual entities, as well as reality-virtual interaction between them. Based on the mathematic model formulated for height adjustment system of the shearer, an adaptive fuzzy sliding mode controller with the displacement estimation is designed for the virtual entity，with the purpose of guiding the operation of the corresponding physical entity. Simulation experiments on MATLAB compares the control performance among the proposed method and four comparative ones, including PID, Integral Sliding Mode, Feedback Linearization, and Fuzzy Sliding Mode controllers. The experimental results confirm the effectiveness of the proposed AFSMC. More especially, its steady-state error is 0.024, the maximum absolute control input is 8.43, and the response time is 1.74s. This also proves that digital twin-based control method enables precise adaptive height adjustment of the shearer, providing valuable guidance for the intelligent development of smart mining workface.”
Comments 4: I would probably state something like "we have used a digital model to conduct tests of our established control architecture, against 4 different controllers (then name them), and found that the FSMC performed best" Then maybe add a sentence with actual number, and define what smaller input requirements means. Response : Thank you for your comment. In order to clarify our point of view, we have revised the whole abstract as follows. “The shearer is an important component of the smart mining workface, and its effective control is a key aspect that guarantees safe and high-efficient production in coal mines. To address the issue of autonomous height adjustment during the shearer's cutting process, a self-adaptive speed control method driven by digital twin technology is proposed. A digital twin-based control architecture for the shearer is first established, which consists of physical and the corresponding virtual entities, as well as reality-virtual interaction between them. Based on the mathematic model formulated for height adjustment system of the shearer, an adaptive fuzzy sliding mode controller with the displacement estimation is designed for the virtual entity，with the purpose of guiding the operation of the corresponding physical entity. Simulation experiments on MATLAB compares the control performance among the proposed method and four comparative ones, including PID, Integral Sliding Mode, Feedback Linearization, and Fuzzy Sliding Mode controllers. The experimental results confirm the effectiveness of the proposed AFSMC. More especially, its steady-state error is 0.024, the maximum absolute control input is 8.43, and the response time is 1.74s. This also proves that digital twin-based control method enables precise adaptive height adjustment of the shearer, providing valuable guidance for the intelligent development of smart mining workface.”
Comments 5: why is this capitalized, while the previous keywords aren't? Response : Thank you for your comment. We have revised the keywords carefully as follows. “Keywords: digital twin; height adjustment; adaptive fuzzy sliding mode control; shearer.”
Comments 6: Maybe this is a common term in the mining industry, but l am unaware of what this means here. A strong correlation to what? Response : Thank you for your comment. In coal mines, coal is first cut from coalfield by a shearer, and then carried away by scraper conveyor. The roof after cutting is braced by hydraulic supports, avoiding its collapse. In order to improve mining efficiency, the above three equipment need to be efficiently cooperated with each other. Especially, the displacement of the shearer shall be adjusted accurately in terms of the coal-rock interface, termed as heigh adjustment. We have explained the key terms at paragraph 2 of Introduction as follows. “As the main coal mining equipment in the smart mining workface, the shearer per-forms two tasks: cutting and traction. In coal mines, coal is first cut from coalfield by a shearer, and then carried away by scraper conveyor. The roof after cutting is braced by hydraulic supports, avoiding its collapse. In order to improve mining efficiency, the above three equipment need to be efficiently cooperated with each other. Especially, the dis-placement of the shearer shall be adjusted accurately in terms of the coal-rock interface, termed as heigh adjustment. During the production, due to the fluctuating distribution curve of the coal seam.”
Comments 7: Are you talking about the intelligence level of the mining face? Or something else? Havel misunderstood that a mining face is a somewhat vertical surface made of rock or some similar material? Response : Thank you for your comment. The so-called mining workface refers to the working space for mining coal. Coal is first cut from coal seam layer by layer via a shearer, and then carried away by scraper conveyor. The roof after cutting is braced by hydraulic supports, avoiding its collapse. All equipment for above mining process and the coal seam form the mining workface, as shown in the following figure.
Comments 8: Ah, think! get it now, Maybe introduce the concept of intelligent mining first, and then say something about the level of technological intelligence in mining is limited. Response : Thank you for your comment. We have supplemented the concept of intelligent mining at paragraph 1 of Introduction as follows. “The smart mining workface is composed of intelligent individual devices, autonomous group equipment, and remote intelligent control technology.”
Comments 9: I think the et, al. should be before the [5] citation Response 9: Thank you for your comment. We have checked the whole article and corrected the similar error. For more details, please refer to the revised article.
Comments 10: forgot space Response : Thank you for your comment. We have checked the whole article and corrected the similar error. For more details, please refer to the revised article.
Comments 11: Hmm, I think would rephrase this, as most of the work you mention above does not directly look into the height adjustability of the shearer. so maybe you can use the listed works to illustrate that intelligent mining is heavily researched, especially using Digital twins. Then maybe mention articles more similar to your work, such as https:/lopscienceop.org/aricle/10.1088/1742-6596/2083/4/042068/meta, and state the differences between them and this current research paper :) Response : Thank you for your comment. We have added the listed reference given by reviewer. This article realized equipment maintenance and work condition monitoring based on digital twin framework. By comparison, we predominantly focus on the design of controller. “The above-mentioned researches have conducted a large number of simulation analyses on the shearer. But in the actual production of the mining workface, there are still issues, such as insufficient visualization, weak device interconnectivity, and slow information exchange.” 23. Yang, Y.; Fan, H.; Ma, Pc. Research on dynamic characteristics for longwall shearer cutting transmission system with varying cutting speed, Int. J. Precis. Eng. Manuf. 2017, 18, 1131–1138.
Comments 12: Hmm, l think there needs to be a more sharp distinction between digital twin model and virtual twin. lf the virtual twin is; a digital replica of the physical entity wouldn't it also be based on some (potentially) mathematical models? Response : Thank you for your comment. Here, virtual entity is the mapping of the corresponding physical one in virtual space. In order to avoid confusion, we have revised “virtual twin” to “virtual entity” in the while article. “The digital twin-based control system can be divided into four parts: the digital twin model, physical and virtual entities, as well as data interaction between them. Construct-ing a digital twin model by mathematical modeling methods, generating extensive twin data through dynamic simulation analysis, and building a virtual entity that replicates the physical one are the key issue.” |
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Comments 14: I would recommend using begin{description} and writing each of terms as an item Digital Twin Model, to make it easier for the reader
Response : Thank you for your comment. We have explained each component of the digital twin-based control system in Section 2 as follows.
“Digital Twin Model: Sensors are used to collect data from the physical system, which is then utilized to construct a digital twin model. This so-called digital twin model is ac-tually dynamic equations or state-space models of the controlled system obtained by mathematical modeling methods in terms of the monitoring data.
Virtual Entity: To address the control issue of the output, a linear state estimator is established, and a controller is designed based on the system's dynamic equations or state-space model. Different types of controllers are simulated and verified, and the de-signed controllers are applied to the virtual one to evaluate their performance and stability by simulating the system's dynamic response.
Data Interaction: The monitoring data collected from sensors are provided to virtual space for formulating and updating the mathematic models of heigh adjustment system. Also, some virtual data can be produced to enrich the number of ones in specific class, with the purpose of improving the design for controller and fault diagnosis method.
Physical Entity: The validated controllers are applied to the digital twin platform. The control instructions from the virtual entity are issued to the physical system, enabling control of the physical equipment.”
Comments 15: Ah I think l get it now, So the digital twin model is basically the digital dynamics model, while the virtual twin is the 'digital controller model?
Response : Thank you for your comment. In order to avoid confusion, we have explained digital twin model in detail at paragraph 2 of Section 2 as follows.
“Digital Twin Model: Sensors are used to collect data from the physical system, which is then utilized to construct a digital twin model. This so-called digital twin model is actually dynamic equations or state-space models of the controlled system obtained by mathematical modeling methods in terms of the monitoring data.”
Comments 16: would imagine that you can also use the digital twin model to calculate some of the data?
Response : Thank you for your comment. Some virtual data may be generated by digital twin model. However, how to produce and utilize them is our future work. We have explained it at paragraph 4 of Section 2 as follows.
“Data Interaction: The monitoring data collected from sensors are provided to virtual space for formulating and updating the mathematic models of heigh adjustment system. Also, some virtual data can be produced to enrich the number of ones in specific class, with the purpose of improving the design for controller and fault diagnosis method.”
Comments 17: I would recommend making all the first letters capitalized in the figure, to be consistent. Furthermore, the arrow from Digital Workface to Twin data model is missing a description. Also 'm assuming that the "interactive feedback" in between physical Workface and Digital Workface is related to the bi-directional arrow, and not the unidirectional one. Lf so, then move the text a bit higher up, to make it clear to the reader.
Response : Thank you for your comment. We have revised Figure 1 as follows.
Comments 18: extra (
Response : Thank you for your comment. We have checked the whole article and corrected the similar error. For more details, please refer to the revised article.
Comments 19: What are the inputs that make the displacement so? And what do we hydraulic systems) Another comment is that the figure resolution can be improved :)
Response : Thank you for your comment. We have adjusted the size of Figure 2, and the whole hydraulic system is simulated by AMESim. The displacement of shearer is controlled by adjusting the flow of a hydraulic valve. We have explained it at paragraph 1 of Section 3 as follows.
“The components of the shearer for height adjustment include a drum, rocker arm, hydraulic cylinder for height adjustment, and hydraulic pipeline. Figure 2 displays the framework of its hydraulic control system by ARESim.”
Comments 20: Can you add a reference?
Response : Thank you for your comment. We have added Reference [23] as follows.
“Due to the unknown resistance from coal or rock on the coal mining machine [23],”
- Yang, Y.; Fan, H.; Ma, Pc. Research on dynamic characteristics for longwall shearer cutting transmission system with varying cutting speed, Int. J. Precis. Eng. Manuf. 2017, 18, 1131–1138.
Comments 21: if it is a DT, then one might ask if you have thought of how you would calibrate the controller once the shearer dynamics have changed?
Response : Thank you for your comment. The monitoring data from physical entity is utilized to update the mathematic model of heigh adjustment system in virtual space. Following that, the controller is adjusted in terms of the characteristics of control system so as to achieve the satisfied control performance. We have explained it at paragraph 1 of Section 4 as follows.
“Once the dynamics of the shearer changes over time, the control performance may become worse. Thus, the controller shall be adjusted in terms of the new mathematic model of heigh adjustment system that is updated in virtual space by the monitoring data from physical entity.”
Comments 22: I didn't understand how you arrived at using those specific controllers for the experiments.
Response : Thank you for your comment. The effectiveness of the proposed controller has been verified by simulation experiment in Matlab. The mathematic model of the shearer for experiment is derived from the digital twin model formulated in advance. We have supplemented the above explanation at paragraph 1 of Section 4.4 as follows.
“In order to verify the effectiveness of Adaptive Fuzzy Sliding Mode Controller (AFSMC) proposed in the article, four commonly-used control methods, including PID, ISMC, FLC, and FSMC controllers, are employed for performance comparison by simulation experiment in Matlab. The mathematic model of the shearer for experiment is derived from the above-mentioned digital twin model.”
Comments 23: I think the abstract could be made much clearer by describing that you are creating a controller for adjusting the shear height of a mining face machine, and that you use simulations to find the optimal controller. And potentially also describe the error of the controller. The choice of the specific experiments also needs to be clarified.
Response : Thank you for your comment. In order to clarify our point of view, we have revised the whole abstract as follows.
“The shearer is an important component of the smart mining workface, and its effective control is a key aspect that guarantees safe and high-efficient production in coal mines. To address the issue of autonomous height adjustment during the shearer's cutting process, a self-adaptive speed control method driven by digital twin technology is proposed. A digital twin-based control architecture for the shearer is first established, which consists of physical and the corresponding virtual entities, as well as reality-virtual interaction between them. Based on the mathematic model formulated for height adjustment system of the shearer, an adaptive fuzzy sliding mode controller with the displacement estimation is designed for the virtual entity，with the purpose of guiding the operation of the corresponding physical entity. Simulation experiments on MATLAB compares the control performance among the proposed method and four comparative ones, including PID, Integral Sliding Mode, Feedback Linearization, and Fuzzy Sliding Mode controllers. The experimental results confirm the effectiveness of the proposed AFSMC. More especially, its steady-state error is 0.024, the maximum absolute control input is 8.43, and the response time is 1.74s. This also proves that digital twin-based control method enables precise adaptive height adjustment of the shearer, providing valuable guidance for the intelligent development of smart mining workface.”
Author Response File: Author Response.pdf
Round 2
Reviewer 2 Report
Comments and Suggestions for AuthorsI have attached some comments in the pdf, and added some additional comments below:
I think if you use the steady-state error and response time as measured output of the experiments, that you should add a table or something that compares these values between the controllers.
The work that you have done seems very relevant, however the way it is presented is a bit complicated and therefore not very easy to follow. I think the manuscript would benefit from a major revision in the structure and the specific content that is presented. But the work you have now seems reasonable enough, so this is essentially you're choice in the end.
I think you should provide a more science-based reason to why these specific controllers have been chosen, and not just state that they are the most commonly used (This is NOT reason enough - especially with no valid reference). Also if you have time, you can consider comparing the results with state-of-the-art in other similar fields.
Comments for author File: Comments.pdf
The English is fine (minor issues)
Author Response
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Comments1: I have never heard of reality-virtual interaction. Do you mean physical-virtual interaction? |
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Response 1: Thank you for pointing this out. As you mentioned, it means physical-virtual interaction. The virtual twin and the physical entity need to exchange information and data. The virtual twin issues control commands to the physical entity, while the physical entity feeds back equipment status data to the virtual twin. |
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Comments 2: This acronym hasn't been introduced yet Furthermore, it is not included in the types of controllers you have mentioned. Should it be adaptive FSMC or just FSMC? |
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Response 2: Thank you for pointing this out. We agree with this comment. Therefore, we have supplemented the AFSMC in abstract paragraph 8. “an adaptive fuzzy sliding mode controller (AFSMC) with the displacement estimation is designed for the virtual entity,”
Comments 3: Was this actually tested on the physical system? If not, then there is a huge assumption in this statement, and it would be better to just state that the control method shows potential for improving the mining workface. Response 3: Thank you for pointing this out. We agree with this comment. Therefore, we have revised. “This also proves that digital twin-based control method enables precise adaptive height adjustment of the shearer, providing potential reference for the intelligent development of smart mining workface.”
Comments 4: I think that these contributions can be summarized as one main contribution which is to automatically adjust the height of a shearer, and this is achieved by doing these three things :) Response 4: Thank you for pointing this out. We agree with this comment. Therefore, we have revised in the page 2 paragraph 4. “An architecture for digital twin-based height adjustment control of a shearer is constructed. We design the linear state estimator to estimate the displacement of the shearer accurately. And the adaptive fuzzy sliding mode controller is developed for adjusting the displacement of a shearer.”
Comments 5: remove space. Response 5: Thank you for pointing this out. We agree with this comment. Therefore, we have revised. “An architecture for digital twin-based height adjustment control of a shearer is constructed. We design the linear state estimator to estimate the displacement of the shearer accurately. And the adaptive fuzzy sliding mode controller is developed for adjusting the displacement of a shearer.”
Comments 6: summarized Response 6: Thank you for pointing this out. We agree with this comment. Therefore, we have revised. “Finally, the core idea is summarized and the future work is given.”
Comments 7: since you are experts in this area, I would recommend describing the different ways the dynamics of the shearer may change, e.g. the cutter may become a bit. Response 7: Thank you for pointing this out. We agree with this comment. Therefore, we take the example of the shearer cutting through rock. In production process, shears sometimes cut through rock as a transition. “Once the shearer cut through rock seams, dynamics of the shearer changes over time, the control performance may become worse.”
Comments 8: So you would deploy the controller and continuously receive data, and somehow update the controller again, think this can be elaborated if you know how, otherwise describe exactly where the limitations of your work are. Response 8: Thank you for pointing this out. We have already designed an adaptive law within the controller section in Figure 6. Upon detecting dynamic changes, the virtual twin adjusts the controller parameters through adaptive laws. We have revised in the page 8,line 2. “Thus, the controller parameters shall be updated in virtual space by adaptive law.”
Comments 9: are Response 9: Thank you for pointing this out. We agree with this comment. Therefore, we have revised in page 9, paragraph 3, line 3.
Comments 10: Why is this highlighted? Response 10: Thank you for pointing this out. Sorry, I have forgot it. Comments 11: Do you have a reference on this? Response 11: Thank you for pointing this out. We agree with this comment. Therefore, we have supplement the reference. “21. Zhang, Z.; Guo, Y.N.; Gong, D.W.; Zhu, S. Hybrid extended state observer-based integral sliding mode control of the propulsion for a hydraulic roofbolter, Control Engineering Practice, 2022, 126, 105260.”
Comments 12: I think if you use the steady-state error and response time as measured output of the experiments, that you should add a table or something that compares these values between the controllers. |
Response 12: Thank you for pointing this out. We agree with this comment. Therefore, we have supplement the table 3.
Table 3. Performance index of five control methods.
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Control Methods |
steady-state error |
settling time/s |
maximum absolute control input |
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PID |
0.161 |
6.12 |
39.14 |
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ISMC |
0.256 |
3.49 |
3.57 |
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FLC |
0.026 |
6.31 |
1.87 |
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AFSMC |
0.024 |
1.74 |
8.43 |
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FSMC |
0.029 |
5.07 |
1.39 |
Comments 13:I think you should provide a more science-based reason to why these specific controllers have been chosen, and not just state that they are the most commonly used (This is NOT reason enough - especially with no valid reference). Also if you have time, you can consider comparing the results with state-of-the-art in other similar fields.
Response 13: Thank you for pointing this out. We agree with this comment. Therefore, we have supplement the reference 21.
Author Response File: Author Response.pdf
