CN108643884B - Jumbolter propelling and rotating system and cooperative self-adaptive control method thereof - Google Patents
Jumbolter propelling and rotating system and cooperative self-adaptive control method thereof Download PDFInfo
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- CN108643884B CN108643884B CN201810410589.0A CN201810410589A CN108643884B CN 108643884 B CN108643884 B CN 108643884B CN 201810410589 A CN201810410589 A CN 201810410589A CN 108643884 B CN108643884 B CN 108643884B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
Abstract
The invention discloses a propulsion and rotation system of a jumbolter and a cooperative adaptive control method thereof, which are used for improving anchoring speed and drilling quality. And secondly, providing a rock hardness coefficient acquisition method based on information while drilling of the drilling machine. Finally, determining the optimal propelling force and the optimal rotating speed of the current drilling of the drilling machine according to the estimated rock hardness coefficient by adopting a composite control mode, and further realizing the cooperative action of the anchor rod rotation and the propelling system; when the difference between the estimated surrounding rock hardness coefficient and the actual value exists, the optimal propelling force is adaptively adjusted according to the low-frequency filtering value of the rotary pressure, and the adaptive capacity of the jumbolter is enhanced.
Description
Technical Field
The invention relates to a jumbolter propelling and rotating system and a cooperative self-adaptive control method thereof, belonging to the technical field of automatic control of engineering machinery.
Background
The jumbolter is one of key equipment in geotechnical anchoring engineering construction, and the equipment performance directly determines the progress and quality of the whole engineering. The jumbolter is mainly composed of two parts, including a propulsion system and a rotation system. The propelling system is used for applying propelling force to enable the drill bit to be tightly contacted with the rock at the bottom of the hole, then the rotary system is used for generating rotary torque to cut the rock, and the rotary system and the rock can effectively break the rock under the combined action. It can be seen that the performance of the propulsion system in combination with the swing system determines the drilling quality and drilling efficiency of the jumbolter. Therefore, the purpose of improving the anchoring speed and the anchoring quality is achieved through the cooperative control of the propulsion system and the rotation system of the anchor rod drilling machine.
At present, the control of the jumbolter mainly depends on manual adjustment of the propelling force and the rotating speed of the jumbolter through the experience of workers. However, due to the lack of understanding of the properties of the surrounding rock to be drilled, the drilling quality is poor, and even faults such as rod deviation and rod breakage occur easily. Therefore, the drilling surrounding rock properties are urgently needed to be estimated according to various information collected in the drilling process, and the automatic control of the anchor rod drilling machine is realized by adaptively and coordinately controlling the propelling force and the rotating speed of the anchor rod drilling machine.
For the Control of the propulsion and slewing System of the jumbolter, the literature (Zhijian HU, Peng S, gen l. model Analysis on Electro-hydraulic project Control for Rotary Drilling System of Engineering Geological Drilling Rig [ J ]. Machine Tool and hydratics, 2009,13(6),12-16.) clearly indicates that the propulsion and cutting rotational speed are important Control parameters for the slewing Drilling of the jumbolter, and a Proportional pressure regulating pump is adopted to realize the Control of the propulsion System; the load flow is adjusted through the proportional displacement control pump, and then the rotating speed of the rotary system of the drilling machine is controlled. However, the control method requires different oil passages for the propulsion system and the rotary system, and has high requirements on equipment.
The literature (Feifei L V, Cuihua XU. dynamic Performance description on Driving Rig feedback Variable Pump [ J ]. coral Engineering,2013,45(8),89-92) proposes the use of a continuously Variable displacement Pump to achieve direct control of the propulsion circuit. Although the oil source efficiency of the direct pump control mode is high, the motor-pump mechanism has large inertia, so that the control action is slow, and even the drilling machine is damaged under some complex working conditions.
The patent [ P ]. CN 1O7339094A, 2017.08.31) discloses an intelligent control system of a mine drilling machine, which carries out logic control on the rotating speed and the torque of the drilling machine through presetting a rotating speed threshold value of the drilling machine. The method realizes the adjustment of the rotating speed of the drilling machine to a certain extent, but the rotating speed of the drilling machine cannot be adjusted in a self-adaptive mode according to the drilling surrounding rock, and the maximization of the efficiency of the drilling machine cannot be realized.
According to the research and simulation analysis [ J ] based on AMESim down-the-hole drill propulsion control system, mechanical manufacturing and automation, 2009,38(2): 170-.
The patent (Wangtongsheng, forest hongwu, Guo Yong, Li Zejie. rock drill rotary propulsion electrohydraulic control method and its control loop [ P ], CN 1O 4389579A, 2014.10.31) also judges the character of the surrounding rock according to the rotary pressure, and then controls the propulsion. However, since the change in the thrust force affects the turning pressure, there is a large error in approximately reflecting the change degree of the rock property in the hole by the turning pressure.
The intelligent safe and efficient drilling automatic control system and the control method [ P ], CN 10683729A, 2017.01.25) analyze the stress change condition of a drilling tool in a hole by detecting the torque, the thrust, the lifting force, the drilling depth, the rotation speed of a drill rod, the drilling speed and other information in the drilling process of the drilling machine, and further adjust the rotating speed and the thrust of the drilling machine. The method greatly improves the self-adaptability of the drilling machine, but lacks the setting basis of the given values of the rotating speed and the propelling force of the drilling machine.
At present, researches on the control of a drilling machine mainly focus on the independent control of a drilling machine propelling system and a rotary system, and few researches on the cooperative control of the propelling and the rotary of the drilling machine are carried out; in addition, in the existing research, the set values of the rotating speed and the propelling force of the drilling machine are usually set according to manual experience and do not depend on the properties of surrounding rocks to be automatically adjusted, so that the drilling process cannot be operated in an optimal state.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a propulsion and rotation system of a jumbolter and a cooperative adaptive control method thereof, so as to achieve the purposes of improving the anchoring speed and the supporting quality and reducing the faults of the jumbolter.
In order to achieve the above object, the present invention adopts the following technical solutions:
a kind of jumbolter advances the rotary system, its characteristic is, including three-phase asynchronous machine, duplicate gear constant delivery pump, propulsion system and rotary system;
the three-phase asynchronous motor drives the double-gear constant delivery pump to rotate at a rated rotating speed, one path of high-pressure oil pumped out is supplied to the propulsion system, and the other path of high-pressure oil pumped out is supplied to the rotation system; high-pressure oil filters are arranged among the duplicate gear constant delivery pump, the propulsion system and the rotary system;
the rotary system comprises a three-position four-way electro-hydraulic proportional valve and a two-way hydraulic motor; the high-pressure oil of the rotary system passes through the three-position four-way electro-hydraulic proportional valve to drive the two-way hydraulic motor to rotate so as to drive the drill rod to rotate, and the opening of the three-position four-way electro-hydraulic proportional valve is adjusted to control the flow of the oil entering the two-way hydraulic motor so as to control the rotating speed of the drill rod; two ends of the bidirectional hydraulic motor are connected to the three-position four-way electro-hydraulic proportional valve; the bidirectional hydraulic motor is also connected with a rotary load;
the propulsion system sequentially comprises a proportional overflow valve, an electromagnetic directional valve, a hydraulic oil cylinder and a propulsion load, and drives the oil cylinder to act so as to enable the drill rod to generate axial propulsion force; the propulsion system controls the magnitude of the propulsion force by adjusting the valve opening of the proportional overflow valve;
the three-position four-way electro-hydraulic proportional valve and the electromagnetic directional valve are both connected with coolers; the other end of the cooler is connected with an oil tank.
A push-and-turn cooperative adaptive control method for an anchor rod drilling machine is characterized by comprising the following steps:
a push-and-turn cooperative adaptive control method for an anchor rod drilling machine is characterized by comprising the following steps:
step 1) establishing a drilling machine rotation system mathematical model according to an anchor rod drilling machine system;
step 2) establishing a mathematical model of a drilling machine propulsion system according to the jumbolter system, and simplifying a proportional overflow valve control hydraulic cylinder force servo system into a second-order system;
step 3) obtaining a rock hardness coefficient by utilizing the information while drilling of the drilling machine;
step 4), setting the optimal propelling force and the optimal rotating speed of the current drilling of the drilling machine according to the estimated rock hardness coefficient;
step 5) fusing a composite mode of an equivalent structure and a master-slave structure, and designing a propulsion and rotation cooperative control structure of the jumbolter;
step 6) aiming at the characteristics of nonlinearity, parameter time-varying property and multiple interferences of the jumbolter system, and based on the system mathematical models constructed in the steps 1) and 2), respectively designing active disturbance rejection controllers of the propulsion and rotation systems of the jumbolter;
and 7) verifying the effectiveness and the rationality of the provided drilling machine propulsion and rotation cooperative control method based on a Matlab and AMESim combined simulation platform.
The propelling and rotating cooperative self-adaptive control method of the jumbolter is characterized in that the concrete content of the step 1) is as follows:
11) recording the input current of the three-position four-way electro-hydraulic proportional valve as ivThe displacement of the output spool is xvCurrent/displacement conversion coefficient of kvThe oil density is rho, and the oil supply pressure of the rotary system is PSLoad pressure of PLValve flow coefficient of CdAn area gradient of WvThe valve port flow is QvEstablishing a mathematical model of the electro-hydraulic proportional valve as follows:
note KqTo gain valve flow, KcValve flow-pressure coefficient; for the above non-linear valve port flow relation
And (3) carrying out linearization treatment, simplifying into: qv＝Kqxv-KcPL；
12) Recording the rotation angle of the hydraulic motor as thetamDischarge capacity of DmThe pressure of the oil inlet cavity is Pm1The pressure of the oil return cavity is Pm2Total leakage coefficient of CtmThe total compression volume of the two cavities and the connecting pipeline of the motor is VtThe effective elastic modulus of the oil is betaeThe mathematical model of the hydraulic motor is as follows:
13) the equivalent total inertia of a motor shaft is recorded as JtViscous damping coefficient of BmLoad torque of MLThe load characteristic model of the rotary system of the drilling machine is as follows:
14) neglecting the leakage of the motor, QL＝Qv(ii) a The total flow pressure coefficient is recorded as Kce＝Kc+CtmAnd the Laplace operator is s, and the mathematical model of the rotary system of the drilling machine obtained by integration is as follows:
the propelling and rotating cooperative adaptive control method of the jumbolter is characterized in that the concrete content of the step 3) is as follows:
31) calculating to obtain rock breaking specific work according to the propelling force F and the drilling speed v obtained by the detection of the propulsion system of the jumbolter, and the rotating speed n and the rotating torque T of the rotary system
The cross section area of a drilled hole is A, the effective rock breaking consumption power of the drilling machine in unit time is P, and the volume of the drilled hole is V;
32) considering that the rock breaking specific work is in direct proportion to the rock hardness coefficient, obtaining the rock hardness coefficient according to the detected propelling force F (k-1), propelling displacement x (k-1), rotating speed n (k-1) and torque information T (k-1) of the drilling machine in the last drilling process, and guiding the drilling process; recording the drilling process as a k stage, wherein the estimated k-stage rock hardness coefficient f (k) is as follows:
wherein mu is a proportionality coefficient,
to push and displaceThe first differential of x (k-1) with respect to time t (k-1), i.e., the rate of penetration of the k-1 phase.
The propelling and rotating cooperative adaptive control method of the jumbolter is characterized in that the concrete content of the step 4) is as follows:
d is the diameter of the drill rod, lambda and c are adjustment constants, and the optimal propelling force F in the stage is set according to the estimated rock hardness coefficient in the k stagev(k) And an optimum rotation speed nv(k) Comprises the following steps: fv(k)＝λDf(k)，
The propelling and rotating cooperative adaptive control method of the jumbolter is characterized in that the concrete content of the step 5) is as follows:
51) judging the difference degree of the surrounding rocks according to the rotary pressure, recording the rotary pressure in the drilling process as P (k-1), recording the rotary pressure in the current drilling process as P (k), and determining the rotary pressure variation as follows: Δ P ═ P (k) -P (k-1); defining the difference degree as epsilon, and when | delta P | is less than epsilon, indicating that the characteristics of the surrounding rock corresponding to the adjacent anchor rods have consistency;
guiding the synchronous action of the propelling force and the rotating speed of the drilling machine according to the estimated rock hardness coefficient and the optimal propelling force and rotating speed set in the step 4) in the same way; when the absolute value delta P is more than or equal to epsilon, the characteristic of the drilling surrounding rock corresponding to the adjacent anchor rods is shown to have certain difference, the influence of a propulsion system on the drilling quality and efficiency is more obvious than that of a rotary system, the rotary speed of the drilling machine is kept unchanged by adopting a master-slave mode according to the acquired pressure of the rotary system, and the propulsion force of the drilling machine is adjusted, so that the drilling machine can dynamically adapt to the local surrounding rock difference in the drilling process; recording the increment of the adjustment of the propelling force as delta F and the proportional gain of the adjustment of the propelling force as kFThen adjust the rear propulsion force Fv'is recorded as F'v＝Fv+ΔF，ΔF＝kFΔP；
52) When drilling surrounding rocks corresponding to adjacent anchor rods have differences, the rotation pressure has the characteristic of a low-frequency jitter signal; the first-order inertia link is adopted for low-frequency filtering to eliminate the thrust force of the pressure buffeting signalThe effect of the regulation; recording the original revolving pressure of the k stage as Pr(k) The low frequency filter transfer function is H(s), and has P (k) Pr(k)H(s)，H(s)＝1/(Ts+1)。
The propelling and rotating cooperative adaptive control method of the jumbolter is characterized in that the concrete content of the step 6) is as follows:
61) a second-order active disturbance rejection controller is adopted to respectively realize the propulsion control of a propulsion system and the rotating speed control of a rotary system of the jumbolter; the active disturbance rejection controller consists of three parts: a differential tracker, an extended state observer and a nonlinear state error feedback control rate;
62) the given value of the controlled quantity is recorded as R, the expected sequence of R in the transition process and the first order differential of R are respectively v1And v2The sampling step length is h, and the filter factor is h0The optimal control function is fhan (), and the velocity factors are r and v1The sampling value at the current moment t is v1(t) the next time t +1 predicts a sample value of v1(t +1), wherein the initial given value R (0) is a preset given value, R is R (t), and all the given values are given values, and the initial values of all other variables at the time when t is 0 are all set to 0; the differential tracker is:
wherein, fhan () can be represented as:
63) noting the state variable as z1And z2Total interference amount is z3The nonlinear function is fal (), the system output quantity is y, and the observer gain is beta01、β02、β03And parameter b0The extended state observer is:
wherein fal () can be expressed as:
64) noting the proportional gain and the differential coefficient as beta11And beta12The nonlinear feedback output is u0A nonlinear coefficient of1、a2Designing the nonlinear state error feedback control rate as follows:
the propelling and rotating cooperative adaptive control method of the jumbolter is characterized in that the concrete content of the step 7) is as follows:
71) building an active disturbance rejection controller and a jumbolter physical system based on a combined simulation platform of Matlab and AMESim;
72) rational adjustment of controller parametersr、h0、β01、β02、β03、β11、β12And b0Converging the system tracking error to zero at t → ∞;
73) experiments verify the effectiveness and the rationality of the provided jumbolter propelling and rotating cooperative adaptive control method.
The invention achieves the following beneficial effects: the invention is suitable for the cooperative self-adaptive control of the propulsion and rotation of the jumbolter and solves the problem that the traditional drilling machine control has great dependence on the working experience of operators. The drilling machine adaptively adjusts the propelling force and the rotating speed according to the surrounding rock characters, so that the faults of broken rods, different rods and the like of the drilling machine are reduced, the working efficiency and the tunneling speed are improved, and a foundation is laid for the automation and the intellectualization of the drilling machine.
Drawings
FIG. 1 is a schematic view of a jumbolter feed slew system;
FIG. 2 is a block diagram of a hybrid-based jumbolter propulsion-slewing cooperative adaptive control;
FIG. 3 is a Matlab and AMESim based joint simulation platform;
FIG. 4 is a propulsion system response curve;
FIG. 5 is a gyroscopic system response curve;
FIG. 6 is a sandy mudstone drilling swing pressure differential;
FIG. 7 is a filtered gyration pressure difference when the properties of the surrounding rock change;
FIG. 8 is the adaptive control performance of the propulsive force when the properties of the surrounding rock change;
fig. 9 is an estimated value of the rock hardness coefficient when the properties of the surrounding rock change.
The meaning of the reference symbols in the figures:
the system comprises a three-phase asynchronous motor 1, a duplicate gear constant delivery pump 2, a high-pressure oil filter 3, a safety valve 4, a three-position four-way electro-hydraulic proportional valve control signal 5, a three-position four-way electro-hydraulic proportional valve 6, a hydraulic motor 7, a rotary load 8, a first cooler 9, a second cooler 10, a proportional overflow valve 11, an electromagnetic directional valve control signal 12, an electromagnetic directional valve 13, a hydraulic oil cylinder 14, a propulsion load 15 and an oil tank 16.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The optimal propelling force and the optimal rotating speed are set according to the surrounding rock properties, the drilling machine propelling rotary system is coordinated in a composite mode, the nonlinear and multi-interference characteristics of a hydraulic system of the anchor rod drilling machine are considered, and the independent control of the drilling machine propelling and rotary systems is achieved by adopting the active disturbance rejection controller.
The push-and-turn cooperative adaptive control of the jumbolter is an important component for realizing the whole machine automation and the robotics of the jumbolter, and has profound significance for implementing the intellectualization of the anchoring and protecting process.
In this embodiment, the values of the core parameters of the equipment in the jumbolter system are shown in table 1. Actually collected data of the phoenix mountain coal mine roadway surrounding rocks are shown in table 2.
TABLE 1 roofbolter System Equipment core parameter values
TABLE 2 Fenghuangshan coal mine roadway wall rock strength
According to the function of each parameter to be set of the active disturbance rejection controller and the influence of the function on the control performance, the parameters of the active disturbance rejection controller of the propulsion loop are set as follows by combining experience: r is 20000, h0＝0.005，β01＝680.8，β02＝5884，β03＝10000，β11＝300，β12＝0，b02.97; the parameters of the active disturbance rejection controller of the rotary loop are as follows: r is 20000, h0＝0.005，β01＝30，β02＝1000，β03＝0，β11＝500，β12＝0，b05.65; the time constant of the low-frequency filter is T-0.1; propulsive force proportion adjustment coefficient kFThe difference was set to ∈ 0.5, 13.84.
First, the independent control performance of the propulsion system and the swing system is verified. Taking a top plate made of sandy mudstone as an example, the rock hardness coefficient is about 4.5. Thereby, an optimal propulsion force of 576N and an optimal rotational speed of 453.3rpm was obtained. The response curves of the propulsion and the rotation speed control realized by the active disturbance rejection controller are respectively shown in the attached figures 4 and 5, and the rotation pressure is shown in the attached figure 6.
As can be seen from fig. 4 and 5, the adoption of the active disturbance rejection controller can realize the fast and overshoot-free tracking of the propelling force and the rotating speed. As can be seen from the swing system pressure curve shown in fig. 6, before 2.2s, the torque generated by the swing pressure difference is mainly used for the rotation of the drilling machine; after 2.2s, when the drilling machine contacts the sandy mudstone of the top plate at a set rotating speed, the torque generated by the rotation pressure difference is mainly used for overcoming the rock resistance torque; however, the revolving pressure difference may have a low frequency oscillation phenomenon, and the oscillation amplitude thereof gradually attenuates. If the propulsion is controlled directly according to the pressure difference signal, the optimal propulsion can be caused to generate low-frequency buffeting, and finally the control performance of the propulsion system can be seriously influenced. Therefore, the low-frequency filter is adopted to filter the acquired differential pressure signal of the rotary system, and the optimal propulsion given value is modified by utilizing the filtered differential pressure signal, so that the coordination control of the propulsion and rotary systems is realized.
Secondly, when the surrounding rocks have certain differences, the performance of the propulsion and rotation coordination control system is verified. Based on the properties of the Fenghuangshan mine roadway surrounding rock listed in the table 2, a drilling machine sequentially enters medium sandstone with the rock hardness coefficient f being 7.7 and softer sandy mudstone with the rock hardness coefficient f being 3.2 from the sandy mudstone with the rock hardness coefficient estimated value f being 4.5, and corresponding optimal propelling forces are 576N, 985.6N and 409.6N respectively. In the drilling process, the filtered rotary pressure difference is shown in the attached figure 7, the cooperative adaptive control performance is shown in the attached figure 8, and the predicted rock hardness coefficient is shown in the attached figure 9.
When the drilling machine just enters the middle sandstone from the sandy mudstone, the rotation pressure difference can be greatly changed and is in direct proportion to the hardness coefficient of the rock, as shown in the attached figure 7. As shown in fig. 8, the filtered rotation pressure signal in the previous drilling process, that is, the rotation pressure acquired by the drilling machine when the drilling machine drills sandy mudstone with f being 4.5, is about 31.4bar after filtering; when the drilling machine just enters the middle sandstone, the rotation pressure difference is increased, the actual rock hardness coefficient is larger than the estimated rock hardness coefficient, the situation that the surrounding rock properties are changed can be judged, and the propelling force needs to be increased; when the drilling machine enters softer sandy mudstone from the middle sandstone, the rotation pressure difference is reduced, the actual rock hardness coefficient is smaller than the estimated rock hardness coefficient, the situation that the surrounding rock properties are changed can be judged, and the propelling force needs to be reduced; as can be seen from fig. 8, the tracking performance of the propulsion is excellent, and there is no steady-state error and overshoot, but the regulation time of the propulsion is prolonged because the response of the revolution speed is slow. If the cooperative control method provided by the patent is not adopted, the propulsion system can always keep the optimal propulsion force of the sandy mudstone to be 576N; when the properties of the surrounding rock change, the given value of the propelling force cannot change in a self-adaptive manner, so that the efficiency of the drilling machine is lowered, and the drilling quality is poor. As can be seen from the attached FIG. 9, the precision of the estimated rock hardness coefficient obtained by utilizing the rock crushing specific work is high, but the estimated response time is about 3.5s due to slow response of the rotation speed.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A cooperative self-adaptive control method based on a jumbolter propelling and rotating system comprises a three-phase asynchronous motor, a duplicate gear constant delivery pump, a propelling system and a rotating system; the three-phase asynchronous motor drives the double-gear constant delivery pump to rotate at a rated rotating speed, one path of high-pressure oil pumped out is supplied to the propulsion system, and the other path of high-pressure oil pumped out is supplied to the rotation system; high-pressure oil filters are arranged among the duplicate gear constant delivery pump, the propulsion system and the rotary system; the rotary system comprises a three-position four-way electro-hydraulic proportional valve and a two-way hydraulic motor; the high-pressure oil of the rotary system passes through the three-position four-way electro-hydraulic proportional valve to drive the two-way hydraulic motor to rotate so as to drive the drill rod to rotate, and the opening of the three-position four-way electro-hydraulic proportional valve is adjusted to control the flow of the oil entering the two-way hydraulic motor so as to control the rotating speed of the drill rod; two ends of the bidirectional hydraulic motor are connected to the three-position four-way electro-hydraulic proportional valve; the bidirectional hydraulic motor is also connected with a rotary load; the propulsion system sequentially comprises a proportional overflow valve, an electromagnetic directional valve, a hydraulic oil cylinder and a propulsion load, and drives the oil cylinder to act so as to enable the drill rod to generate axial propulsion force; the propulsion system controls the magnitude of the propulsion force by adjusting the valve opening of the proportional overflow valve; the three-position four-way electro-hydraulic proportional valve and the electromagnetic directional valve are both connected with coolers; the other end of the cooler is connected with an oil tank; the method is characterized by comprising the following steps:
step 1) establishing a drilling machine rotation system mathematical model according to an anchor rod drilling machine system;
step 2) establishing a mathematical model of a drilling machine propulsion system according to the jumbolter system, and simplifying a proportional overflow valve control hydraulic cylinder force servo system into a second-order system;
step 3) obtaining a rock hardness coefficient by utilizing the information while drilling of the drilling machine;
step 4), setting the optimal propelling force and the optimal rotating speed of the current drilling of the drilling machine according to the estimated rock hardness coefficient;
step 5) fusing a composite mode of an equivalent structure and a master-slave structure, and designing a propulsion and rotation cooperative control structure of the jumbolter;
step 6) aiming at the characteristics of nonlinearity, parameter time-varying property and multiple interferences of the jumbolter system, and based on the system mathematical models constructed in the steps 1) and 2), respectively designing active disturbance rejection controllers of the propulsion and rotation systems of the jumbolter;
step 7) verifying the effectiveness and rationality of the provided drilling machine propulsion and rotation cooperative control method based on a Matlab and AMESim combined simulation platform;
the specific content of the step 3) is as follows:
31) calculating to obtain rock breaking specific work according to the propelling force F and the drilling speed v obtained by the detection of the propulsion system of the jumbolter, and the rotating speed n and the rotating torque T of the rotary system
The cross section area of a drilled hole is A, the effective rock breaking consumption power of the drilling machine in unit time is P, and the volume of the drilled hole is V;
32) considering that the rock breaking specific work is in direct proportion to the rock hardness coefficient, obtaining the rock hardness coefficient according to the detected propelling force F (k-1), propelling displacement x (k-1), rotating speed n (k-1) and torque information T (k-1) of the drilling machine in the last drilling process, and guiding the drilling process; recording the drilling process as a k stage, wherein the estimated k-stage rock hardness coefficient f (k) is as follows:
wherein mu is a proportionality coefficient,
to advance the first order of displacement x (k-1) with respect to time t (k-1)Differentiation, i.e., the rate of penetration at the k-1 stage;
the specific content of the step 4) is as follows:
d is the diameter of the drill rod, lambda and c are adjustment constants, and the optimal propelling force F in the stage is set according to the estimated rock hardness coefficient in the k stagev(k) And an optimum rotation speed nv(k) Comprises the following steps: fv(k)＝λDf(k)，
The specific content of the step 5) is as follows:
51) judging the difference degree of the surrounding rocks according to the rotary pressure, recording the rotary pressure in the drilling process as P (k-1), recording the rotary pressure in the current drilling process as P (k), and determining the rotary pressure variation as follows: Δ P ═ P (k) -P (k-1); defining the difference degree as epsilon, and when | delta P | is less than epsilon, indicating that the characteristics of the surrounding rock corresponding to the adjacent anchor rods have consistency;
guiding the synchronous action of the propelling force and the rotating speed of the drilling machine according to the estimated rock hardness coefficient and the optimal propelling force and rotating speed set in the step 4) in the same way; when the absolute value delta P is more than or equal to epsilon, the characteristic of the drilling surrounding rock corresponding to the adjacent anchor rods is shown to have certain difference, the influence of a propulsion system on the drilling quality and efficiency is more obvious than that of a rotary system, the rotary speed of the drilling machine is kept unchanged by adopting a master-slave mode according to the acquired pressure of the rotary system, and the propulsion force of the drilling machine is adjusted, so that the drilling machine can dynamically adapt to the local surrounding rock difference in the drilling process; recording the increment of the adjustment of the propelling force as delta F and the proportional gain of the adjustment of the propelling force as kFThen adjust the rear propulsion force Fv' As Fv′＝Fv+ΔF，ΔF＝kFΔP；
52) When drilling surrounding rocks corresponding to adjacent anchor rods have differences, the rotation pressure has the characteristic of a low-frequency jitter signal; a first-order inertia link is adopted for low-frequency filtering, so that the influence of a pressure buffeting signal on the adjustment of the propelling force is eliminated; recording the original revolving pressure of the k stage as Pr(k) The low frequency filter transfer function is H(s), and has P (k) Pr(k)H(s)，H(s)＝1/(Ts+1)。
2. The cooperative adaptive control method for the propulsion and rotation of the jumbolter according to claim 1, wherein the concrete contents of the step 1) are as follows:
11) recording the input current of the three-position four-way electro-hydraulic proportional valve as ivThe displacement of the output spool is xvCurrent/displacement conversion coefficient of kvThe oil density is rho, and the oil supply pressure of the rotary system is PSLoad pressure of PLValve flow coefficient of CdAn area gradient of WvThe valve port flow is QvEstablishing a mathematical model of the electro-hydraulic proportional valve as follows: x is the number ofv＝kviv，
Note KqTo gain valve flow, KcValve flow-pressure coefficient; for the above non-linear valve port flow relation
And (3) carrying out linearization treatment, simplifying into: qv＝Kqxv-KcPL；
12) Recording the rotation angle of the hydraulic motor as thetamDischarge capacity of DmThe pressure of the oil inlet cavity is Pm1The pressure of the oil return cavity is Pm2Total leakage coefficient of CtmThe total compression volume of the two cavities and the connecting pipeline of the motor is VtThe effective elastic modulus of the oil is betaeThe mathematical model of the hydraulic motor is as follows:
13) the equivalent total inertia of a motor shaft is recorded as JtViscous damping coefficient of BmLoad torque of MLThe load characteristic model of the rotary system of the drilling machine is as follows:
14) neglecting the leakage of the motor, QL＝Qv(ii) a The total flow pressure coefficient is recorded as Kce＝Kc+CtmAnd the Laplace operator is s, and the mathematical model of the rotary system of the drilling machine obtained by integration is as follows:
3. the cooperative adaptive control method for the propulsion and rotation of the jumbolter according to claim 1, wherein the concrete contents of the step 6) are as follows:
61) a second-order active disturbance rejection controller is adopted to respectively realize the propulsion control of a propulsion system and the rotating speed control of a rotary system of the jumbolter; the active disturbance rejection controller consists of three parts: a differential tracker, an extended state observer and a nonlinear state error feedback control rate;
62) the given value of the controlled quantity is recorded as R, the expected sequence of R in the transition process and the first order differential of R are respectively v1And v2The sampling step length is h, and the filter factor is h0The optimal control function is fhan (), and the velocity factors are r and v1The sampling value at the current moment t is v1(t) the next time t +1 predicts a sample value of v1(t +1), wherein the initial given value R (0) is a preset given value, and the initial values of all other variables at the time when t is 0 are set to 0; the differential tracker is:
wherein, fhan () can be represented as:
63) noting the state variable as z1And z2Total interference amount is z3The nonlinear function is fal (), the system output quantity is y, and the observer gain is beta01、β02、β03And parameter b0The extended state observer is:
wherein fal () can be expressed as:
64) noting the proportional gain and the differential coefficient as beta11And beta12The nonlinear feedback output is u0A nonlinear coefficient of1、a2Designing the nonlinear state error feedback control rate as follows:
4. the cooperative adaptive control method for the propulsion and rotation of the jumbolter according to claim 3, wherein the step 7) comprises the following specific steps:
71) building an active disturbance rejection controller and a jumbolter physical system based on a combined simulation platform of Matlab and AMESim;
72) reasonably adjusting controller parameters r and h0、β01、β02、β03、β11、β12And b0Converging the system tracking error to zero at t → ∞;
73) experiments verify the effectiveness and the rationality of the provided jumbolter propelling and rotating cooperative adaptive control method.
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