CN108710754A - A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force - Google Patents
A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force Download PDFInfo
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- CN108710754A CN108710754A CN201810478099.4A CN201810478099A CN108710754A CN 108710754 A CN108710754 A CN 108710754A CN 201810478099 A CN201810478099 A CN 201810478099A CN 108710754 A CN108710754 A CN 108710754A
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- jumbolter
- main valve
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- propulsive force
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
Abstract
The invention discloses a kind of optimal Auto-disturbance-rejection Controls of jumbolter propulsive force, characterized in that includes the following steps：Step 1) establishes jumbolter propulsion system mathematical model；Step 2) is using drilling machine with information is bored, and setting drilling machine is when time optimal propulsive force of drilling；Step 3) combines particle swarm optimization algorithm, designs optimal automatic disturbance rejection controller；Union simulation platform of the step 4) based on Matlab and AMESim verifies the validity and reasonability of put forward jumbolter propulsion system control method.The advantageous effect that the present invention is reached：The present invention is suitable for the optimum control of jumbolter propulsive force, solves the problems, such as that conventional drilling machine control is big to operating personnel's working experience dependence；Drilling machine adaptively adjusts propulsive force according to drilling country rock character, to reduce the failures such as drilling machine disconnected bar, other bar, improves working efficiency and driving speed, lays the foundation for rig automation, intelligence.
Description
Technical field
The present invention relates to a kind of optimal Auto-disturbance-rejection Controls of jumbolter propulsive force, belong to engineering machinery and automatically control skill
Art field.
Background technology
Jumbolter is one of the key equipment in geotechnical anchor engineering construction, and equipment performance directly determines entire work
The progress and quality of journey.This patent mainly studies the axial feeding force control of jumbolter.In drilling operation, propulsive mechanism is to boring
Head applies certain axial force, and drill bit is made to be in close contact with rock, effectively assists swing mechanism fractured rock.Studies have shown that just
When propulsive force, drilling machine can be made to work in the optimal drilling area of rock, can get maximum drilling efficiency and rate of penetration.If
Propulsive force is too small, and drill bit cannot be in close contact with bottom hole rock, and rate of penetration can be greatly reduced.Conversely, excessive propulsive force,
It can aggravate bit wear, or even curved bar or disconnected bar occur.Therefore, accurately controlling as raising drilling machine rate of penetration to propulsive force
Key.
For the control of jumbolter propulsive force, document (Hu Zhijian, Peng Song, Geng Li engineering geological drilling rigs rotary drilling ratio
The Mo Nifenxi [ of example control system;J]Lathe and hydraulic pressure, 2009,37 (10):219-221.) ratio pressure regulating pump, realization is used to push away
There are high dithers for the propulsive force for controlling, but generating into system.
Document (Wu W R, Xu Z.Mechanical Mechanics and Application of High Speed
On/Off Valve to Feeding System of Hydraulic Drilling Rig[J].Advanced
Materials Research,2014,908:330-334.) pwm signal is utilized, by controlling high-speed switch valve events, is realized
The proportion adjustment of drilling machine propulsive force provides reliable reference frame for optimization drilling platforms hydraulic system.But high-speed switch valve
It is on the high side, at present using few on jumbolter.
(hydraulic drill rig for adapting to complex working condition promotes rotary control system research [ to document;D]Central South University, 2014) it uses
Fuzzy control automatically adjusts the propelling pressure of down-the-hole drill, is allowed to match with drilling machine rotation pressure, to realize down-the-hole drill
Fast drilling, and pre- preventing sticking.But controlled quentity controlled variable is designed based on fuzzy rule, therefore, has control accuracy poor, response speed
Spend slow defect.
Patent (such as Lu Jianbo, Wu Cheng, Pan Kaifang motor loads and propulsive force self-adaptive hydraulic drilling machine;P], CN
201358708.2009.12.9) remote control pressure reducing valve is set in promoting circuit；The remote control pressure reducing valve is connected by its load-sensing body
It is connected to drilling machine rotary loop.When rotary loop detect drill load increase when, promote circuit can automatically reduce propulsive force and
Fltting speed；Conversely, when drill load reduces, propulsive force can be increased automatically；To improve the rock stratum adaptive ability of drilling machine.
Patent (Wang Shikun, Li Baogui, high hero, the efficient drilling machine automatic control systems of the rigid of Jiang Yin;P], CN
203223215U, 2013.10.2) it increases separately rotation pressure sensor in rock drill rotary loop and propulsion circuit and feeds and press
Force snesor.It is detected by real-time working condition, the impact energy, rotational speed and feeding liquid of rock drill is automatically adjusted using controller
Cylinder pressure propulsive force controls the movement of drill steel, achievees the purpose that reduce drill steel damage and improves working efficiency.
Patent (the drilling machines such as Lu Jianbo, Pan Kaifang, Hu Renchun jog-opening, adaptive ability and automatic anti-blocking and rotating function
Realize [P], CN 101358522A, 2009.02.4) and by the way that original drill configuration is transformed, using mechanical system, solve hand drill
Machine control mode does not adapt to the deficiency of formation variations.
Currently, the research of drilling machine propulsive force is concentrated mainly on two aspects：On the one hand, proportion of utilization pressure regulating pump, load-sensitive
The components such as device, high-speed switch valve realize that the self adaptive control to drilling machine propulsive force, this method reliability are low；On the other hand, root
According to the rotation pressure information of acquisition, proportion of utilization valve and variable pump realize the logic control of propulsive force.It is enclosed in difference due to lacking
Optimal propulsive force estimation under rock, so can not achieve the self adaptive control of propulsive force.
Invention content
To solve the deficiencies in the prior art, the purpose of the present invention is to provide a kind of optimal active disturbance rejections of jumbolter propulsive force
Control method realizes automatic adjusument of the drilling machine propulsive force according to country rock character, reaches raising anchoring speed and supporting quality, with
And reduce the purpose of drilling machine failure.
In order to realize that above-mentioned target, the present invention adopt the following technical scheme that：
A kind of jumbolter propulsion system, characterized in that including threephase asynchronous machine, constant displacement pump, high-pressure filter, safety
Valve, electricity liquid ratio relief valve, electromagnetic direction valve and hydraulic cylinder；The threephase asynchronous machine is connected with constant displacement pump；It is described fixed
It measures the high pressure oil pumped out and flows to electricity liquid ratio relief valve and electromagnetic direction valve respectively after high-pressure filter；The electro-hydraulic ratio
Example overflow valve and constant displacement pump are also associated with same fuel tank；The electromagnetic direction valve is bi-directionally connected with hydraulic cylinder；The hydraulic oil
Cylinder is also associated with load；The electricity liquid ratio relief valve include damping hole, sequentially connected proportion electro-magnet, pilot control grade and
Main valve controlled stage；It is provided with pilot valve in the pilot control grade, valve core of main valve is provided in main valve controlled stage；The damping
Hole is for shunting emulsion.
A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force, characterized in that include the following steps：
Step 1) establishes above-mentioned jumbolter propulsion system mathematical model；
Step 2) is using drilling machine with information is bored, and setting drilling machine is when time optimal propulsive force of drilling；
Step 3) combines particle swarm optimization algorithm, designs optimal automatic disturbance rejection controller；
Union simulation platform of the step 4) based on Matlab and AMESim verifies put forward jumbolter propulsion system controlling party
The validity and reasonability of method.A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force above-mentioned, characterized in that the step
Rapid particular content 1) is：
101) when the proportion electro-magnet coil of electricity liquid ratio relief valve is powered, the electromagnetic force of generation is in pilot valve
On；Emulsion is through damping hole R1Shunting, the part after shunting pass through damping hole R2, act on valve core of main valve epicoele, another part
Pass through damping hole R3, act on pilot valve；
If the emulsion pressure acted on pilot valve cannot overcome electromagnetic force, valve core of main valve epicoele and lower cavity pressure close
Patibhaga-nimitta etc., under main spool spring initial forces, main valve remains off；When emulsion pressure be more than pilot valve electromagnetic force,
Pilot valve is opened；Through damping hole R1Afterwards, emulsion pressure declines, and causes cavity pressure under main valve to be more than upper cavity pressure, main valve is opened；
102) note proportion electro-magnet input current is I, output electromagnetic force is Fem, gain Kb, Laplace operator s,
The mathematical model of proportion electro-magnet is：
103) remember that pilot valve core and push rod quality sum are m2, pilot valve viscous damping coefficient is Bv, equivalent spring rigidity Kv,
Pilot valve core displacement is X2, the proportionality coefficient of pilot stage is Km=1/Kv, intrinsic frequency beDamped coefficient is distinguished
ForThe mathematical model of pilot control grade is：
104) cavity of resorption of note main valve and upper cavity pressure are respectively p1, p2, and main valve lower surface and upper surface forced area are distinguished
For A1、A2, valve core of main valve and push rod quality sum are m1, valve core of main valve spring rate is K, and the initial compression amount of spring is X10, main
Valve core displacement is X1, steady-state fluid force Fh, then
Remember Δ Fh、ΔX1、Δp1With Δ p2Respectively Fh、X1、p1And p2Variable quantity,Indicate FhAbout X1One
Rank local derviation, thenAfter linearized processing, it is expressed as Δ Fh=Kh1ΔX1+Kh2
(Δp1-Δp2)；
105) note fluid effective modulus of elasticity is βe, the flow pressure coefficient of fixer resistance is GR1, the flow gain and stream of pilot valve
Amount-pressure coefficient is respectively Kq2And Kc2, pilot valve main line flow and pilot valve bypass flow are respectively Q2And Q4, main valve epicoele flow is
Q3, main valve epicoele volume is V2, then
106) note main valve intrinsic frequency isMain valve epicoele corner frequency is ωc=(GR1+Kc2)
βe/V2, it is ω that main valve, which dominates corner frequency,v=(K+Kh1)(GR1+Kc2)/A2 2, effective active area isThen valve core of main valve displacement X1It is expressed as：
Wherein
107) it is based on ωMAnd ωcMuch larger than hydraulic propelling system intrinsic frequency, ignore its influence to system control performance,
By X1(s) simplified, had
108) note proportional pressure control valve excess flow is Q, and main valve cavity of resorption flow is Q1, main valve cavity of resorption volume is V1, the stream of main valve
Flow gain and flow-pressure coefficient are respectively Kq1And Kc1, then the valve port flow of main valve be：
109) remember K0=K1/(1+K1Kc1), K1=(K+Kh1)/AKq1, ω1=Kc1βe/V1,D (s)=K0(1+s/ωv), ignore with height
The corner frequency K of frequency characteristicq1/A1Influence, obtain the output pressure p of proportional pressure control valve1With pilot valve displacement X2, Yi Jiyi
Flow valve input flow rate Q1Between transmission function relationship be：
110) remember that propulsion system power output and load force are respectively F and FL, drill bit displacement is x, drilling rod and propelling cylinder
Total weight is m, and propelling cylinder back oil cavity pressure is p3, two chamber effective active area of propelling cylinder is respectively A3And A4, propulsion system
Load equivalent spring rate is KL, drilling machine is into the sum of frictional force, vibration interference and the resistance difficult to model during brill
F1, the mathematical model of propelling cylinder is：
111) according to proportional pressure control valve mathematical model and propelling cylinder mathematical model, it is comprehensive obtain propulsion system power output with it is electro-hydraulic
Meeting following functional relation between proportional pressure control valve input current is：
A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force above-mentioned, characterized in that by pilot valve in the step 112)
Natural frequency ωmIt is designed as main valve equivalent frequency ω0100 times or more, propulsion system mathematical model is simplified, is had
A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force above-mentioned, characterized in that the step 2) it is specific
Content is：
According to propulsive force F (k-1) of the obtained drilling machine of detection in the drilling process in k-1 stages, forward displacement x (k-1),
Rotating speed n (k-1) and moment information T (k-1), estimates hardness coefficient of rock f (k) in the drilling process in this k stages；
Note drill pipe diameter is D, regulating constant λ, sets k stages optimal propulsive force Fv(k) it is：Fv(k)=λ Df (k).
A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force above-mentioned, characterized in that the step 3) it is specific
Content is：
31) second-order active disturbance rejection controller is used, realizes jumbolter propulsion system feeding force control；Automatic disturbance rejection controller packet
Include differential tracker, extended state observer and nonlinear state error feedback rate control；
The velocity factor r and filtering factor h of differential tracker0, extended state observer gain beta01, β02, β03With parameter b0,
And gain beta in nonlinear feedback controller11And β12；
32) particle swarm optimization algorithm is used to adjust the parameter of above-mentioned automatic disturbance rejection controller；
Remember that particle number is m in population0, the dimension of each particle is D, then the position of i-th of particle is expressed as xi=
(xi1,xi2,…,xiD), i=1,2 ..., m0；Its speed is vi=(vi1,vi2,…,viD)；The optimal position that i-th of particle search arrives
It is set to pi=(pi1,pi2,…,piD), p hereiIt can directly be indicated with the vector on the right of equation, with the p occurred among the above1、
p2Difference, the optimal location that entire population searches are pg=(pg1,pg2,…,pgD)；
Inertia weight is w, acceleration constant c1And c2, r1And r2Wei [0,1]Between equally distributed stochastic variable, then often
A particle passes through formulaIts speed is updated, formula is passed through
Its position is updated, realizes evolutionary search；D-th of optimal location of i-th of particle during expression iv-th iteration,It indicates
The speed of d-th of optimal location of i-th of particle during iv-th iteration,I-th of particle during expression iv-th iteration
D-th of position,D-th of optimal location of entire population during expression iv-th iteration；
33) particle uses real coding form, is denoted as xi=(r, h0,β01,β02,β03,β11,β12,b0)；
34) consider the rapidity and accuracy requirement of drilling machine feeding force control system, the product between taking the opportunity using absolute error
Divide criterion as object function, increases the performance indicator of measurement overshoot in object function：
Note weights are ω1And ω2, the instantaneous error of system is e (t), overshoot Mp, obtains integrated objective function
35) it is directed to above-mentioned object function, builds the particle group optimizing setting method of automatic disturbance rejection controller parameter.
A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force above-mentioned, characterized in that the step 35) it is specific
Content is：
351) initial position and speed of all particles of population are initialized；
352) by the automatic disturbance rejection controller parameter corresponding to each particle position, the physics for introducing feeding force control system is imitative
True system runs and calculates its desired value；
353) according to the desired value of each particle, update local optimum particle, global optimum's particle and its local extremum and
Global extremum；
354) position and speed of each particle is updated；
355) judge whether to reach maximum iterations, if meeting Rule of judgment, terminate search, and export complete
Office's optimal solution；Otherwise, it jumps to 352).
A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force above-mentioned, characterized in that the step 4) it is specific
Content is：
41) union simulation platform based on Matlab and AMESim, realizes optimal automatic disturbance rejection controller and jumbolter
Propulsion system is built；
42) the optimal Auto-disturbance-rejection Control validity of jumbolter propulsive force and reasonability that experimental verification is carried.
The advantageous effect that the present invention is reached：The present invention is suitable for the optimum control of jumbolter propulsive force, solves biography
The system drill control problem big to operating personnel's working experience dependence；Drilling machine is pushed away according to drilling country rock character, adaptive adjustment
Working efficiency and driving speed are improved, is established for rig automation, intelligence to reduce the failures such as drilling machine disconnected bar, other bar into power
Fixed basis.
Description of the drawings
Fig. 1 is jumbolter propulsion system schematic diagram；
Fig. 2 is electricity liquid ratio relief valve structure composition；
Fig. 3 is propulsion system transmission function block diagram；
Fig. 4 is propulsion system control block diagram；
Fig. 5 is the union simulation platform based on Matlab and AMESim；
Fig. 6 is ADRC the and PI controller parameter optimization process based on PSO；
Fig. 7 is that differential tracker exports reference locus under different surrounding rock character；
Fig. 8 is that different ADRC controller performances compare；
Fig. 9 is that two classes towards gradual change country rock promote force controller performance curve.
The meaning of reference numeral in figure：
1- threephase asynchronous machines, 2- constant displacement pumps, 3- high-pressure filters, 4- electricity liquid ratio relief valves, 5- electromagnetic direction valves, 6-
Hydraulic cylinder, 7- loads, 8- proportional overflow valve control signals, 9- fuel tanks.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
This method sets optimal propulsive force according to country rock character first；Secondly, it is contemplated that jumbolter hydraulic system
Non-linear, parameter time varying and more interference characteristics realize drilling machine feeding force control using automatic disturbance rejection controller；Finally, consider
System response quickly of system and dynamic stability requirement, it is adaptive to adjust automatic disturbance rejection controller parameter using particle swarm optimization algorithm,
Ensure that drilling machine propulsion system obtains best response performance.
In the present embodiment, jumbolter devices in system core parameter value, as shown in table 1.
| Can Shuo [Dan Wei ] | Numerical value | Can Shuo [Dan Wei ] | Numerical value |
| Kb[N/A] | 20 | m2[kg] | 0.00185 |
| Be[N/m2] | 7×108 | ρ[kg/m3] | 850 |
| Bv[N/(m·s)] | 1.63 | Kv[N/m] | 2921 |
| A1[mm2] | 804 | A2[mm2] | 804 |
| m1[kg] | 0.092 | V1[cm3] | 5080 |
| V2[cm3] | 504 | GR1[cm3/(MPa·s)] | 51.2 |
1 jumbolter propulsion system core parameter value of table
Jincheng Sihe Coal Mine roadway surrounding rock data of actual acquisition, as shown in table 2.
| Lithology | Cumulative thickness/m | Thickness/m | Compression strength/MPa | Hardness coefficient of rock |
| Packsand | 6.33 | 1.1 | 114.9 | 11.5 |
| Sandstone | 7.28 | 2.7 | 89.6 | 9 |
| Middle sandstone | 4.91 | 0.55 | 77.3 | 7.7 |
| Argillaceous sandstone | 10 | 3.67 | 45.2 | 4.5 |
| Argillaceous sandstone | 5.23 | 0.32 | 35.6 | 3.6 |
| Argillaceous sandstone | 4.36 | 2.96 | 32.35 | 3.2 |
| Coal seam | 1.4 | 1.4 | 21.9 | 2.2 |
2 Jincheng Sihe Coal Mine roadway surrounding rock intensity of table
Using particle swarm optimization algorithm, parameter optimization is carried out to automatic disturbance rejection controller and PI controllers respectively.Setting waits for whole
The search range for determining parameter is：r∈[10,100000], h0∈[0.001,1], β01∈[0,1000], β02∈[0,10000],
β03∈[0,10000], β11∈[0,100], β12∈[0,2], b0∈[0.1,3]；KP∈[0.1,1], KI∈[0.1,0.8]。
It is 100 to choose population scale, maximum iteration 100.Population searching process is as shown in Fig. 6.It utilizes
Priori, the adjustable section of setting PI control parameters.Therefore, compared to PI controller parameter searching processes, ADRC controllers are sought
Excellent process is slower.
The controller parameter value of acquisition is：PSO-ADRC：β01=878.8375, β02=8435.8676, β03=
6022.1461 β11=199.8151, β12=3.5746, b0=1.1956.
PI：KP=0.624, KI=0.283.
It verifies under different surrounding rock character, differential tracker, which exports reference locus, influences controller performance.Consider drilling machine from
Sandy Silt drills into middle sandstone, and according to optimal propulsive force calculation formula, it is Fv=to be converted into the optimal propulsive force of Sandy Silt
576N；The middle optimal propulsive force of sandstone is Fv=985.6N.
According to traditional automatic disturbance rejection controller parameter tuning method, tradition automatic disturbance rejection controller differential tracker parameter is determined
For：R=20000, h0=0.01.The other parameters of controller adjust to obtain using PSO, consistent with above-mentioned PSO-ADRC.
The differential tracker parameter adjusted based on particle swarm optimization algorithm is as shown in table 3.
PSO-ADRC is compared with tradition ADRC control performances under 3 different surrounding rock character of table
Obviously, the expected response track under different surrounding rock is different.Compare tradition ADRC controllers and PSO-ADRC controls
The differential tracker output reference locus of device processed is as shown in Fig. 7, corresponding feeding force control performance, as shown in Fig. 8.Work as brill
When machine drills into middle sandstone from Sandy Silt, traditional ADRC controllers regulating time surpasses in 1.2s or more with larger
It adjusts.This is because the velocity factor of differential tracker is chosen by rule of thumb in tradition ADRC, the association of system other parts is not considered
It influences.Larger velocity factor, it is ensured that faster response speed.But the inherent characteristic of drilling machine propulsion system, lead to it
Real response process cannot track expected response path well, generate larger dynamic error, form overshoot.In particular, working as
Country rock character is crept into there are when lesser degree of variation, the overshoot of system response becomes apparent.Attached drawing 8 is compared it is found that this is special
Profit carries optimal automatic disturbance rejection controller, by adjusting module based on PSO, can be obtained best micro- under different surrounding rock character
Divide tracker parameters, significantly improves the response speed of control system, and can ensure response process non-overshoot, make borer system
Obtain optimal dynamic property.
Verify the tracking performance of optimal propulsive force under gradual change wall rock condition.When drilling machine is in drilling process, the country rock encountered
Character makes drilling propulsive force meet optimum performance requirement there are constantly regulate proportional overflow valve outlet pressure when gradual change,.Assuming that
Country rock estimates that optimal propulsive force is the ramp signal of 409.6-985.6N, such as 9 institute of attached drawing there are two class of Sandy Silt and middle sandstone
Show.When drilling machine operates in gradual change country rock, other external disturbances are not present, the fast response time of optimal automatic disturbance rejection controller, and
Without steady-state error；Meanwhile in adjustment process, non-overshoot.But there are the steady-state errors of 19.78N for PI controllers, and deposit
In slightly reciprocal adjustment.Optimal automatic disturbance rejection controller has control performance more superior than conventional PI control.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force, characterized in that include the following steps：
Step 1) establishes jumbolter propulsion system mathematical model；
Step 2) is using drilling machine with information is bored, and setting drilling machine is when time optimal propulsive force of drilling；
Step 3) combines particle swarm optimization algorithm, designs optimal automatic disturbance rejection controller；
Union simulation platform of the step 4) based on Matlab and AMESim verifies put forward jumbolter propulsion system control method
Validity and reasonability.
2. a kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force according to claim 1, characterized in that the anchor
Bar drill machine propulsion system includes threephase asynchronous machine, constant displacement pump, high-pressure filter, safety valve, electricity liquid ratio relief valve, electromagnetism side
To valve and hydraulic cylinder；The threephase asynchronous machine is connected with constant displacement pump；The high pressure oil that the constant displacement pump pumps out, by high pressure
After oil filter, electricity liquid ratio relief valve and electromagnetic direction valve are flowed to respectively；The electricity liquid ratio relief valve and constant displacement pump are also connected with
There is same fuel tank；The electromagnetic direction valve is bi-directionally connected with hydraulic cylinder；The hydraulic cylinder is also associated with load；
The electricity liquid ratio relief valve includes damping hole, sequentially connected proportion electro-magnet, pilot control grade and main valve controlled stage；
It is provided with pilot valve in the pilot control grade, valve core of main valve is provided in main valve controlled stage；The damping hole is for shunting
Emulsion.
3. a kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force according to claim 2, characterized in that the step
Rapid particular content 1) is：
101) when the proportion electro-magnet coil of electricity liquid ratio relief valve is powered, the electromagnetic force of generation is in pilot valve；
Emulsion is through damping hole R1Shunting, the part after shunting pass through damping hole R2, valve core of main valve epicoele is acted on, another part is logical
Overdamp hole R3, act on pilot valve；
If the emulsion pressure acted on pilot valve cannot overcome electromagnetic force, valve core of main valve epicoele and lower cavity pressure approximation phase
Deng under main spool spring initial forces, main valve remains off；When emulsion pressure is more than pilot valve electromagnetic force, guide
Valve is opened；Through damping hole R1Afterwards, emulsion pressure declines, and causes cavity pressure under main valve to be more than upper cavity pressure, main valve is opened；
102) note proportion electro-magnet input current is I, output electromagnetic force is Fem, gain Kb, Laplace operator s, ratio
The mathematical model of electromagnet is：
103) remember that pilot valve core and push rod quality sum are m2, pilot valve viscous damping coefficient is Bv, equivalent spring rigidity Kv, first
Pilot valve spool displacement is X2, the proportionality coefficient of pilot stage is Km=1/Kv, intrinsic frequency beDamped coefficient is distinguished
ForThe mathematical model of pilot control grade is：
104) cavity of resorption of note main valve and upper cavity pressure are respectively p1、p2, main valve lower surface and upper surface forced area are respectively A1、
A2, valve core of main valve and push rod quality sum are m1, valve core of main valve spring rate is K, and the initial compression amount of spring is X10, main valve valve
Core displacement is X1, steady-state fluid force Fh, then
Remember Δ Fh、ΔX1、Δp1With Δ p2Respectively Fh、X1、p1And p2Variable quantity,Indicate FhAbout X1Single order it is inclined
It leads, thenAfter linearized processing, it is expressed as Δ Fh=Kh1ΔX1+Kh2(Δ
p1-Δp2)；
105) note fluid effective modulus of elasticity is βe, the flow pressure coefficient of fixer resistance is GR1, the flow gain of pilot valve with
Flow-pressure coefficient is respectively Kq2And Kc2, pilot valve main line flow and pilot valve bypass flow are respectively Q2And Q4, on main valve
Chamber flow is Q3, main valve epicoele volume is V2, thenQ4
=Kq2X2+Kc2p2；
106) note main valve intrinsic frequency isMain valve epicoele corner frequency is ωc=(GR1+Kc2)βe/
V2, it is ω that main valve, which dominates corner frequency,v=(K+Kh1)(GR1+Kc2)/A2 2, effective active area isThen valve core of main valve displacement X1It is expressed as：
Wherein
107) it is based on ωMAnd ωcMuch larger than hydraulic propelling system intrinsic frequency, ignore its influence to system control performance, by X1
(s) simplified, had
108) note proportional pressure control valve excess flow is Q, and main valve cavity of resorption flow is Q1, main valve cavity of resorption volume is V1, the flow gain of main valve with
Flow-pressure coefficient is respectively Kq1And Kc1, then the valve port flow of main valve be：
109) remember K0=K1/(1+K1Kc1), K1=(K+Kh1)/AKq1, ω1=Kc1βe/V1,D (s)=K0(1+s/ωv), ignore with height
The corner frequency K of frequency characteristicq1/A1Influence, obtain the output pressure p of proportional pressure control valve1With pilot valve displacement X2, Yi Jiyi
Flow valve input flow rate Q1Between transmission function relationship be：
110) remember that propulsion system power output and load force are respectively F and FL, drill bit displacement is x, drilling rod and propelling cylinder total weight
For m, propelling cylinder back oil cavity pressure is p3, two chamber effective active area of propelling cylinder is respectively A3And A4, propulsion system load etc.
Effect spring rate is KL, drilling machine into the sum of frictional force, vibration interference and resistance difficult to model during brill be F1, promote
The mathematical model of oil cylinder is：
111) according to proportional pressure control valve mathematical model and propelling cylinder mathematical model, it is comprehensive obtain propulsion system power output with it is electro-hydraulic
Meeting following functional relation between proportional pressure control valve input current is：
4. a kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force according to claim 3, characterized in that the step
It is rapid 112) in by the natural frequency ω of pilot valvemIt is designed as main valve equivalent frequency ω0100 times or more, by propulsion system mathematical modulo
Type is simplified, and is had
5. a kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force according to claim 3, characterized in that the step
Rapid particular content 2) is：
Propulsive force F (k-1), forward displacement x (k-1), rotating speed of the drilling machine obtained according to detection in the drilling process in k-1 stages
N (k-1) and moment information T (k-1), estimates hardness coefficient of rock f (k) in the drilling process in this k stages；
Note drill pipe diameter is D, regulating constant λ, sets k stages optimal propulsive force Fv(k) it is：Fv(k)=λ Df (k).
6. a kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force according to claim 5, characterized in that the step
Rapid particular content 3) is：
31) second-order active disturbance rejection controller is used, realizes jumbolter propulsion system feeding force control；Automatic disturbance rejection controller includes micro-
Divide tracker, extended state observer and nonlinear state error feedback rate control；
The velocity factor r and filtering factor h of differential tracker0, extended state observer gain beta01, β02, β03With parameter b0, and
Gain beta in nonlinear feedback controller11And β12；
32) particle swarm optimization algorithm is used to adjust the parameter of above-mentioned automatic disturbance rejection controller；
Remember that particle number is m in population0, the dimension of each particle is D, then the position of i-th of particle is expressed as xi=(xi1,
xi2,…,xiD), i=1,2 ..., m0；Its speed is vi=(vi1,vi2,…,viD)；I-th of particle search to optimal location be
pi=(pi1,pi2,…,piD), the optimal location that entire population searches is pg=(pg1,pg2,…,pgD)；
Inertia weight is w, acceleration constant c1And c2, r1And r2Wei [0,1]Between equally distributed stochastic variable, then each grain
Son passes through formulaIts speed is updated, formula is passed throughUpdate
Evolutionary search is realized in its position；D-th of optimal location of i-th of particle during expression iv-th iteration,Indicate N
The speed of d-th of optimal location of i-th of particle in secondary iterative process,Indicate i-th particle during iv-th iteration
D-th of position,D-th of optimal location of entire population during expression iv-th iteration；
33) particle uses real coding form, is denoted as xi=(r, h0,β01,β02,β03,β11,β12,b0)；
34) rapidity and accuracy requirement for considering drilling machine feeding force control system, the integral between being taken the opportunity using absolute error are accurate
It is then used as object function, increases the performance indicator of measurement overshoot in object function：
Note weights are ω1And ω2, the instantaneous error of system is e (t), overshoot Mp, obtains integrated objective function
35) it is directed to above-mentioned object function, builds the particle group optimizing setting method of automatic disturbance rejection controller parameter.
7. a kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force according to claim 6, characterized in that the step
Rapid particular content 35) is：
351) initial position and speed of all particles of population are initialized；
352) by the automatic disturbance rejection controller parameter corresponding to each particle position, the physical simulation system of feeding force control system is introduced
System, runs and calculates its desired value；
353) according to the desired value of each particle, update local optimum particle, global optimum's particle and its local extremum and the overall situation
Extreme value；
354) position and speed of each particle is updated；
355) judge whether to reach maximum iterations, if meeting Rule of judgment, terminate search, and export the overall situation most
Excellent solution；Otherwise, it jumps to 352).
8. a kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force according to claim 2, characterized in that the step
Rapid particular content 4) is：
41) union simulation platform based on Matlab and AMESim realizes that optimal automatic disturbance rejection controller and jumbolter promote
System building；
42) the optimal Auto-disturbance-rejection Control validity of jumbolter propulsive force and reasonability that experimental verification is carried.
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