CN114800493B8 - 基于强化学习的钻孔力矩稳定性控制系统及方法 - Google Patents

基于强化学习的钻孔力矩稳定性控制系统及方法 Download PDF

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Publication number
CN114800493B8
CN114800493B8 CN202210379998.5A CN202210379998A CN114800493B8 CN 114800493 B8 CN114800493 B8 CN 114800493B8 CN 202210379998 A CN202210379998 A CN 202210379998A CN 114800493 B8 CN114800493 B8 CN 114800493B8
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China
Prior art keywords
drilling
mechanical arm
drill
stability control
method based
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Active
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CN202210379998.5A
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English (en)
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CN114800493A (zh
CN114800493B (zh
Inventor
俞建峰
俞俊楠
徐日泰
刘锐
王逸涵
秦天
廖一
方成缘
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Wuxi Rigid Machinery Co ltd
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Wuxi Rigid Machinery Co ltd
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Priority to CN202210379998.5A priority Critical patent/CN114800493B8/zh
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Publication of CN114800493B publication Critical patent/CN114800493B/zh
Publication of CN114800493B8 publication Critical patent/CN114800493B8/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/005—Devices for the automatic drive or the program control of the machines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Earth Drilling (AREA)
  • Automatic Control Of Machine Tools (AREA)

Abstract

本发明公开了基于强化学习的钻孔力矩稳定性控制系统及方法，属于钻机控制技术领域。所述系统包括：上位机、位移传感器、控制器、力传感器、机械臂、钻孔器。本发明通过将实时的机械臂位姿信号、钻孔器阻力与扭矩信号输入到训练好的钻孔力矩稳定性控制模型，输出机械臂的位姿调整信号以及推进力大小，控制器根据调整信号实时调整机械臂的实时位姿以及钻孔器受到的推进力。通过上述操作使钻头的轴线在钻孔过程中始终与孔位的轴线保持重合，推进力始终与扭矩相匹配，降低钻孔冲击载荷，以保证钻孔质量。
CN202210379998.5A 2022-04-06 2022-04-06 基于强化学习的钻孔力矩稳定性控制系统及方法 Active CN114800493B8 (zh)

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CN202210379998.5A CN114800493B8 (zh) 2022-04-06 2022-04-06 基于强化学习的钻孔力矩稳定性控制系统及方法

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Application Number Priority Date Filing Date Title
CN202210379998.5A CN114800493B8 (zh) 2022-04-06 2022-04-06 基于强化学习的钻孔力矩稳定性控制系统及方法

Publications (3)

Publication Number Publication Date
CN114800493A CN114800493A (zh) 2022-07-29
CN114800493B CN114800493B (zh) 2023-10-27
CN114800493B8 true CN114800493B8 (zh) 2023-11-14

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5794723A (en) * 1995-12-12 1998-08-18 Boart Longyear Company Drilling rig
CN108161934A (zh) * 2017-12-25 2018-06-15 清华大学 一种利用深度强化学习实现机器人多轴孔装配的方法
CN111360834A (zh) * 2020-03-25 2020-07-03 中南大学 一种基于深度强化学习的仿人机器人运动控制方法及系统

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11512578B2 (en) * 2019-12-30 2022-11-29 Wwt North America Holdings, Inc. Downhole active torque control method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5794723A (en) * 1995-12-12 1998-08-18 Boart Longyear Company Drilling rig
CN108161934A (zh) * 2017-12-25 2018-06-15 清华大学 一种利用深度强化学习实现机器人多轴孔装配的方法
CN111360834A (zh) * 2020-03-25 2020-07-03 中南大学 一种基于深度强化学习的仿人机器人运动控制方法及系统

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CN114800493A (zh) 2022-07-29
CN114800493B (zh) 2023-10-27

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Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20231017

Address after: 214000 Huaqi village, Luoshe Town, Huishan District, Wuxi City, Jiangsu Province

Patentee after: WUXI RIGID MACHINERY Co.,Ltd.

Address before: No. 1800 road 214122 Jiangsu Lihu Binhu District City of Wuxi Province

Patentee before: Jiangnan University

TR01 Transfer of patent right
CI03 Correction of invention patent

Correction item: Patentee|Address

Correct: WUXI RIGID MACHINERY Co.,Ltd.|214000 Huaqi village, Luoshe Town, Huishan District, Wuxi City, Jiangsu Province

False: Jiangnan University|No. 1800 road 214122 Jiangsu Lihu Binhu District City of Wuxi Province

Number: 43-02

Page: The title page

Volume: 39

Correction item: Patentee|Address

Correct: WUXI RIGID MACHINERY Co.,Ltd.|214000 Huaqi village, Luoshe Town, Huishan District, Wuxi City, Jiangsu Province

False: Jiangnan University|No. 1800 road 214122 Jiangsu Lihu Binhu District City of Wuxi Province

Number: 43-02

Volume: 39

CI03 Correction of invention patent
OR01 Other related matters
OR01 Other related matters