A method for controlling the swing angle of the drill arm of a hydraulic rock bolter controlled by a frequency conversion pump

Abstract

The invention discloses a variable frequency pump control hydraulic anchor drill arm swing angle control method. Based on control requirements of the drill arm swing angle, the control method introduces a variable frequency pump control technology and constructs a novel variable frequency pump control anchor drill arm rotation system. The control method adopts a mechanism modeling method, establishes a mathematical model of the novel drill arm rotation system to analyze system characteristics and designs the drill arm swing angle sliding mode adaptive control method based on a dynamic switching function. The control method has the beneficial effects that the control method is suitable for precise position control of an anchor rod / anchor cable in the fully mechanized drivage road way support, good control performance is achieved in the variable frequency pump control drill arm rotation system, the impact of many uncertain factors in the system for the system can be effectively overcome,robustness is higher, yaw angle control requirements of the anchor rod / anchor cable installation in coal regulations can be better met, and the foundation is laid for implementation in order to achieve high-precision positioning and installation of the anchor rod / anchor cable.

Description

technical field [0001] The invention relates to a method for controlling the swing angle of a drill arm of a frequency conversion pump-controlled hydraulic rock bolt rig, and belongs to the technical field of frequency conversion pump control. Background technique [0002] In the process of roadway excavation, accurate and effective bolt / cable support is the key link to ensure the safe and reliable implementation of the subsequent coal mining process, which directly affects the production efficiency of coal enterprises and the safety of workers. The effectiveness of bolt / cable support depends on the overall structural design of the anchor network at the initial stage of roadway design, as well as the precise positioning and accurate drilling control of the bolter rig for the optimal position of the designed bolt / cable. In order to meet the installation requirements of bolts / cables at different positions, the drilling control of the rock bolter includes horizontal displacemen...

AI Technical Summary

Problems solved by technology

Literature (Ke Liang, Hui Xiangjun, Wang Weidong. Modeling and simulation of variable frequency pump control hydraulic speed regulation system [J]. Hydraulic and Pneumatic, 2014(11):53-58) adopts PID control to realize variable frequency pump control speed adjustment, Although it has good speed regulation accuracy and fast response, the system has large overshoot and steady-state error

Literature (Li Wenfeng, You Qinghe, Liao Qiang, et al. Adaptive fuzzy PID tension control of variable frequency pump controlled prestressed tension equipment [J]. Hydraulic and Pneumatic, 2016 (11): 48-54) designed the tension force The adaptive fuzzy PID controller, although the system has a small overshoot and adjustment time, but there is oscillation in the response process

Literature (Peng Tianhao, Xu Bing, Yang Huayong. Genetic Algorithm PID Control of Variable Frequency Pump Control Motor Speed ​​Regulation System [J]. Hydraulic and Pneumatic, 2003 (11): 1-3) proposed the optimization of PID control parameters based on genetic algorithm method, it has good robustness for variable frequency pump-controlled motor speed control system with slow time variation and load disturbance, but the control method is time-consuming to calculate, it is difficult to achieve online optimization, and it has a strong influence on the system model. depend on

Literature (Peng Tianhao, Xu Bing, Yang Huayong. Single neuron adaptive PID control of frequency conversion pump control motor speed control system [J]. China Mechanical Engineering, 2003, 14(20):1780-1783) for frequency conversion pump control A single-neuron self-adaptive PID control strategy is proposed. Although it has a low degree of dependence on the model and has better dynamic response characteristics, it does not consider the influence of load torque and external disturbance on the system.

On the one hand, since the variable frequency pump control method has the advantages of low system heat generation, low oil quality requirements, strong environmental adaptability, small overflow loss, and high system efficiency, especially, compared with the traditional variable variable pump control method, the variable frequency quantitative pump control method It can reduce system noise and improve system reliability; compared with the traditional valve control method, frequency conversion pump control has a larger adjustment range of drill boom position, so this patent constructs a new type of frequency conversion pump control drill boom rotation system; on the other hand, Considering that there are many uncertain factors in the drilling arm rotation system of the frequency conversion pump-controlled drilling rig constructed in this patent, including unmodeled friction, and when the drilling arm just touches the roof or two sides, the drilling arm is under the action of coal and rock blocks. Misalignment may occur, and the traditional control strategy is difficult to meet the precise positioning control requirements of the drill arm rotation system of the drilling rig

Images