Anchor rod drill machine propulsion and rotation system and cooperative self-adaptation control method thereof

Abstract

The invention discloses an anchor rod drill machine propulsion and rotation system and a cooperative self-adaptation control method thereof to increase the anchor protection speed and improve the drilling quality. Firstly, in order to restrain nonlinearity of a drill machine system and improve robustness of the drilling process, active disturbance rejection control is implemented for single loopsof a propulsion system and a rotation system; secondly, a rock hardness coefficient obtaining method based on drill machine while-drilling information is given; finally, a composite control mode is adopted, according to the estimated rock hardness coefficient, the optimal propulsion force and the optimal rotation speed of drilling of a drilling machine of this time are determined, and accordinglycooperative action of the anchor rod rotation and propulsion systems is achieved; and when the estimated rock hardness coefficient differs from the actual value, according to the low-frequency filtering value of the rotation pressure, the optimal propulsion force is adjusted in a self-adaptation mode, and the self-adaptation capacity of an anchor rod drill machine is improved.

Description

technical field [0001] The invention relates to a propulsion and rotation system of a rock bolter and a cooperative self-adaptive control method thereof, belonging to the technical field of engineering machinery automatic control. Background technique [0002] The rock bolt rig is one of the key equipment in the construction of geotechnical anchoring engineering, and its equipment performance directly determines the progress and quality of the entire project. The rock bolter is mainly composed of two parts, including the propulsion system and the slewing system. Among them, the propulsion system applies propulsion to make the drill bit closely contact with the rock at the bottom of the hole, and then generates a rotating torque through the slewing system to cut the rock. The two work together to achieve the purpose of effectively breaking the rock. It can be seen that the performance of the propulsion system and the slewing system jointly determine the drilling quality and ...

AI Technical Summary

Problems solved by technology

This method greatly improves the adaptability of the drilling rig, but lacks the basis for setting the given value of the rotational speed and thrust of the drilling rig

[0010] At present, the research on drilling rig control mainly focuses on the independent control of the drilling rig propulsion system and the rotary system, and there are few studies on the cooperative control of drilling rig propulsion and rotation; moreover, the setting values ​​of the drilling rig speed and propulsion force in the existing research are usually based on manual experience. It does not rely on surrounding rock properties for self-regulation, resulting in the drilling process often not running in the optimal state

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