A propulsion and rotation system of a rock bolter and its cooperative self-adaptive control method

Abstract

The invention discloses a propulsion and rotation system of a rock bolt rig and a cooperative self-adaptive control method thereof, in order to improve the speed of anchoring and protection and the quality of drilling. And slewing system single loop implementation of active disturbance rejection control. Secondly, a method for obtaining rock hardness coefficient based on drilling rig information is given. Finally, the composite control method is used to determine the optimal propulsion force and optimal rotation speed of the drilling rig for the current drilling according to the estimated rock hardness coefficient, so as to realize the coordinated action between the bolt rotation and the propulsion system; When there is a difference between the coefficient and the actual value, according to the low-frequency filter value of the rotary pressure, the optimal propulsion force is adaptively adjusted to enhance the self-adaptive ability of the rock bolter.

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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