Optimal active-disturbance-rejection control method of roof bolter propulsion force

Abstract

The invention discloses an optimal active-disturbance-rejection control method of roof bolter propulsion force. The method is characterized in that the method comprises the following steps: step 1), establishing a mathematical model of a roof bolter propulsion system; step 2), using bolter while-drilling information to set optimal propulsion force of current drilling of a roof bolter; step 3), combining a particle swarm optimization algorithm to design an optimal active-disturbance-rejection controller; and step 4), verifying effectiveness and rationality of the provided control method of theroof bolter propulsion system on the basis of a joint simulation platform of Matlab and AMESim. The method has the advantages that the method is suitable for use in optimal control of the roof bolterpropulsion force, and solves the problem that dependence of traditional bolter control on operator work experience is high; and the bolter adjusts the propulsion force in a self-adaptive manner according to characters of drilled surrounding rock, thus faults of roof breaking, roof jamming and the like are reduced, work efficiency and tunneling speed are improved, and a basis is laid for bolter automation and intelligence.

Description

technical field [0001] The invention relates to an optimal self-disturbance rejection control method for the propulsion force of a rock bolt rig, and belongs 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. This patent mainly studies the axial propulsion control of a rock bolter. During the drilling operation, the propulsion mechanism exerts a certain axial force on the drill bit, so that the drill bit is in close contact with the rock, and effectively assists the slewing mechanism to break the rock. Studies have shown that proper propulsion will make the drilling rig work in the optimal rock drilling area, and the maximum drilling efficiency and speed can be obtained. If the propulsion force is too small, the drill bit will n...

AI Technical Summary

Problems solved by technology

[0008] Patent (Lu Jianbo, Pan Kaifang, Hu Renchun, etc. The Realization of Drilling Rig Nudge Opening, Self-adaptive Capability and Automatic Anti-Stuck Function [P], CN 101358522A, 2009.02.4) Solve the manual The drilling rig control method cannot adapt to the shortage of rock formation changes

[0009] At present, the research on the propulsion force of drilling rigs is mainly concentrated in two aspects: on the one hand, the adaptive control of the propulsion force of drilling rigs is realized by using proportional pressure regulating pumps, load sensing devices, high-speed switching valves and other components, and the reliability of this method is low; the other On the one hand, according to the collected slewing pressure information, the proportional valve and the variable pump are used to realize the logic control of the propulsion force

Adaptive control of propulsion cannot be achieved due to the lack of optimal propulsion estimation under different surrounding rocks

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