Fuzzy PID (proportion integration differentiation) control method for swing angle of drill boom of variable frequency pump controlled hydraulic drilling rig

Abstract

The invention provides a fuzzy PID (proportion integration differentiation) control method for a swing angle of a drill boom of a variable frequency pump controlled hydraulic drilling rig, and belongsto the technical field of variable frequency pump control. A variable frequency pump controlled hydraulic drilling rig drill boom rotating system is constructed, and a frequency converter converts 380V / 50Hz power-frequency AC (alternating current) into a voltage signal with specific frequency to drive an asynchronous motor; the asynchronous motor drives a constant delivery pump to rotate, and a certain flow of high-pressure oil is output; the high-pressure oil passes through a filter, a one-way valve and a reversing valve to drive a two-way hydraulic motor to rotate; then the drill boom is driven by a worm gear / worm reducing mechanism to deflect; low-pressure oil at an oil outlet of the hydraulic motor passes through the reversing valve and flows back to an oil tank. The variable frequency pump controlled hydraulic drilling rig drill boom rotating system is constructed on the basis of the control requirement of the swing angle of the drill boom of the variable frequency pump controlled hydraulic drilling rig; a mathematic model of the novel drilling rig drill boom rotating system is established; the method is suitable for accurate position control of an anchor rod / anchor rope in acomprehensive mechanized mining roadway support, has better control performance when applied to the variable frequency pump controlled hydraulic drilling rig drill boom control system, and verifies correctness and effectiveness of the variable frequency pump controlled drill boom rotating system model.

Description

technical field [0001] The invention relates to the technical field of frequency conversion pump control, in particular to a fuzzy PID control method for the swing angle of a drill arm of a frequency conversion pump control hydraulic drilling rig. Background technique [0002] With the improvement of fully mechanized mining technology, fast, safe and efficient roadway excavation is an important link that affects coal mining efficiency and production safety. However, the safe production of coal mines is inseparable from efficient roadway support, and the rapid development of roadway support technology is an important guarantee for improving the efficiency of coal mine modernization, mechanization and automation. In addition, with the rapid improvement of anchor protection technology, it also promotes the rapid development of anchor protection devices in the direction of mechanization, automation and intelligence. As the main construction equipment for bolt / cable support, the...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a fuzzy PID control method for the drilling arm swing angle of a variable frequency pump-controlled hydraulic drilling rig, to solve the problem that the controller parameters cannot be adjusted adaptively during the use of a conventional PID controller, and to verify the built-in variable frequency pump control method. Rationality of Mathematical Model of Boom Rotation System of Hydraulic Drilling Rig

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