Electric hammer high-frequency impact control system and method for building punching robot

Abstract

The invention discloses an electric hammer high-frequency impact control system and method for a building punching robot, the system comprises a mechanical arm, an impact electric hammer installed on the mechanical arm and an FOC controller, the impact electric hammer comprises a motor and an impact drill bit driven by the motor, the FOC controller controls the magnitude and phase of current in a motor winding, and the impact drill bit is driven by the FOC controller. The FOC controller is used for controlling the rotating speed, the torque and the impact depth of the motor according to the rotating speed, the torque and the impact depth of the motor, then an algorithm model for current, impact frequency and impact depth deviation control is established, and the FOC controller collects the actual current iqact of a rotating shaft of the motor, the actual impact frequency factor of the impact drill bit and the actual load torque TLact of the motor in real time; deviation judgment is carried out every certain time interval, and drilling depth deviation caused by high-frequency impact is reduced. For the depth deviation generated by reciprocating high-frequency impact of the electric hammer, an algorithm for correcting the depth deviation caused by the high-frequency impact is deduced by monitoring the impact frequency and current change characteristics of the electric hammer.

Description

Technical Field

[0001] This invention relates to a building electromechanical drilling robot, which achieves high-precision anchor hole quality in concrete substrates, and is a method and system for controlling anchor bolt hole quality. Background Technology

[0002] Building electromechanical installation requires drilling holes in concrete ceilings or the sides of concrete beams to facilitate subsequent anchor bolt installation. Substandard anchor bolt holes can cause serious safety accidents such as electromechanical pipelines falling.

[0003] In existing technology, the drilling angle is controlled by an inclination sensor, and the drilling depth is controlled by a distance sensor. The basic operating procedure is to set the drilling depth according to the project requirements. When the drill bit advances to the set depth, the distance sensor sends a signal to the robotic arm, which then stops advancing and retracts the drill bit to complete the drilling. After repeated testing, the drilling angle deviation meets the standard, but the actual hole depth deviation fails to meet the standard. Analysis reveals the following problems with the existing technology: During the drilling operation, the robotic hammer drill bit needs to reciprocate to impact the concrete to complete the drilling operation, which differs from the operation of an electric drill. An electric drill only has a pushing drilling action and lacks the reciprocating hammering action of concrete, making it unable to effectively drill holes in the concrete. Furthermore, the reciprocating impact amplitude, impact frequency, and impact current of the hammer drill have complex nonlinear relationships, making its correlation algorithm model particularly important. The high-frequency impact of the hammer drill and the excessively fast or slow advance speed of the robotic arm can both cause the anchor hole depth deviation to exceed the standard deviation requirement, failing to guarantee the drilling quality meets the anchor bolt installation requirements and creating safety hazards. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a high-frequency impact control method and system for an electric hammer of a building drilling robot with high drilling accuracy and high robustness.

[0005] According to the present invention, a high-frequency impact control system for an electric hammer in a building drilling robot includes a robotic arm, an electric hammer mounted on the robotic arm, and an FOC controller. The electric hammer includes a motor and an impact drill bit driven by the motor. The FOC controller controls the motor speed, torque, and impact depth by controlling the magnitude and phase of the current in the motor windings, thereby establishing an algorithm model for current, impact frequency, and impact depth deviation control. The single drilling operation process of the electric hammer is divided into four core stages based on load characteristics and working state: no-load start-up stage, contact load stage, stable impact stage, and load change stage. In the no-load start-up stage, the FOC controller rapidly increases the motor current to suppress motor speed overshoot. In the contact load stage, the FOC controller dynamically adjusts the PID controller parameters to compensate for load disturbances. In the stable impact stage, the FOC controller maintains the motor current stability and corrects speed drift. In the load change stage, the FOC controller quickly responds to the motor current command to suppress frequency drop. The FOC controller collects the actual shaft current i of the motor in real time. q_act The actual impact frequency f of the impact drill bit act The actual load torque T of the motor L_act Deviation is assessed at regular intervals to reduce drilling depth deviation caused by high-frequency impacts.

[0006] The high-frequency impact control system for an electric hammer in a building drilling robot provided by the present invention also has the following auxiliary technical features:

[0007] Further including the actual load torque T L_act =2.5×10 7 x 2 x is the feed rate of the impact drill bit.

[0008] Further, during the no-load start-up phase, based on the frequency deviation Δf = f ref -f act Correct the motor current i q When Δf > 5Hz, the current adjustment model of the motor is:

[0009]

[0010] When Δf < -3Hz, a damping current term i is introduced. q_damp i q_damp =0.02f act The current command i of the motor q =8-i q_damp ,

[0011] Among them, fref This is the rated impact frequency.

[0012] Furthermore, during the contact load phase, if a frequency drop f has occurred... act <27Hz, dynamically adjust speed loop PI parameters:

[0013] K p_v =0.05 + 0.02 × (30 - f) act ) / 3

[0014] K i_v =1+0.5×(30–f) act ) / 3

[0015] K p_v K is the proportional coefficient in a PID controller. i_v This refers to the integral coefficient in a PID controller.

[0016] This further includes, during the stabilization impact phase, collecting the motor winding temperature T. temp Correcting the stator resistance R s (T)=0.5×(1+0.004ΔT), ΔT=T temp -25℃, recalculate copper loss P cu =1.5×R s (T)×i q 2 According to the corrected copper loss P cu Adjust the rated torque current i q_ref Therefore, a mathematical model for temperature-loss dual compensation is derived:

[0017]

[0018] Among them, T L_nom To stabilize load torque; i q_ref i is the rated torque current. q_ref (k) represents the rated torque current at the k-th iteration, obtained through iterative solution; P fe For iron loss; B is the viscous damping coefficient; ω m Let ω be the mechanical angular velocity of the motor. m =2π·f ref ·i g f ref For the rated impulse frequency, i g This is the gear transmission ratio.

[0019] Further, during the load abrupt change phase, when the frequency recovers to 29Hz, a recovery damping current term i is introduced. q_damp =0.03(30-f act When the recovery time t rec>0.2s, temporarily increase feedforward current i q_ff To 17A, shortening the recovery time constant τ to 0.08s, the frequency response equation is:

[0020] Where e is a natural constant, and t-t3 is the time difference between the start time t3 of the load mutation and the current time t.

[0021] Further including, current constraint i q ≤i q_rated , where i q i represents the motor current; q_rated For safe motor current; speed constraint ω m ≤ω m_max ω m Let ω be the mechanical angular velocity of the motor. m_max The maximum safe angular velocity for the electric motor; frequency constraint f min ≤f(t)≤f max f(t) is the effective impact frequency of the electric hammer. min f is the minimum safe frequency for the electric hammer. max This is the maximum effective impact frequency of the electric hammer.

[0022] Furthermore, it includes the load torque model T. L Based on concrete stiffness k w Build,

[0023]

[0024] Where x is the drill bit feed rate and r is the crankshaft eccentricity of the electric hammer.

[0025] A high-frequency impact control method for an electric hammer in a building drilling robot according to the present invention includes the following steps:

[0026] S1. Input the borehole design depth and drill bit diameter, compare with the drill bit database, and determine the available drill bit models;

[0027] S2. Check the installed drill bits and available drill bit models;

[0028] S3. Confirm that the installed drill bit and the optional drill bit model are consistent. If not, select and replace the drill bit from the optional drill bit models. If yes, proceed to the next step.

[0029] S4. Start the robotic arm and electric hammer to perform the drilling operation;

[0030] S5. Monitor the impact frequency and current of the electric hammer throughout the process and intervene according to the correction algorithm;

[0031] S6. When the displacement value reaches the designed drilling depth, the displacement sensor sends a feedback signal to the robotic arm to stop advancing.

[0032] S7. Withdraw the drill bit to complete the high-precision drilling operation.

[0033] The high-frequency impact control method and system for an electric hammer in a building drilling robot provided by this invention has the following advantages compared with existing technologies: This invention addresses the depth deviation caused by the reciprocating high-frequency impact of the electric hammer by monitoring the impact frequency and current variation characteristics of the electric hammer, thereby deriving a depth deviation correction algorithm. This establishes a high-precision depth control method and system, achieving high-precision control of the robot's anchor hole quality. Actual testing shows that this system can control the anchor hole depth deviation within 2mm, fully meeting the standard deviation requirements. Attached Figure Description

[0034] Figure 1 This is a flowchart of the present invention.

[0035] Figure 2 This is the front view of the present invention.

[0036] Figure 3 This is a physical illustration of the present invention. Detailed Implementation

[0037] To clearly illustrate the solutions in this invention, preferred embodiments are given below in conjunction with the accompanying drawings. The following description is merely exemplary and not intended to limit the application or use of this disclosure. It should be understood that throughout the drawings, corresponding reference numerals denote the same or corresponding parts and features.

[0038] like Figures 1 to 3As shown, this invention provides a high-frequency impact control system for an electric hammer in a building drilling robot, comprising a robotic arm 1, an impact hammer 4 mounted on the robotic arm 1, and an FOC controller. The impact hammer 4 includes a motor and an impact drill bit driven by the motor. The FOC controller controls the motor speed, torque, and impact depth by controlling the magnitude and phase of the current in the motor windings, thereby establishing an algorithm model for controlling the deviation of current, impact frequency, and impact depth. The single drilling operation process of the impact hammer is divided into four core stages based on load characteristics and working state: no-load start-up stage, contact load stage, stable impact stage, and load mutation stage. In the no-load start-up stage, the FOC controller rapidly increases the current of the motor to suppress motor speed overshoot. In the contact load stage, the FOC controller dynamically adjusts the PID controller parameters to compensate for load disturbances. In the stable impact stage, the FOC controller maintains the current stability of the motor and corrects speed drift. In the load mutation stage, the FOC controller quickly responds to the current command of the motor to suppress frequency drop. The FOC controller collects the actual shaft current i of the motor in real time. q_act The actual impact frequency f of the impact drill bit act The actual load torque T of the motor L_act Deviation is assessed at regular intervals to reduce borehole depth deviation caused by high-frequency impacts. (See also...) Figure 2 and Figure 3 In the diagram, 1 represents the robotic arm; 2 represents the built-in current and frequency sensors used to detect the current and operating frequency of the hammer drill motor; 3 represents the accelerometer used to detect actual acceleration; 4 represents the impact hammer used for drilling operations; 5 represents the displacement sensor used to detect the real-time drilling depth; 6 represents the dust cover used to catch dust falling during drilling; and 7 represents the concrete working surface. The FOC controller mentioned is a vector controller (FOC).

[0039] I. Algorithm Model for Correcting Depth Deviation Caused by High-Frequency Impact from Robotic Electric Hammer

[0040] In an electric hammer, the magnitude of the current determines the torque generated by the motor, which in turn affects the motor's speed. By controlling the magnitude and frequency of the current, the impact frequency and depth of the electric hammer can be indirectly controlled. Using a vector control (FOC) algorithm, precise control of the current magnitude and phase in the motor windings is achieved to precisely control the motor speed, torque, and impact depth. This establishes an algorithmic model for controlling deviations in current, impact frequency, and impact depth, ultimately resolving the depth deviation problem caused by high-frequency impacts.

[0041] Core parameters related to high-frequency impact of electric hammer

[0042]

[0043] 1. Types and identification of staged deviations in impact depth

[0044] The impact depth of an electric hammer needs to be divided into four core stages based on load characteristics and working conditions: no-load start-up stage, contact load stage, stable impact stage, and load sudden change stage. The factors affecting the impact frequency under FOC control differ significantly in each stage.

[0045]

[0046] Based on the FOC control model, common deviations in the impact depth of electric hammers are classified into three categories: frequency deviation, load adaptation deviation, and dynamic response deviation. The identification criteria are as follows:

[0047]

[0048]

[0049] Deviation identification logic: Real-time acquisition of the actual q-axis current i via the FOC controller. q_act Actual impact frequency f act Actual load torque T L_act , by T L_act =2.5×10 7 x 2 By derivation, x is the feed rate of the impact drill bit, and a deviation judgment is performed every 10ms to reduce the depth deviation caused by high-frequency impact.

[0050] 2. Phased Mathematical Model Construction

[0051] 2.1 No-load start-up phase (0~t1): Frequency climb deviation correction

[0052] (1) Deviation characteristics

[0053] During the initial startup phase, due to motor inertia or a delayed current loop response, the frequency ramp-up is prone to be too slow (f act <0.8f ref (at t = 0.2s) or overshoot (f act >1.1f ref ).

[0054] (2) Correction strategy: Dynamic current command adjustment

[0055] Based on frequency deviation Δf=f ref -f act Correct current command i q :

[0056] 1) When Δf > 5Hz (slow rise time): adjust the current rise time t rThe current command has been adjusted from 0.08s to 0.05s, and the time has been shortened to:

[0057]

[0058] 2) When θf < -3Hz (overshoot): Introduce a damping current term i q_damp =0.02f act Total current command i q =8-i q_damp To suppress speed overshoot.

[0059] (3) Mathematical Model

[0060] Frequency dynamic equation after correction:

[0061]

[0062] 2.2 Load Contact Stage (t1~t2): Load Sudden Change Deviation Correction

[0063] During this stage, the hammer drill bit contacts the concrete, and the load torque T... L From a sudden increase to a stable value, the impact frequency drop needs to be suppressed by FOC current compensation. The load torque model is based on the concrete stiffness k. w Build:

[0064]

[0065] Where x is the feed rate of the impact drill bit (mm), and r is the crankshaft eccentricity of the electric hammer (mm).

[0066] (1) Deviation characteristics

[0067] When the drill bit contacts C30 concrete, the load torque increases suddenly from 0 to 100 N·m, which can easily cause current compensation lag, resulting in a frequency drop of >3 Hz.

[0068] (2) Correction strategy: feedforward-feedback composite compensation

[0069] 1) Feedforward compensation: Pre-detection of feed rate x rate of change when (Signs of contacting the load), preloaded feedforward current i q_ff =13.3A (corresponding to 100N·m torque), to avoid lag in current response when the load changes suddenly.

[0070] 2) Feedback compensation: If a frequency drop (f) has occurred act <27Hz), dynamically adjust the speed loop PI parameters:

[0071] K p_v =0.05 + 0.02 × (30 - f) act(The larger the deviation, the larger the proportional coefficient, and the faster the response.) / 3 (The larger the deviation, the larger the proportional coefficient, and the faster the response.)

[0072] K i_v =1+0.5×(30–f) act ) / 3

[0073] (3) Effect verification

[0074] After correction, the frequency drop is ≤1.2Hz, which is 20% lower than the original model (≤1.5Hz), and the load contact time is shortened from 0.5s to 0.3s.

[0075] 2.3 Stable impact stage (t2~t3): Frequency drift deviation correction

[0076] During this stage, the load torque stabilizes at T. L_nom The impact frequency is maintained at the target value f. ref It is necessary to correct the frequency drift caused by motor losses in order to reduce the depth deviation caused by high-frequency impacts.

[0077] (1) Deviation characteristics

[0078] Long-term impact (>5 min) causes motor temperature rise (R) s Increasing the impedance from 0.5Ω to 0.6Ω leads to increased copper loss and a frequency drift >2Hz. act <28Hz).

[0079] (2) Correction strategy: Temperature-loss dual compensation

[0080] Torque balance equation:

[0081]

[0082] Mechanical angular velocity of the motor: ω m =2π·f ref ·i g

[0083] 1) Temperature compensation: Temperature is collected by a motor winding temperature sensor. temp Correcting the stator resistance R s (T)=0.5×(1+0.004(T temp -25), recalculate copper loss P cu =1.5×R s (T)×i q 2 .

[0084] 2) Loss compensation: Based on the corrected P cu Adjust i q_ref :

[0085]

[0086] (3) Mathematical model of final iterative recursion

[0087] Solve iteratively: using the i from the previous (k) iterations. q_ref (k) Calculate the current (k+1) i q_ref (k+1), thus obtaining the iterative recursive formula for electromagnetic torque (after temperature compensation):

[0088]

[0089] Based on the known parameters, the following iterative recursive formula is derived:

[0090]

[0091] ΔT=T temp At -25℃, the temperature-compensated i is obtained by iterative solution. q_ref (T temp = At 80℃, i q_ref (≈14.5A, an improvement of 9.8% compared to the original 13.2A).

[0092] Iterative calculations continue until a convergent threshold is reached. The calculations are repeated using the above iterative formula until the difference between two adjacent iterations satisfies |i... q_ref(k+1) -i q_ref(k) |<0.01A (convergence threshold). In engineering, 0.01A is sufficient to meet the accuracy requirements. If the controller has limited computing power, it can be relaxed to 0.1A (error ≤0.7%, which will not affect the torque control effect).

[0093] 2.4 Load mutation phase (t3~t4): Recovery delay deviation correction

[0094] During this stage, the load torque increases sharply to T. L_max (If drilling encounters steel bars or hard blocks of concrete aggregate), a fast FOC response is required to suppress frequency drops, and feedforward compensation control is introduced.

[0095] (1) Deviation characteristics

[0096] Encountering steel reinforcement or hard lumps of C30 concrete aggregate (T) L_max =120N·m), frequency recovery time >0.3s, impact continuity interrupted.

[0097] (2) Correction strategy: Overshoot suppression + fast recovery

[0098] 1) Overshoot suppression: When the frequency recovers to 29Hz, a recovery damping term i is introduced. q_damp =0.03(30-f act To avoid overshooting during recovery.

[0099] 2) Fast recovery: When trec If the target recovery time is not reached (>0.2s), temporarily increase the feedforward current to i. q_ff =17A (originally 16A), shortening the recovery time constant τ to 0.08s. In the frequency recovery logic during the load mutation phase, t rec The recovery time is essentially the "time difference between the start time t3 of the load mutation and the current time t". That is, t rec = t-t3. The recovery time of 0.2s is the expected time for the frequency to recover to 99% of the target value after a load change, and it is also the threshold for triggering the rapid recovery strategy. Its core function is to ensure the impact continuity of the electric hammer during a load change by intervening in advance, while avoiding current overload.

[0100] (3) Frequency response equation

[0101] After correction:

[0102]

[0103] Iterative calculation yields:

[0104] When t-t3 = 0.2s, f ≈ 29.7Hz (recovered to 99% of the target frequency), the recovery time is shortened by 10% compared to the original, thereby significantly reducing the depth deviation caused by high-frequency impact.

[0105] 3. Model Constraints and Parameter Identification

[0106] 3.1 Key Constraints

[0107] 1) Current constraint: i q ≤i q_rated (Motor rated q-axis current), to avoid overcurrent burnout;

[0108] 2) Rotational speed constraint: ω m ≤ω m_max (Maximum angular velocity of the motor) to prevent mechanical overload;

[0109] 3) Frequency constraint: f min ≤f(t)≤f max (Effective impact frequency range of electric hammer).

[0110] 3.2 Parameter Identification Method

[0111] 1) Motor parameters (p, ψ) f R s L d L q ): Identification is achieved through no-load and stall tests;

[0112] 2) Mechanical parameters (J, B, i) gr): Measured by starting time and disassembly of transmission ratio;

[0113] 3) Load parameters (k) w T L_nom T L_max ): Fitting the data through concrete impact tests (concrete k) w ≈2×10 5 N / m);

[0114] 4) PI parameter (K) p_v K i_v The Ziegler-Nichols tuning method is used to ensure that the step response overshoot is ≤10% and the settling time is ≤0.1s.

[0115] 4. Model Validation and Constraint Verification

[0116] The results were verified through electric hammer impact tests on concrete: during the stable impact phase, the error between the model-predicted frequency and the measured frequency was ≤3%; during sudden load changes (T... L (Increasing from 5 N·m to 15 N·m), the measured frequency drop recovery time is 0.12 s, the model prediction value is 0.11 s, and the error is ≤8%, which meets the accuracy requirements for engineering applications.

[0117] 4.1 Key Constraint Boundaries

[0118]

[0119] 4.2 Impact test verification of concrete (C30)

[0120]

[0121] It is worth noting that the variables involved in the description of this invention are explained in detail in the following table.

[0122] <![CDATA[i q_act Actual shaft current <![CDATA[f act Actual impact frequency <![CDATA[T L_act Actual load torque x: Feed rate of the impact drill bit Δf: Frequency deviation <![CDATA[i q Motor current <![CDATA[i q_damp Damping current term]]> <![CDATA[f ref Rated impact frequency <![CDATA[K p_v The proportional gain in a PID controller <![CDATA[K i_v Integral coefficient in a PID controller <![CDATA[T temp Motor winding temperature <![CDATA[R s (T): Stator resistance <![CDATA[P cu Copper loss <![CDATA[i q_ref Rated torque current <![CDATA[T L_nom Stable load torque <![CDATA[i q_ref (k): Rated torque current at the k-th time. <![CDATA[P fe Iron loss B: Viscous damping coefficient <![CDATA[ω m : Mechanical angular velocity of the motor <![CDATA[i g Gear transmission ratio <![CDATA[t rec Recovery time <![CDATA[i q_ff Feedforward current τ: Recovery time constant e: natural constant <![CDATA[i q_rated : Safety motor current]]> <![CDATA[ω m_max Maximum safe angular velocity of the electric motor / mechanical system f(t): Effective impact frequency of the electric hammer <![CDATA[f min Minimum safe frequency for electric hammers <![CDATA[f max Maximum effective impact frequency of electric hammer <![CDATA[T L Load torque model <![CDATA[k w Concrete stiffness r: Crankshaft eccentricity of the electric hammer

[0123] See Figure 1 and Figure 2 The high-precision anchor hole control method for a building drilling robot provided in this invention includes the following steps:

[0124] S1. Input the borehole design depth and drill bit diameter, compare with the drill bit database, and determine the available drill bit models;

[0125] S2. Check the installed drill bits and available drill bit models;

[0126] S3. Confirm that the installed drill bit and the optional drill bit model are consistent. If not, select and replace the drill bit from the optional drill bit models. If yes, proceed to the next step.

[0127] S4. Start the robotic arm and electric hammer to perform the drilling operation;

[0128] S5. Monitor the impact frequency and current of the electric hammer throughout the process and intervene according to the correction algorithm;

[0129] S6. When the displacement value reaches the designed drilling depth, the displacement sensor sends a feedback signal to the robotic arm to stop advancing.

[0130] S7. Withdraw the drill bit to complete the high-precision drilling operation.

[0131] The correction algorithm for the electric hammer impact frequency and current values ​​is completed by the system described in the above embodiment.

[0132] In summary, the above descriptions are merely embodiments of the present invention and are used only to illustrate the principles of the invention, not to limit the scope of protection of the invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A high-frequency impact control system for an electric hammer in a building drilling robot, comprising a robotic arm, an electric hammer mounted on the robotic arm, and an FOC controller, wherein the electric hammer includes a motor and an impact drill bit driven by the motor, characterized in that: The FOC controller controls the motor speed, torque, and impact depth by controlling the magnitude and phase of the current in the motor windings, thereby establishing an algorithm model for controlling the deviation of current, impact frequency, and impact depth. The single drilling operation of the impact hammer is divided into four core stages based on load characteristics and working conditions: no-load start-up, load contact, stable impact, and load surge. During the no-load start-up stage, the FOC controller rapidly increases the motor current to suppress motor speed overshoot. During the load contact stage, the FOC controller dynamically adjusts the PID controller parameters to compensate for load disturbances. During the stable impact stage, the FOC controller maintains stable motor current and corrects speed drift. During the load surge, the FOC controller quickly responds to the motor's current command to suppress frequency drops. The FOC controller also collects the actual shaft current i of the motor in real time. q_act The actual impact frequency f of the impact drill bit act The actual load torque T of the motor L_act Deviation is assessed at regular intervals to reduce borehole depth deviation caused by high-frequency impacts.

2. The high-frequency impact control system for an electric hammer in a building drilling robot as described in claim 1, characterized in that: The actual load torque T L_act =2.5×10 7 x 2 x is the feed rate of the impact drill bit.

3. The high-frequency impact control system for an electric hammer in a building drilling robot as described in claim 1, characterized in that: During the no-load start-up phase, based on the frequency deviation Δf=f ref -f act Correct the current i of the motor q When Δf > 5Hz, the current adjustment model of the motor is: When the damping current term i is introduced... q_damp i q_damp =0.02f act The current command i of the motor q =8-i q_damp , Among them, f ref This is the rated impact frequency.

4. The high-frequency impact control system for an electric hammer in a building drilling robot as described in claim 1, characterized in that: During the contact load phase, if a frequency drop f has occurred act <27Hz, dynamically adjust speed loop PI parameters: K p_v =0.05+0.02×(30-f act ) / 3 K i_v =1+0.5×(30–f act ) / 3 K p_v K is the proportional coefficient in a PID controller. i_v This refers to the integral coefficient in a PID controller.

5. The high-frequency impact control system for an electric hammer in a building drilling robot as described in claim 1, characterized in that: During the stable impact phase, the motor winding temperature T is collected. temp Correcting the stator resistance R s (T)=0.5×(1+0.004ΔT), ΔT=T temp -25℃, recalculate copper loss P cu =1.5×R s (T)×i q 2 According to the corrected copper loss P cu Adjust the rated torque current i q_ref Therefore, a mathematical model for temperature-loss dual compensation is derived: Among them, T L_nom To stabilize load torque; i q_ref i is the rated torque current. q_ref (k) represents the rated torque current at the k-th iteration, obtained through iterative solution; P fe For iron loss; B is the viscous damping coefficient; ω m Let ω be the mechanical angular velocity of the motor. m =2π·f ref ·i g f ref For the rated impulse frequency, i g This is the gear transmission ratio.

6. The high-frequency impact control system for an electric hammer in a building drilling robot as described in claim 1, characterized in that: During the load abrupt change phase, a recovery damping current term i is introduced when the frequency recovers to 29Hz. q_damp =0.03(30-f act When the recovery time t rec >0.2s, temporarily increase feedforward current i q_ff To 17A, shortening the recovery time constant τ to 0.08s, the frequency response equation is: Where e is a natural constant, and t-t3 is the time difference between the start time t3 of the load mutation and the current time t.

7. The high-frequency impact control system for an electric hammer in a building drilling robot as described in claim 1, characterized in that: Current constraint i q ≤i q_rated , where i q i represents the motor current; q_rated For safe motor current; speed constraint ω m ≤ω m_max ω m Let ω be the mechanical angular velocity of the motor. m_max The maximum safe angular velocity for the electric motor; frequency constraint f min ≤f(t)≤f max f(t) is the effective impact frequency of the electric hammer. min f is the minimum safe frequency for the electric hammer. max This is the maximum effective impact frequency of the electric hammer.

8. The high-frequency impact control system for an electric hammer in a building drilling robot as described in claim 1, characterized in that: Load torque model T L Based on concrete stiffness k w Build, Where x is the drill bit feed rate and r is the crankshaft eccentricity of the electric hammer.

9. A high-frequency impact control method for an electric hammer in a building drilling robot, characterized in that: Includes the following steps: S1. Input the borehole design depth and drill bit diameter, compare with the drill bit database, and determine the available drill bit models; S2. Check the installed drill bits and available drill bit models; S3. Confirm that the installed drill bit and the optional drill bit model are consistent. If not, select and replace the drill bit from the optional drill bit models. If yes, proceed to the next step. S4. Start the robotic arm and electric hammer to perform the drilling operation; S5. Monitor the impact frequency and current of the electric hammer throughout the process and intervene according to the correction algorithm; S6. When the displacement value reaches the designed drilling depth, the displacement sensor sends a feedback signal to the robotic arm to stop advancing. S7. Withdraw the drill bit to complete the high-precision drilling operation.

10. The high-precision anchor hole control method for a building drilling robot as described in claim 9, characterized in that: The correction algorithm for the electric hammer impact frequency and current values ​​is performed by the system described in any one of claims 1 to 8.

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