Hydraulic anchor rod drilling machine drill boom tracking positioning method and device

Abstract

The hydraulic anchor rod drilling machine drilling arm tracking positioning method provided by the embodiment of the application comprises the following steps: obtaining external disturbance data, building a dynamics model of a hydraulic anchor rod drilling machine drilling arm position system according to the external disturbance data, then performing state transformation on the dynamics model to obtain a state space expression of the hydraulic anchor rod drilling machine drilling arm position system, designing a disturbance observer according to the state space expression and a neural network radial basis function, recursively updating an adaptive law by using the disturbance observer, thereby realizing tracking positioning of the hydraulic anchor rod drilling machine drilling arm, fully considering the influence of external disturbance on the hydraulic anchor rod drilling machine drilling arm, improving the stability of the system, and greatly improving the accuracy of the tracking performance of the system by continuously updating and adjusting the adaptive law.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control of mining equipment, and particularly relates to a hydraulic roof bolter drill boom tracking and positioning method and device. BACKGROUND

[0002] With the increasing scale of modern underground mines, the importance of roof bolting as an effective method of roadway reinforcement is increasingly prominent. The performance of hydraulic roof bolters, which are key equipment for implementing roof bolting, directly affects the bolting effect and engineering safety. During roof bolting, the hydraulic roof bolter drill boom needs to be moved horizontally along the direction of the roadway section, so as to install the roof bolt at different positions in the roadway.

[0003] The hydraulic roof bolter is essentially an electro-hydraulic servo system, and the total leakage coefficient and flow coefficient gain of the hydraulic cylinder are often difficult to accurately measure and obtain. In addition, during the operation of the hydraulic roof bolter, the change in the oil temperature of the hydraulic oil will cause the bulk modulus of the hydraulic oil to change, thereby affecting the performance of the system. At the same time, in the actual working environment, the hydraulic roof bolter may face various complex geological conditions and working environments, and there are many disturbances in these environments that affect the operation of the hydraulic roof bolter. However, the current hydraulic roof bolter is mostly controlled by a PID controller (Proportion Integration Differentiation, PID controller), and this control method cannot overcome external disturbances. Therefore, it is necessary to design a hydraulic roof bolter drill boom tracking and positioning method that can effectively overcome external disturbances during the operation of the hydraulic roof bolter and accurately track and position the hydraulic roof bolter drill boom. SUMMARY

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a hydraulic roof bolter drill boom tracking and positioning method, device and computer equipment.

[0005] According to a first aspect, the present application provides a hydraulic roof bolter drill boom tracking and positioning method, comprising the following steps: obtaining external disturbance data, and building a dynamic model of a hydraulic roof bolter drill boom position system based on the external disturbance data; performing state conversion based on the dynamic model to obtain a state space expression of the hydraulic roof bolter drill boom position system; designing a disturbance observer based on the state space expression; obtaining an adaptive law based on the disturbance observer and a neural network radial basis function recursion, and tracking and positioning the hydraulic roof bolter drill boom according to the adaptive law.

[0006] Optionally, before the step of building the dynamic model based on the external disturbance data, the method further comprises the following steps: obtaining a corresponding relationship between hydraulic oil in the hydraulic cylinder and hydraulic oil flow, the hydraulic cylinder being an actuator of a drilling boom system of the hydraulic anchor rod drilling machine; obtaining a load pressure dynamic relationship based on the load movement displacement data and total uncertain term data, the total uncertain term data including but not limited to unmeasurable friction, external disturbance in the system and unmodeled terms; obtaining a characteristic equation of a corresponding relationship between a proportional directional valve spool displacement, hydraulic oil flow and load pressure, the proportional directional valve being a control mechanism of the drilling boom displacement; and building the dynamic model based on the corresponding relationship between the hydraulic oil in the hydraulic cylinder and the hydraulic oil flow, the load pressure dynamic relationship and the characteristic equation of the corresponding relationship between the proportional directional valve spool displacement, the hydraulic oil flow and the load pressure.

[0007] Optionally, the method further comprises the following steps of: selecting movement data of the drilling boom of the hydraulic anchor rod drilling machine based on the dynamic model; selecting the drilling boom displacement, a first-order derivative of the drilling boom displacement and a second-order derivative of the drilling boom displacement as system state variables based on the movement data, and taking the drilling boom displacement as an output of the system, and performing state transformation according to the system state variables to obtain a state space expression.

[0008] Optionally, the state space expression is as follows: wherein, x is the system state variable, wherein x d is the drilling boom displacement, which is equivalent to the system state variable x1; is a first-order derivative of the drilling boom displacement, which is equivalent to the system state variable x2; is a second-order derivative of the drilling boom displacement, which is equivalent to the system state variable x3; T is a transpose of a matrix; u is a driving current of the proportional directional valve, f(x) = -θ1x1-θ2x2-θ3x3, wherein, m is a load mass, k d is a load elastic stiffness coefficient, V d is a controllable total volume of the hydraulic cylinder and the pipeline, β e is a hydraulic oil bulk modulus, A is a piston cross-sectional area, C t is a total leakage coefficient of the hydraulic cylinder; W v is a spool gradient area, C v is a flow coefficient of a valve port of the proportional directional valve, P l is a pressure difference between two cavities of the hydraulic cylinder, sgn(g) is a sign function, d1 is external disturbance data, d is a total uncertain term, is a first-order derivative of the total uncertain term, k v is a proportional directional valve gain coefficient, x v is a spool displacement, P s is a supply oil pressure, and p is a hydraulic oil density.

[0009] Optionally, the disturbance observer is designed based on the state space expression and the neural network radial basis function, including the following steps: the disturbance observer is designed based on preset composite disturbance data and the neural network radial basis function; the composite disturbance generated in the anchor rod tracking positioning process is predicted in real time based on the disturbance observer.

[0010] Optionally, before the disturbance observer is designed based on the state space expression and the neural network radial basis function, the following steps are included: tracking error data is set based on a preset anchor rod installation position signal and the state space expression; a virtual error transformation is established based on the tracking error data.

[0011] Optionally, after the virtual error transformation is established based on the tracking error data, the following step is included: a virtual controller is set based on a virtual error transformation result.

[0012] Optionally, after the disturbance observer is designed based on the state space expression and the neural network radial basis function, the following step is included: real-time control input of the adaptive neural network state feedback controller is recursively derived based on the disturbance observer and in combination with a backstepping method.

[0013] Optionally, the real-time control input of the adaptive neural network state feedback controller is as follows: wherein k3 and ε3 are design parameters of the real-time control input, z3 is a virtual error transformation result, ε2 is a design parameter of the second virtual controller, is an estimation of the optimal weight of the neural network, T is a transpose of a matrix, H(x) is a radial basis function, is the disturbance observer, is a first-order derivative of a first-order filter output in the virtual error transformation.

[0014] According to a second aspect, an embodiment of the present application provides a hydraulic anchor rod drilling machine boom tracking positioning device, including: a data acquisition module, configured to acquire external disturbance data, and build a dynamics model of a hydraulic anchor rod drilling machine boom position system based on the external disturbance data; a state conversion module, configured to perform state conversion based on the dynamics model, and obtain a state space expression of the hydraulic anchor rod drilling machine boom position system; a disturbance observation module, configured to design a disturbance observer based on the state space expression; and a tracking positioning module, configured to recursively derive an adaptive law based on the disturbance observer and a neural network radial basis function, and perform tracking positioning on the hydraulic anchor rod drilling machine boom according to the adaptive law.

[0015] Compared with the prior art, the technical scheme provided by the embodiments of the present application has the following advantages:

[0016] The hydraulic anchor rod drilling machine drill arm tracking positioning method provided by the embodiment of the present application comprises the following steps: obtaining external disturbance data, building a dynamic model of a hydraulic anchor rod drilling machine drill arm position system according to the external disturbance data, then performing state transformation on the dynamic model to obtain a state space expression of the hydraulic anchor rod drilling machine drill arm position system, designing a disturbance observer according to the state space expression and a neural network radial basis function, recursively updating an adaptive law by using the disturbance observer, so as to realize tracking positioning of the hydraulic anchor rod drilling machine drill arm, and fully considering the influence of external disturbance on the hydraulic anchor rod drilling machine drill arm, improving the stability of the system, and continuously updating and adjusting the adaptive law, greatly improving the accuracy of the tracking performance of the system. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings incorporated into the specification and forming a part thereof show embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows, and obviously, other drawings can also be obtained by those skilled in the art without creative labor under the premise of not paying the creative labor.

[0019] Figure 1 A specific example flow chart of the hydraulic anchor rod drilling machine drill arm tracking positioning method of the embodiment of the present application;

[0020] Figure 2 A corner tracking performance and tracking error simulation diagram of the hydraulic anchor rod drilling machine drill arm tracking positioning method of the embodiment of the present application;

[0021] Figure 3 A tracking error simulation diagram of the hydraulic anchor rod drilling machine drill arm tracking system of the embodiment of the present application under load disturbance;

[0022] Figure 4 A response curve simulation diagram of the hydraulic anchor rod drilling machine drill arm tracking system of the embodiment of the present application under disturbance observer;

[0023] Figure 5 A schematic diagram of adaptive neural network weight estimation of the embodiment of the present application;

[0024] Figure 6 A specific example connection diagram of the hydraulic anchor rod drilling machine drill arm tracking positioning device of the embodiment of the present application;

[0025] Figure 7 A specific example structure diagram of the computer device of the embodiment of the present application. DETAILED DESCRIPTION

[0026] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be interpreted as being limited to the embodiments set forth herein; rather, these embodiments are provided so as to enable a more thorough and complete understanding of the present disclosure. It is understood that the drawings and embodiments of the present disclosure are for exemplary purposes only and are not intended to limit the scope of protection of the present disclosure.

[0027] It should be understood that each of the steps recited in the method embodiments of the present disclosure can be performed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0028] The term "comprising" and variations thereof as used herein are open-ended, that is "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Related terms are defined in the following description.

[0029] It should be noted that the terms "first", "second", and the like in the present disclosure are merely used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0030] It should be noted that the adjectives "one", "more" mentioned in the present disclosure are illustrative and not limiting, and those skilled in the art should understand that "one or more" should be understood unless the context clearly indicates otherwise.

[0031] The names of the messages or information exchanged between the devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0032] In the existing hydraulic anchor rod drill boom tracking positioning method, when tracking and positioning the hydraulic anchor rod drill boom, the following problems may occur:

[0033] In actual working environments such as coal mines, the hydraulic anchor rod drill boom may face various complex geological conditions and working environments, and the traditional PID controller cannot fully consider the external disturbances in these environments, and cannot meet the control requirements of the stability and accuracy of the hydraulic anchor rod drill boom tracking positioning system.

[0034] To solve the above problems, the embodiment of the present disclosure provides a hydraulic anchor rod drilling machine drill arm tracking positioning method and device. The hydraulic anchor rod drilling machine drill arm tracking positioning method provided by the embodiment of the present disclosure is described below in conjunction with the drawings.

[0035] Figure 1 A flowchart of a hydraulic anchor rod drilling machine drill arm tracking positioning method provided by the embodiment of the present disclosure is shown.

[0036] As Figure 1 shown, the hydraulic anchor rod drilling machine drill arm tracking positioning method includes the following steps:

[0037] S100, obtaining external disturbance data, and building a dynamics model of a hydraulic anchor rod drilling machine drill arm position system based on the external disturbance data.

[0038] In an optional embodiment of the present disclosure, the corresponding relationship between the hydraulic oil in the hydraulic cylinder and the hydraulic oil flow is obtained, the hydraulic cylinder is an actuator of the hydraulic anchor rod drilling machine drill arm system; the load pressure dynamic relationship is obtained based on the load movement displacement data and the total uncertainty term data, the total uncertainty term data includes but is not limited to unmeasurable friction, system internal disturbance data, system external disturbance data and unmodeled items; the characteristic equation of the corresponding relationship between the proportional reversing valve spool displacement, the hydraulic oil flow and the load pressure is obtained, the proportional reversing valve is a control mechanism of the drill arm displacement; the dynamics model is built based on the corresponding relationship between the hydraulic oil in the hydraulic cylinder and the hydraulic oil flow, the load pressure dynamic relationship and the characteristic equation of the corresponding relationship between the proportional reversing valve spool displacement, the hydraulic oil flow and the load pressure.

[0039] In the embodiment of the present disclosure, the corresponding relationship between the hydraulic oil in the hydraulic cylinder and the hydraulic oil flow is: wherein Q d =(Q d1 +Q d2 ) is the hydraulic oil flow in the hydraulic cylinder, Q d1 , Q d2 are the hydraulic oil flows in the rod cavity and the rodless cavity of the hydraulic cylinder respectively, V d is the controllable total volume of the hydraulic cylinder and the pipeline, β e is the bulk modulus of the hydraulic oil, A is the piston cross-sectional area, C t is the total leakage coefficient of the hydraulic cylinder, P l is the pressure difference between the two cavities of the hydraulic cylinder, is the first derivative of the drill arm displacement.

[0040] In the embodiments of the present disclosure, since the displacement of the hydraulic anchor rod drill boom is sliding in the sliding groove on the bracket driven by the mast, there is an unmeasurable friction force between the anchor rod and the sliding groove, and the friction force will change with the wear of the parts, therefore, the unmeasurable friction force, the internal disturbance data of the system, the external disturbance data of the system and the unmodeled term are recorded as total uncertainty.

[0041] In the embodiments of the present disclosure, the dynamic relationship of the load pressure is: Wherein, m is the load mass, is the second-order derivative of the boom displacement, x d is the boom displacement, k d is the load elastic stiffness coefficient, and d is the total uncertainty.

[0042] In the embodiments of the present disclosure, the proportional directional valve is the control mechanism of the hydraulic anchor rod drill boom, and the characteristic equation of the corresponding relationship of the proportional directional valve spool displacement, the hydraulic oil flow and the load pressure is: Wherein, C v is the flow coefficient of the proportional directional valve port, x v is the spool displacement, sgn(g) is the sign function, P s is the oil supply pressure, and p is the density of hydraulic oil.

[0043] Optionally, the expression of sgn(g) is:

[0044] Optionally, x vmax is the maximum value of the proportional directional valve spool displacement, and I is the driving current, so the proportional directional valve spool displacement x v is: Wherein, k v is the proportional directional valve gain coefficient, and the opening control of the proportional directional valve is realized by controlling the size of the driving current.

[0045] Optionally, in the actual working scene, the size of the driving current satisfies I min <I<I max Therefore, x v =k v I, and the control input of the hydraulic anchor rod drill boom system to the proportional directional valve driving is u, and at the same time, u=I is satisfied, therefore, the characteristic equation of the corresponding relationship of the proportional directional valve spool displacement, the hydraulic oil flow and the load pressure can be converted as:

[0046] In the embodiments of the present disclosure, the corresponding relationship of the hydraulic oil in the hydraulic cylinder and the hydraulic oil flow, the dynamic relationship of the load pressure, the characteristic equation of the corresponding relationship of the proportional directional valve spool displacement, the hydraulic oil flow and the load pressure are combined to obtain the dynamics model of the hydraulic anchor rod drill boom position system.

[0047] The dynamic model is:

[0048] S200, state conversion is performed based on the dynamic model to obtain a state space expression of the hydraulic anchor drill rig drill boom position system.

[0049] Optionally, movement data of the hydraulic anchor drill rig drill boom is selected based on the dynamic model; drill boom displacement, a first derivative of the displacement and a second derivative of the displacement are selected as system state variables based on the movement data, and the drill boom displacement is taken as the output of the system, state transformation is performed according to the system state variables to obtain a state space expression.

[0050] In the embodiments of the present disclosure, according to the dynamic model, the drill boom displacement, the first derivative of the displacement and the second derivative of the displacement in the hydraulic anchor drill rig drill boom tracking system are selected as the state variables of the system, that is, wherein x d is the drill boom displacement, equivalent to the system state variable x1; is the first derivative of the drill boom displacement, equivalent to the system state variable x2; is the second derivative of the drill boom displacement, equivalent to the system state variable x3; T is the transpose of the matrix; y is set as x1 as the output of the hydraulic anchor drill rig drill boom tracking system, and then the state space expression of the hydraulic anchor drill rig drill boom tracking system is derived according to the dynamic model as: wherein u is the driving current of the proportional reversing valve, f(x)=-θ1x1-θ2x2-θ3x3, wherein, is the first derivative of the total uncertainty term, d1 is the internal disturbance data and external disturbance data of the system.

[0051] Optionally, the system disturbance d1 is bounded, and there exists an unknown normal number such that the internal disturbance data and the external disturbance data of the hydraulic anchor drill rig drill boom tracking system satisfy:

[0052] S300, a disturbance observer is designed based on the state space expression.

[0053] Optionally, tracking error data is set based on the preset anchor installation position signal and the state space expression; a virtual error transformation is established based on the tracking error data.

[0054] In the embodiments of the present disclosure, the tracking error data is: z=x d -y d wherein y d is the preset anchor installation position signal, and x d is the drill boom displacement.

[0055] Optionally, a virtual controller is set according to the tracking error.

[0056] In the embodiments of the present disclosure, the first virtual controller is set as: wherein k1>0 and ε1>0 are design parameters of the first virtual controller, is a first derivative of the preset anchor rod installation position signal, and z1=x1-y d is the first tracking error data.

[0057] Optionally, to avoid the occurrence of the differential explosion phenomenon, a first first-order filter is introduced, and the first first-order filter is: wherein ξ2 is an output of the first first-order filter, is a first derivative of the output, and τ2 is a design parameter of the first first-order filter.

[0058] Optionally, the design parameter τ2 satisfies the following formula: wherein ν2>0 is a design parameter of the first first-order filter.

[0059] In the embodiments of the present disclosure, the second virtual controller is set as: wherein k2>0 and ε2>0 are design parameters of the second virtual controller, and z2=x2-y d .

[0060] Optionally, to avoid the occurrence of the differential explosion phenomenon, a second first-order filter is introduced, and the second first-order filter is: wherein ξ3 is an output of the second first-order filter, is a first derivative of the output, and τ3 is a design parameter of the second first-order filter.

[0061] Optionally, the design parameter τ3 satisfies the following formula: wherein ν3>0 is a design parameter of the second first-order filter.

[0062] In the embodiments of the present disclosure, the virtual error is transformed as: wherein y2 is a filtering error of the first first-order filter, and y3 is a filtering error of the second first-order filter.

[0063] Optionally, a disturbance observer is designed based on preset composite disturbance data; and the composite disturbance generated in the anchor rod tracking positioning process is predicted in real time based on the disturbance observer.

[0064] In the embodiments of the present disclosure, the preset composite disturbance data is D=ε+d1, and the designed disturbance observer is: wherein is a design parameter of the disturbance observer, and η is an intermediate variable.

[0065] Optionally, according to the disturbance observer design is: wherein H(x) is a Gaussian function.

[0066] S400, based on the disturbance observer and the neural network radial basis function recursion, an adaptive law is obtained, and the hydraulic anchor drill rig drill arm is tracked and positioned according to the adaptive law.

[0067] Optionally, based on the disturbance observer and combined with the backstepping method, the real-time control input of the adaptive neural network state feedback controller is recursively obtained.

[0068] In the embodiments of the present disclosure, the real-time control input is: wherein k3, ε3 are design parameters of the real-time control input, z3 is a virtual error transformation result, ε2 is a design parameter of the second virtual controller, is an estimate of the optimal weight of the neural network, T is a transpose, H(x) is a radial basis function, is a disturbance observer, is a first-order derivative of the output of the second first-order filter in the virtual error transformation.

[0069] In the embodiments of the present disclosure, according to the designed definition wherein the adaptive law is obtained according to the disturbance observer and the neural network radial basis function recursion, and the adaptive law is: wherein γ>0, π>0 are design parameters of the adaptive law, H(x) is a neural network radial basis function, i.e., a Gaussian function, is an estimate of the optimal weight of the neural network.

[0070] In the embodiments of the present disclosure, the adaptive law recursively obtained will be constantly updated, and the real-time input of the controller contains will constantly change with the update of the adaptive law, so as to change the real-time input of the control in real time, so as to constantly adjust the displacement of the hydraulic anchor drill rig drill arm, and realize the tracking and positioning of the hydraulic anchor drill rig drill arm.

[0071] In the embodiments of the present disclosure, by acquiring external disturbance data, and building a dynamics model of the hydraulic anchor drill rig drill arm position system according to the external disturbance data, then performing state transformation on the dynamics model, a state space expression of the hydraulic anchor drill rig drill arm position system is obtained, a disturbance observer is designed according to the state space expression and the neural network radial basis function, and the disturbance observer is recursively obtained. The adaptive law is constantly updated, so as to realize the tracking and positioning of the hydraulic anchor drill rig drill arm, and fully consider the influence of external disturbance on the hydraulic anchor drill rig drill arm, improve the stability of the system, and at the same time, the adaptive law is constantly updated and adjusted, greatly improve the accuracy of the system tracking performance.

[0072] Below, take Figures 2-5 for example, to simulate the actual system parameters of a certain hydraulic anchor drill boom.

[0073] The specific system parameters are shown in Table 1, the given position reference signal is set to y d = 0.7, the initial condition of the state is x (0) = [0.1, 0, 0] Τ , k1 = k2 = k3 = 40, ε1 = ε2 = ε3 = 1, τ2 = τ3 = 0.01, ρ s = 20, γ = 0.003, π = 0.5, the traditional PID parameter is set to k p = 50, k i = 20, k d = 10.

[0074] Table 1

[0075]

[0076]

[0077] As shown in Figure 2 , according to the simulation results, it can be seen that the actual control output of the hydraulic anchor drill boom system provided by the embodiment of the present application can track the preset anchor rod installation position signal, and compared with the traditional PID, the response speed is fast and the adjustment time is short.

[0078] As shown in Figure 3 , the tracking error response curve of the embodiment of the present application, compared with the traditional PID, has improved tracking accuracy.

[0079] As shown in Figure 4 , the response curve of the disturbance observer designed by the embodiment of the present application can be seen, which can estimate the approximation error and external disturbance, so as to eliminate the influence of internal and external disturbances of the system and improve the robustness of the system.

[0080] As shown in Figure 5 , it can be seen that the adaptive law obtained by recursion of the embodiment of the present application can self-adjust, so as to approximate the unknown uncertain term, and the convergence of the adaptive neural network weight estimation is better.

[0081] Figure 6This disclosure provides a hydraulic anchor drilling rig arm tracking and positioning device, comprising: a data acquisition module for acquiring external disturbance data and building a dynamic model of the hydraulic anchor drilling rig arm position system based on the external disturbance data; a state transition module for performing state transitions based on the dynamic model to obtain a state-space expression of the hydraulic anchor drilling rig arm position system; a disturbance observation module for designing a disturbance observer based on the state-space expression; and a tracking and positioning module for obtaining an adaptive law based on the disturbance observer and the radial basis function of a neural network, and tracking and positioning the hydraulic anchor drilling rig arm according to the adaptive law.

[0082] The specific limitations and beneficial effects of the hydraulic anchor bolt drilling rig arm tracking and positioning device can be found in the above description of the limitations of the hydraulic anchor bolt drilling rig arm tracking and positioning method, and will not be repeated here. Each module of the aforementioned hydraulic anchor bolt drilling rig arm tracking and positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the electronic device, or stored in the memory of the electronic device as software, so that the processor can call and execute the corresponding operations of each module.

[0083] This invention also provides a computer device, such as... Figure 7 As shown, Figure 7 This is a schematic diagram of a computer device provided in an optional embodiment of the present invention. The computer device may include at least one processor 41, at least one communication interface 42, at least one communication bus 43, and at least one memory 44. The communication interface 42 may include a display screen and a keyboard; optionally, the communication interface 42 may also include a standard wired interface or a wireless interface. The memory 44 may be high-speed RAM (Random Access Memory) or non-volatile memory, such as at least one disk storage device. Optionally, the memory 44 may also be at least one storage device located remotely from the aforementioned processor 41. The processor 41 may be combined with... Figure 6 The described apparatus has an application program stored in memory 44, and the processor 41 calls the program code stored in memory 44 to perform the steps of any of the above method embodiments.

[0084] The communication bus 43 can be a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, or the like. The communication bus 43 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 7 Only one thick line is used to represent the communication bus 43 in the figure, but it does not mean that there is only one bus or only one type of bus.

[0085] The memory 44 can include a volatile memory, such as a random-access memory (RAM), and can also include a non-volatile memory, such as a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD). The memory 44 can also include a combination of the above-mentioned types of memories.

[0086] The processor 41 can be a central processing unit (CPU), a network processor (NP), or a combination of the CPU and the NP.

[0087] The processor 41 can further include a hardware chip. The hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0088] Optionally, the memory 44 is further configured to store program instructions. The processor 41 can invoke the program instructions to implement the hydraulic anchor drill rig boom tracking positioning method as shown in the embodiments of the present application. Figure 1 Optionally, the memory 44 is further configured to store program instructions. The processor 41 can invoke the program instructions to implement the hydraulic anchor drill rig boom tracking positioning method as shown in the embodiments of the present application. The hydraulic anchor drill rig boom tracking positioning method shown in the embodiments.

[0089] The embodiments of the present application also provide a non-transitory computer storage medium, which stores computer executable instructions. The computer executable instructions can execute the method in any method embodiment described above. The storage medium can be a magnetic disc, an optical disc, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory, a Hard Disk Drive (HDD) or a Solid-State Drive (SSD), etc. The storage medium can also include a combination of the above-mentioned storage mediums.

[0090] It should be noted that, in this document, the terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0091] The above description is merely one specific implementation of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for tracking and positioning the drill arm of a hydraulic anchor bolt drilling rig, characterized in that, Includes the following steps: Acquire external disturbance data, and build a dynamic model of the hydraulic anchor drilling rig arm position system based on the external disturbance data; Based on the dynamic model, a state transition is performed to obtain the state-space expression of the hydraulic anchor drilling rig arm position system; The state-space expression is: in, Let be the system state variable, where The drill arm displacement is equivalent to the system state variable. ; The first derivative of the drill arm displacement is equivalent to the system state variable. ; The second derivative of the drill arm displacement is equivalent to the system state variable. ; This is the transpose of the matrix. This is the drive current for the proportional directional valve. , , , , , ,in, For load quality, The load elastic stiffness coefficient, The total controllable volume of the hydraulic cylinder and pipeline. The bulk modulus of hydraulic oil. The cross-sectional area of ​​the piston is... This is the total leakage coefficient of the hydraulic cylinder; For the valve core gradient area, The flow coefficient at the valve orifice of the proportional directional valve. The pressure difference between the two chambers of the hydraulic cylinder. For symbolic functions, This includes both internal and external disturbance data. For the total uncertain term, For the first derivative of the total uncertainty term, This is the gain coefficient of the proportional directional valve. For valve core displacement, For oil supply pressure, The density of the hydraulic oil; Design a disturbance observer based on the state-space expression; After designing the perturbation observer based on the state-space expression, the process includes: Based on the disturbance observer and combined with the backstepping method, the real-time control input of the adaptive neural network state feedback controller is derived. The real-time control input of the adaptive neural network state feedback controller is: in, , To control the input design parameters in real time, This is the result of virtual error transformation. For the design parameters of the second virtual controller, This is an estimate of the optimal weights of the neural network, where T is the transpose. For radial basis functions, For the perturbation observer, This is the first derivative of the output of the second first-order filter in the virtual error transform; An adaptive law is obtained based on the disturbance observer and the radial basis function of the neural network, and the drill arm of the hydraulic anchor drilling rig is tracked and positioned according to the adaptive law.

2. The hydraulic anchor bolt drilling rig arm tracking and positioning method according to claim 1, characterized in that, Before building the dynamic model based on the external disturbance data, the following steps are also included: Obtain the correspondence between the hydraulic oil in the hydraulic cylinder and the hydraulic oil flow rate; the hydraulic cylinder is the actuator of the drill arm system of the hydraulic anchor drilling rig. The dynamic relationship of load pressure is obtained based on load displacement data and total uncertainty data, wherein the total uncertainty data includes, but is not limited to, unmeasurable frictional force, internal system disturbance data, external system disturbance data, and unmodeled terms; Obtain the characteristic equation relating the valve core displacement, hydraulic oil flow rate, and load pressure of the proportional directional valve, which is the control mechanism for the displacement of the drilling rig boom. A dynamic model is built based on the characteristic equations of the correspondence between the hydraulic oil flow rate and the hydraulic load oil flow rate in the hydraulic cylinder, the dynamic relationship of the load pressure, and the relationship between the valve core displacement of the proportional directional valve, the hydraulic oil flow rate, and the load pressure.

3. The hydraulic anchor bolt drilling rig arm tracking and positioning method according to claim 1, characterized in that, The state transition based on the dynamic model to obtain the state-space expression includes: The movement data of the hydraulic anchor drilling rig arm are selected based on the aforementioned dynamic model; Based on the movement data, the drill arm displacement, the first derivative of the displacement, and the second derivative of the displacement are selected as system state variables, and the drill arm displacement is taken as the system output. The state transformation is performed according to the system state variables to obtain the state space expression.

4. The hydraulic anchor bolt drilling rig arm tracking and positioning method according to claim 1, characterized in that, The design of the perturbation observer based on the state-space expression includes the following steps: Design a disturbance observer based on preset composite disturbance data; The disturbance observer is used to predict the complex disturbances generated during the anchor tracking and positioning process in real time.

5. The hydraulic anchor bolt drilling rig arm tracking and positioning method according to claim 1, characterized in that, Before designing the perturbation observer based on the state-space expression, the following steps are included: The tracking error data is set based on the preset anchor bolt installation position signal and the state space expression; A virtual error transformation is established based on the tracking error data.

6. The hydraulic anchor bolt drilling rig arm tracking and positioning method according to claim 5, characterized in that, Before establishing the virtual error transformation based on the tracking error data, the following steps are also included: The virtual controller is set based on the tracking error.

7. A hydraulic anchor bolt drilling rig arm tracking and positioning device, capable of performing the hydraulic anchor bolt drilling rig arm tracking and positioning method as described in any one of claims 1-6, characterized in that, include: The data acquisition module is used to acquire external disturbance data and build a dynamic model of the hydraulic anchor drilling rig arm position system based on the external disturbance data. The state transition module is used to perform state transitions based on the dynamic model to obtain the state-space expression of the hydraulic anchor drilling rig arm position system. A disturbance observation module is used to design a disturbance observer based on the state-space expression; The tracking and positioning module is used to obtain an adaptive law based on the disturbance observer and the radial basis function of the neural network, and to track and position the drill arm of the hydraulic anchor drilling rig according to the adaptive law.

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