Rotation speed control method for hydraulic underground drill rig based on load compensation

Abstract

The invention discloses a hydraulic underground drill rig rotating speed control method based on load compensation. The method comprises the following steps that 1, a dynamic model and a steady-state model of a hydraulic underground drill rig rotating system are established; 2) based on a step response experiment result of the drilling machine rotation system, identifying dynamic model parameters of the drilling machine rotation system; 3) based on the dynamic model obtained through identification in the step 2), designing an extended state observer, realizing estimation of load torque influence and carrying out feed-forward compensation; 4) designing a PI controller by adopting a pole assignment mode based on the dynamic model after feedforward compensation, and realizing tracking of the rotating speed; and 5) designing a dead zone compensator based on the steady-state model, overcoming the dead zone of the valve port, and controlling the input of the steady-state model to be close to the actually required opening degree of the valve port so as to realize rapid tracking response of the rotating speed. The problem of rotation speed fluctuation in the drilling process can be effectively solved, and the stability and safety of the rotation speed of the drilling machine are remarkably improved. The control system has high adaptability, can keep accurate tracking of the rotation speed under different drilling working conditions, and provides effective support for intelligent control of the coal mine drilling machine.

Description

Technical Field

[0001] The invention relates to a load compensation-based speed control method for a hydraulic tunnel drill, belonging to the technical field of automatic control of mining engineering machinery. Background Art

[0002] Hydraulic tunnel drilling rigs are core equipment for coal mine tunnel drilling. Drilling operations are coordinated by the feed, rotary, and circulation systems. The feed system applies axial pressure to maintain close contact between the PDC drill bit's cutting teeth and the formation, ensuring the drill bit effectively cuts into the formation. The rotary system provides stable torque and rotational speed, enabling the drill bit to achieve efficient rotary cutting. The ultra-hard material and excellent sharpness of the cutters shear and crush the formation. The circulation system uses a circulating medium to promptly carry cuttings out of the hole, preventing accumulation that could affect drilling efficiency. It also cools the drill bit, lubricates the drilling tool, and cleans the hole wall, ensuring smooth drilling and consistent hole quality. Rotational speed is a key operating parameter during drilling, crucial for increasing drilling speed and ensuring smoother drilling. To achieve intelligent drilling, the rotational speed must track the recommended rotational speed for safe and efficient drilling. However, because formation hardness is often unknown and variable, the load torque generated by drilling is complex and varied, causing the drilling rig's rotational speed to fluctuate dramatically, making it difficult to maintain stability and accurately track the desired value. Therefore, precise control of the rotational speed is key to improving drilling efficiency.

[0003] At present, research on drilling rig rotary systems mainly focuses on the following two directions: First, optimizing the rotation speed and drilling pressure setting values ​​to achieve stable operation of the rotary system. For example, the literature (Lan Bo, Zhu Yong, Gao Qiang, et al. Research on the dynamic characteristics of load-dependent speed regulation of drilling rig rotary systems in different strata [J]. Machine Tools and Hydraulics, 2024, 52(16): 118-127.) divides the strata according to the solidity coefficient and gives the recommended rotation speed for the corresponding strata to ensure the stable operation of the rotary system. However, these methods are mostly at the stage of numerical simulation and have not yet been widely used in industry. Summary of the Invention

[0004] In order to address the deficiencies of the prior art, the purpose of the present invention is to provide a hydraulic tunnel drilling rig speed control method based on load compensation, so as to achieve the purpose of keeping the drilling rig rotation speed stable and tracking the set value under any load, thereby achieving the purpose of improving the drilling speed and drilling quality and reducing the probability of drilling accidents.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] A method for controlling the rotation speed of a hydraulic tunnel drilling rig based on load compensation comprises the following steps:

[0007] Step 1) establishing a dynamic model and a steady-state model of the hydraulic tunnel drilling rig rotation system;

[0008] Step 2) Based on the step response experimental results of the drilling rig rotary system, the dynamic model parameters are identified;

[0009] Step 3) Based on the dynamic model identified in step 2), an extended state observer is designed to estimate the influence of the load torque and perform feedforward compensation;

[0010] Step 4) Based on the dynamic model after feedforward compensation, a PI controller is designed using pole placement to achieve speed tracking;

[0011] Step 5) Based on the steady-state model, a dead zone compensator is designed to overcome the valve dead zone, control the input of the steady-state model to be close to the actual required valve opening, and achieve a fast tracking response of the speed.

[0012] Optionally, the dynamic model of the drilling rig rotation system in step 1) is:

[0013]

[0014] Among them, ω m represents the speed, r / s; T is the time constant of the reduced-order system, Kq represents the valve port flow gain, m 3 / s·m, s is the Laplace transform variable, I PWM is the control signal, dimensionless, K xv is the gain, D m is the displacement of the hydraulic motor, m 3 / rad;C tm is the total leakage coefficient m of the hydraulic motor 3 / (s·Pa), V t is the total compression volume of the two chambers of the hydraulic motor and the connecting pipes m 3 , β e is the effective bulk elastic modulus Pa of the oil; T L It is the load torque Nm generated by the drill bit cutting the formation.

[0015] Optionally, the steady-state model of the drilling rig rotation system in step 1) is:

[0016]

[0017] Among them, I0 is the control signal when the drilling rig rotary system starts to move, and a and b are parameters obtained by least squares fitting based on the control signal and steady-state value of the rotation speed of the rotary system under normal working conditions.

[0018] Optionally, the specific content of step 2) is:

[0019] Through the step response data of the drilling rig rotary system, that is, the speed response of the system to the step control input, the least square method is used to identify the dynamic parameters of the rotary system to obtain the parameters T and value.

[0020] Optionally, the specific content of step 3) is:

[0021] Design the extended state observer:

[0022]

[0023] Where z1 is ω m The observed value of z2 is f(T L ), [β1β2] is the observer gain; the . above z1 and z2 represents the derivative;

[0024] Let e1 = ω m -z1, The observation error of the state observer can be expressed as:

[0025]

[0026] Where h is the derivative of f;

[0027] Let the characteristic equation of the observation error of the state observer be (s+ω0) 2 ,ω0>0,ω0 is the expected characteristic value of the system, we can get:

[0028]

[0029] Based on the observation value of the extended state observer, the disturbance compensation is designed

[0030] Feedforward compensation theoretically eliminates the impact of load changes on speed.

[0031] Optionally, the step 4) uses a pole configuration method to design a PI controller to achieve speed tracking, specifically:

[0032] Based on the compensated dynamic model system, the PI controller parameters are designed by pole configuration, and the transfer function of the PI controller is:

[0033]

[0034] It is expressed as the error between the speed measurement value and the expected value, s is the Laplace transform variable, K i Indicates the integral parameter in the PI controller; K p Represents the proportional parameter in the PI controller;

[0035] Solving for controller parameters:

[0036]

[0037] ζ is the damping, dimensionless, ω n is the natural oscillation frequency, rad / s.

[0038] Optionally, the dead zone compensation link designed in step 5) is:

[0039]

[0040] Among them, ω r is the set speed, rad / s, I z is the generated feedforward compensation, dimensionless, a and b are parameters obtained by least squares fitting based on the steady-state values ​​of the control signal and speed of the rotary system under normal working conditions.

[0041] Optionally, the method further includes step 6) verifying the effectiveness and rationality of the proposed load compensation-based hydraulic tunnel drilling rig speed control method using simulation and field experiments.

[0042] Optional, including:

[0043] Based on the Matlab / Simulink simulation platform, the rotary system speed controller and rotary system model were built, and field experiments were carried out based on the ZDY4500LFK drilling rig.

[0044] The beneficial effects achieved by the present invention are:

[0045] This invention effectively solves the problem of rotational speed fluctuations during drilling, significantly improving the stability and safety of the drilling rig's rotational speed. The control system is highly adaptable and can accurately track the rotational speed under different drilling conditions, providing effective support for the intelligent control of coal mine drilling rigs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is the structural diagram of the drilling rig's rotary system;

[0047] Figure 2 This is a diagram of the speed control structure of a hydraulic tunnel drilling rig;

[0048] Figure 3 is the steady-state response curve of the rotary system;

[0049] Figure 4 is the steady-state characteristic curve of the rotary system;

[0050] Figure 5It is the step response signal of the drilling rig rotary system and the output signal of the identification model;

[0051] Figure 6 is the simulation result of the rotary system under no load;

[0052] Figure 7 is the disturbance change curve;

[0053] Figure 8 is the response curve of the rotary closed-loop system after the load is applied;

[0054] Figure 9 is the observation result of the extended state observer;

[0055] Figure 10 It is the speed change curve during the load starting process;

[0056] Figure 11 It is the output curve of each module of the controller;

[0057] Figure 12 It is the speed change curve during normal drilling. DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0059] The load-compensated hydraulic tunnel drilling rig speed control method of the present invention comprises the following steps:

[0060] Step 1) establishing a dynamic model and a steady-state model of the hydraulic tunnel drilling rig rotation system;

[0061] Step 2) identifying dynamic model parameters using step response data of the drilling rig rotary system;

[0062] Step 3) Based on the dynamic model, an extended state observer is designed to estimate the impact of load torque and perform feedforward compensation;

[0063] Step 4) Based on the compensated dynamic model, a PI controller is designed using pole placement to achieve speed tracking;

[0064] Step 5) Based on the system steady-state model, design a dead zone compensator to overcome the valve port dead zone;

[0065] Step 6) Use simulation and field experiments to verify the effectiveness and rationality of the proposed load compensation-based hydraulic tunnel drilling rig speed control method.

[0066] The specific contents of step 1) of the aforementioned load-compensated hydraulic tunnel drilling rig speed control method are as follows:

[0067] The dynamic performance of the drilling rig rotary system is mainly determined by the load-sensitive proportional valve and the hydraulic motor. The load-sensitive proportional valve consists of two parts: the drive circuit and the valve body. The drive circuit adjusts the displacement of the valve core through the PWM signal output by the controller. v Unit is m. Due to the fast response speed of the electronic control system, a linear link is used to describe the dynamic characteristics of the drive circuit. Its dynamic model is:

[0068] x v =K xv I PWM ;

[0069] Among them, K xv is the gain, I PWM For the control input signal, dimensionless, the dynamic model of the valve body of the load-sensitive proportional valve is:

[0070]

[0071] Among them, P s is the inlet pressure of the load-sensing proportional valve, Pa, and the inlet and outlet pressures of the hydraulic motor are P1 and P2, Pa respectively. We define the load flow of the hydraulic motor as q L Unit: m 3 / s, load pressure is P L =P1-P2. During drilling, the load sensing system will change the inlet pressure according to the load pressure, C d Flow coefficient, W valve port shape coefficient m 2 , x v Indicates valve core displacement, m; ρ indicates hydraulic oil density, kg / m 3 , so that it satisfies:

[0072] P s =P L +P d ;

[0073] Among them, P d is a fixed value, then the dynamic model of the load-sensing proportional valve can be simplified as follows:

[0074]

[0075] make

[0076]

[0077] You can get:

[0078] q L =K q x v ;

[0079] Since the normal operating range of the drilling rig is 60r / min-180r / min, the system does not frequently pass through the zero point, so its dead zone characteristics are not considered in the process of establishing the dynamic model.

[0080] The hydraulic motor converts the liquid pressure kinetic energy provided by the hydraulic pump into the mechanical energy of the output shaft. According to the continuity of the flow, the dynamic flow continuity equation of the hydraulic motor can be obtained as follows:

[0081]

[0082] Among them, ω m Indicates the rotation speed, r / s; D m is the displacement of the hydraulic motor, in m 3 / r (cubic meter per revolution); the unit of rotational speed is rad / s (radians per second); C tm is the total leakage coefficient of the hydraulic motor, in L / min bar (liters per minute per bar); Vt is the total compression volume of the two chambers of the hydraulic motor and the connecting pipe, in m 3 βe is the effective bulk elastic modulus of the oil, in Pa·s (Pa·seconds). According to the torque balance of the hydraulic motor, the dynamic torque balance equation of the rotating shaft of the hydraulic motor can be obtained as:

[0083]

[0084] Among them, J t is the equivalent total inertia of the hydraulic motor shaft kg·m 2 , T L is the load torque Nm generated by the drill bit cutting the formation. Combining the above formulas, the mathematical model of the drilling rig rotation system can be obtained as follows:

[0085]

[0086] Although the theoretical dynamic model of the rotary system is a second-order system, in actual operation, when the valve opening changes, the rotary speed does not show obvious oscillation characteristics, indicating that the rotary system of the drilling rig is an over-damped system. In order to simplify the controller design, the present invention reduces the rotary system to a first-order model, that is,

[0087]

[0088] Among them, ω m represents the speed, r / s; T is the time constant of the reduced-order system, Kq represents the valve port flow gain, m 3 / s·m, s is the Laplace transform variable, I PWM is the control signal, dimensionless, K xv is the gain, D m is the displacement of the hydraulic motor, m3 / rad;C tm is the total leakage coefficient m of the hydraulic motor 3 / (s·Pa), V t is the total compression volume of the two chambers of the hydraulic motor and the connecting pipes m 3 , β e is the effective bulk elastic modulus Pa of the oil; T L The load torque Nm generated by the drill bit cutting the formation;

[0089] The steady-state model of the slewing system mainly reflects the dead zone characteristics of the system. When the control signal is small, the slewing speed cannot change dynamically with the control signal and no longer conforms to the dynamic model described previously. In order to overcome the influence of the dead zone characteristics on the system startup process control, through experimental testing, the steady-state value of the slewing speed under different control signals was obtained, and the relationship between the control signal and the slewing speed was fitted using a piecewise function to obtain the steady-state model of the system. It can be expressed as follows:

[0090]

[0091] Among them, I0 is the control signal when the drilling rig rotary system starts to move, and a and b are parameters obtained by least squares fitting based on the control signal and steady-state value of the rotation speed of the rotary system under normal working conditions.

[0092] The specific contents of step 2) of the aforementioned load-compensated hydraulic tunnel drilling rig speed control method are as follows:

[0093] The system parameters are identified by the least square method through the control signal and speed change data of the step response of the rotary system, and the parameters T and value.

[0094] The specific content of step 3) of the aforementioned hydraulic tunnel drilling rig speed control method based on load compensation is as follows: during the drilling process, the change of drilling conditions causes the load torque of the drill bit cutting the formation to change accordingly, and the change of the load torque of the rotary system makes it difficult to stabilize the speed of the drilling rig. At the same time, since there are unidentified parameters in the channel affecting the speed of the load torque, this embodiment will affect the system load torque. Defined as the expansion state, the rotation system is then re-expressed as:

[0095]

[0096] Based on this, the extended state observer is designed as:

[0097]

[0098] Where z1 is ω m The observed values ​​of f and f(TL ) is the same as the expression, z2 is the observed value of f [β1β2] is the observer gain. Let e1=ω m -z1, The observation error of the state observer can be expressed as:

[0099]

[0100] where h is the derivative of f. For the drilling rig's rotary system, h is bounded, and it can be shown that the observation errors e1 and e2 converge gradually and are bounded (ZHENG Q, Gaol LQ, GAO Z. On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics [C]. In Proceedings of the 46th IEEE conference on decision and control. New Orleans, USA, 2007: 3501-3506.).

[0101] Let the characteristic equation of the observation error of the state observer be (s+ω0) 2 ,ω0>0ω0 is the expected characteristic value of the system,

[0102]

[0103] In order to eliminate the influence of load torque on the rotation speed, this patent designs the disturbance compensation value I based on the observation value of the extended state observer. D .

[0104]

[0105] Feedforward compensation theoretically eliminates the impact of load changes on speed.

[0106] In the aforementioned load-compensated hydraulic tunnel drilling rig speed control method, the specific content of step 4) is: based on the compensated system, the PI controller parameters are designed using the pole configuration method. The transfer function of the PI controller is:

[0107] It is expressed as the error between the speed measurement value and the expected value, s is the Laplace transform variable, K i Indicates the integral parameter in the PI controller; K p Represents the proportional parameter in the PI controller;

[0108] Then the closed-loop transfer function of the rotary system is

[0109]

[0110] in, The rotary closed-loop system is a typical second-order system. Its performance index and the system's natural oscillation frequency and damping satisfy the following relationship:

[0111]

[0112] Where, Mp is the overshoot, in %; the damping ratio (ζ) is a dimensionless value; t s is the adjustment time, in seconds; the natural oscillation frequency ω n The unit is rad / s. Based on the desired settling time and overshoot of the rotary closed-loop system, we can derive the constraints that the damping ratio and natural oscillation frequency must satisfy. By configuring the damping ratio and natural oscillation frequency of the closed-loop system, the characteristic equation of the closed-loop system can be obtained as:

[0113]

[0114] By equalizing the corresponding coefficients, the controller parameters can be solved

[0115]

[0116] In the aforementioned load-compensated hydraulic tunnel drilling rig speed control method, step 5) specifically involves using the inverse function of the rotary system's steady-state characteristics as the controller's dead-zone compensation to quickly adjust the system's operating point to the steady-state response region, avoiding the degradation of control performance caused by the dead-zone effect. The designed dead-zone compensation process is:

[0117]

[0118] Among them, ω r is the set speed rad / s, Iz is the generated feedforward compensation, dimensionless, a and b are the parameters obtained by least squares fitting based on the control signal and steady-state value of the speed of the rotary system under normal working conditions.

[0119] In the aforementioned load-compensated hydraulic tunnel drilling rig speed control method, step 6 specifically involves building a rotary system speed controller and rotary system model using the Matlab / Simulink simulation platform. Field experiments were conducted on a ZDY4500LFK drilling rig. Simulations and experiments demonstrated the effectiveness and rationality of the proposed method.

[0120] The present invention first establishes steady-state and dynamic models of the drilling rig's rotary system. Field data is then used to identify dynamic model parameters and fit the steady-state model. Based on the dynamic model, an extended state observer is designed, successfully estimating the effect of load torque on rotational speed. Simultaneously, a feedforward compensation strategy is incorporated to effectively suppress the effect of load torque changes on rotational speed. Furthermore, a PI controller is designed using a pole placement method to ensure precise tracking and control of the rotary system's rotational speed. Based on the steady-state model, a dead-zone compensator is designed to effectively overcome the negative impact of the rotary system's dead-zone effect on system performance.

[0121] Example 1:

[0122] In this embodiment, the structure of the drilling rig rotation system is as follows: Figure 1 The slewing system adjusts the opening of the load-sensitive proportional valve through the PWM modulation signal output by the speed controller, thereby controlling the flow of hydraulic oil into the hydraulic motor and adjusting the slewing speed. The load-sensitive pump in the system senses the load pressure and adjusts the output pressure of the main pump to compensate for the load disturbance caused by the drill cutting, thereby maintaining the stability of the speed. The structural diagram of the slewing control system is shown in Figure 2 shown.

[0123] Step 1) establishing a dynamic model and a steady-state model of the hydraulic tunnel drilling rig rotation system;

[0124] Through theoretical analysis, the theoretical dynamic model of the drilling rig rotation system is obtained as follows:

[0125]

[0126] Reduce the dynamic model to first order, that is,

[0127]

[0128] In the process of constructing the steady-state model of the rotary system, the steady-state values ​​of the rotary speed under different control signals were obtained through experimental tests, such as Figure 3 On this basis, the relationship between valve opening and rotation speed is fitted by piecewise function, and the steady-state model of the system is obtained ( Figure 4 ). Its mathematical expression is:

[0129]

[0130] Step 2) identifying dynamic model parameters using step response data of the drilling rig rotary system;

[0131] The least square method is used to identify the system parameters, and the mathematical model of the control signal to speed in the rotary system is obtained as follows:

[0132]

[0133] This implementation example compares the actual output value and the model output value under the same input signal. The results are as follows Figure 5 As shown in Figure 2, the model output is highly consistent with the measured data of the system, indicating that the identified model can accurately reflect the dynamic characteristics of the slewing system and provide a reliable basis for subsequent controller design.

[0134] Step 3) Based on the dynamic model, an extended state observer is designed to estimate the impact of load torque and perform feedforward compensation;

[0135] The designed extended state observer is:

[0136]

[0137] Among them, z1 is the observed value of the rotation speed, z2 is f(T L ) observation value, let the characteristic equation of the observer be λ0=(s+ω0) 2 ,ω0>30, we can get the relevant parameter β1=2ω0-10.99=49.01 in the observer,

[0138] The feedforward compensation based on this design is:

[0139]

[0140] Feedforward compensation theoretically eliminates the influence of load torque on speed.

[0141] Step 4) Based on the identified dynamic model, a PI controller is designed using pole configuration to achieve speed tracking.

[0142] Then the transfer function of the closed-loop system is:

[0143]

[0144] The expected adjustment time of the rotary closed-loop system is less than 2s, and the overshoot is less than 5%. To achieve the desired performance, the damping and natural oscillation frequency need to meet ζ>0.69,ω n >3.86, in this embodiment, the selected parameters are ζ=0.85, ω n =6.5, then the characteristic equation of the closed-loop system is: 2 +11.05s+42.25=0. Comparing the characteristic equation of the closed-loop system, by making the corresponding coefficients equal, we can obtain the parameters of the PI controller as follows:

[0145] K p =0.0034,K i =2.344;

[0146] Step 5) Based on the system steady-state model, design a dead zone compensator to overcome the valve port dead zone.

[0147] Using the inverse function of the steady-state model of the rotary system, a feedforward compensation module is designed to overcome the influence of the rotary system dead zone on the system. The designed rotary system dead zone compensation link is:

[0148] I z =0.8197ω r -106.19;

[0149] Step 6) Use simulation and field experiments to verify the effectiveness and rationality of the proposed load compensation-based hydraulic tunnel drilling rig speed control method.

[0150] Under no-load conditions, the performance of the slewing system is mainly reflected in its ability to track the set value and the dynamic response characteristics of the system. The closed-loop performance of the system under no-load conditions was verified through simulation. The speed tracking curve and the observation results of the observer are shown in Figure 2. Figure 6 As shown in the figure, under no-load conditions, the rotation speed stabilizes near the set value within 2 seconds, with no significant overshoot. The extended state observer also effectively observes the rotation speed, and the observed stability value of the expanded state is 0, which is in line with our expectations.

[0151] Under load conditions, the load is Figure 7 As shown, the speed tracking effect is as follows Figure 8 As shown, in the 0-3s, the output of the rotary control system depends on the PI controller, so the PI controller and the controller in this embodiment have the same response curve. When the rotation speed reaches near the set value, the rotation speed will fluctuate around the set value due to the disturbance signal. The PI controller only relies on the drilling speed error signal to adjust the control variable, resulting in a large fluctuation range of the rotation speed. In the rotary system designed in this embodiment, the extended state observer realizes the effective observation of the load effect, as shown in Figure 2. Figure 9 As shown, the corresponding control quantity is generated, which effectively reduces the impact of disturbance on the slewing system.

[0152] We designed an experiment to start the drill under the condition of contact between the drill bit and the formation to simulate the influence of constant load disturbance on the rotary system. Figure 10 As shown. When designing, the traditional PI controller only focuses on the tracking performance of the system and does not fully consider the disturbance suppression capability. Therefore, although it can eventually stabilize near the set value, the response speed is significantly reduced, making it difficult to quickly respond to load disturbances. In contrast, the speed controller designed in this embodiment can observe the influence of load torque in real time and generate corresponding control quantities (such as Figure 11As shown in the figure, the influence of load torque on the system is effectively offset by feedforward compensation. Experiments show that under the action of the speed controller designed by this patent, the rotary system can still stabilize to the set value within 3 seconds and keep the steady-state error within the range of ±3r / min. In addition, Figure 11 The output of each module of the controller is displayed, further verifying the remarkable robustness and fast response capability of the controller designed in this embodiment when dealing with load disturbances.

[0153] During normal drilling, the curve of rotation speed change is as follows: Figure 12 As shown in the figure, the cutting process makes the rotation speed fluctuate more violently, but the steady-state error of the rotation speed is still maintained within the range of ±3r / min, showing strong robustness.

[0154] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the present invention. Therefore, such modifications and improvements, which do not depart from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A method for controlling the rotation speed of a hydraulic tunnel drilling rig based on load compensation, characterized in that: The steps include: Step 1) establishing a dynamic model and a steady-state model of the hydraulic tunnel drilling rig rotation system; Step 2) identifying the dynamic model parameters of the drilling rig rotary system based on the step response experimental results; Step 3) Based on the dynamic model identified in step 2), an extended state observer is designed to estimate the influence of the load torque and perform feedforward compensation; Step 4) Based on the dynamic model after feedforward compensation, a PI controller is designed using pole placement to achieve speed tracking; Step 5) Based on the steady-state model, a dead zone compensator is designed to overcome the valve dead zone, control the input of the steady-state model to be close to the actual required valve opening, and achieve a fast tracking response of the speed.

2. The method for controlling the speed of a hydraulic tunnel drill based on load compensation according to claim 1, characterized in that: The dynamic model of the drilling rig rotation system in step 1) is: Among them, ω m represents the speed, r / s; T is the time constant of the reduced-order system, K q Indicates the valve port flow gain, m 3 / s·m, s is the Laplace transform variable, I PWM is the control signal, dimensionless, K xv is the gain, D m is the displacement of the hydraulic motor, m 3 / rad;C tm is the total leakage coefficient m of the hydraulic motor 3 / (s·Pa), V t is the total compression volume of the two chambers of the hydraulic motor and the connecting pipes m 3 , β e is the effective bulk elastic modulus Pa of the oil; T L It is the load torque Nm generated by the drill bit cutting the formation.

3. The method for controlling the speed of a hydraulic tunnel drill based on load compensation according to claim 1 or 2, characterized in that: The steady-state model of the drilling rig rotation system in step 1) is: Among them, I0 is the control signal when the drilling rig rotary system starts to move, and a and b are parameters obtained by least squares fitting based on the control signal and steady-state value of the rotation speed of the rotary system under normal working conditions.

4. The method for controlling the speed of a hydraulic tunnel drill based on load compensation according to claim 1 or 2, characterized in that: The specific content of step 2) is: Through the step response data of the drilling rig rotary system, that is, the speed response of the system to the step control input, the least square method is used to identify the dynamic parameters of the rotary system to obtain the parameters T and value.

5. The method for controlling the speed of a hydraulic tunnel drill based on load compensation according to claim 1 or 2, characterized in that: The specific content of step 3) is: Design the extended state observer: Where z1 is ω m The observed value of z2 is the observed value of f [β1β2] is the observer gain; the . above z1 and z2 represents the derivative; Let e1 = ω m -z1, The observation error of the state observer can be expressed as: Where h is the derivative of f; Let the characteristic equation of the observation error of the state observer be (s+ω0) 2 ,ω0>0,ω0 is the expected characteristic value of the system, we can get: Based on the observation value of the extended state observer, the disturbance compensation is designed Feedforward compensation theoretically eliminates the impact of load changes on speed.

6. The method for controlling the speed of a hydraulic tunnel drill based on load compensation according to claim 1 or 2, characterized in that: Step 4) uses pole placement to design a PI controller to achieve speed tracking. The specific contents are: Based on the compensated dynamic model system, the PI controller parameters are designed by pole configuration, and the transfer function of the PI controller is: It is expressed as the error between the speed measurement value and the expected value, s is the Laplace transform variable, K i Indicates the integral parameter in the PI controller; K p Represents the proportional parameter in the PI controller; Solving for controller parameters: ζ is the damping, dimensionless, ω n is the natural oscillation frequency, rad / s.

7. The method for controlling the speed of a hydraulic tunnel drill based on load compensation according to claim 1 or 2, characterized in that: The dead zone compensation link designed in step 5) is: Among them, ω r is the set speed, rad / s, I z is the generated feedforward compensation, dimensionless, a and b are parameters obtained by least squares fitting based on the steady-state values ​​of the control signal and speed of the rotary system under normal working conditions.

8. The method for controlling the speed of a hydraulic tunnel drill based on load compensation according to claim 1 or 2, characterized in that: The method also includes step 6) using simulation and field experiments to verify the effectiveness and rationality of the proposed load compensation-based hydraulic tunnel drilling rig speed control method.

9. The method for controlling the speed of a hydraulic tunnel drill based on load compensation according to claim 8, characterized in that: Specifically include: Based on the Matlab / Simulink simulation platform, the rotary system speed controller and rotary system model were built, and field experiments were carried out based on the ZDY4500LFK drilling rig.

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