A method for evaluating the robustness of a rock drilling jumbo based on individual customization and environmental disturbance

Abstract

The application discloses a kind of based on individualization customization and environmental disturbance's rock drilling jumbo toughness evaluation method, comprising: constructing individualization demand library and environmental disturbance library;The forward propagation network of demand change and the reverse feedback network of environmental disturbance and the propagation network of both simultaneous action are constructed, and the components and paths of demand change and environmental disturbance common propagation influence are identified;First scene of environmental disturbance evaluation, second scene of individualization customization demand change evaluation, third scene when environmental disturbance and individualization customization demand change simultaneously act are respectively set;Establish the toughness evaluation index system of rock drilling jumbo;Based on the numerical value of four indexes calculated, the comprehensive toughness evaluation result under the scene to be evaluated is generated using weighted fusion method.The application can improve the toughness of rock drilling jumbo under the scene of environmental disturbance and individualization customization demand change.

Description

Technical Field

[0001] This invention relates to the field of rock drilling rig toughness assessment technology, and more specifically to a rock drilling rig toughness assessment method based on personalized customization and environmental disturbance. Background Technology

[0002] As a key piece of equipment in engineering machinery drilling and blasting construction, the rock drilling rig is a guarantee for achieving intelligent, precise, efficient and safe tunnel excavation. Its technical performance directly determines the excavation efficiency, construction quality and safety of workers in tunnel engineering.

[0003] With the diversification and personalization of user needs, rock drilling rig manufacturers need to improve the personalization and resilience of their products, and pay more attention to providing personalized services to adapt to working conditions such as high ground stress, high ground temperature, high osmotic pressure, and complex geology, thereby enhancing the agile response capability of rock drilling rigs.

[0004] How to design rock drilling rigs to provide them with better fault tolerance and correction space, reduce the impact of complex disturbances on product functions, and improve the resilience of rock drilling rigs in scenarios of environmental disturbances and changes in personalized customization needs is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a method for evaluating the toughness of rock drilling rigs based on personalized customization and environmental disturbance, so as to improve the toughness of rock drilling rigs under scenarios of environmental disturbance and changes in personalized customization requirements.

[0006] A method for assessing the toughness of rock drilling rigs based on personalized customization and environmental disturbance includes:

[0007] Step S1: Construct a personalized demand library and an environmental disturbance library. The personalized demand library includes drive unit type, drilling capacity demand parameters, operation efficiency demand parameters and functional adaptability parameters. The environmental disturbance library includes rock mass parameters and environmental parameters.

[0008] Step S2: Analyze the functional, structural and physical connection relationships between components in the rock drilling rig, construct the forward propagation network of demand changes, the reverse feedback network of environmental disturbances, and the propagation network of both simultaneously, and identify the components and paths that jointly propagate the effects of demand changes and environmental disturbances.

[0009] Step S3: A first scenario for environmental disturbance assessment, a second scenario for personalized customization requirement change assessment, and a third scenario for assessment when environmental disturbance and personalized customization requirement change occur simultaneously are defined. The first scenario analyzes the impact of at least one environmental disturbance event selected from the environmental disturbance library on the performance of the rock drilling rig. The second scenario analyzes the impact of at least one requirement change selected from the personalized requirement library on the performance of the rock drilling rig. The third scenario analyzes the impact of at least one environmental disturbance event selected from the environmental disturbance library and at least one requirement change selected from the personalized requirement library, based on identified components and paths, on the performance of the rock drilling rig when the requirement change and environmental disturbance event occur together.

[0010] Step S4: Establish a toughness assessment index system for the rock drilling rig. The toughness assessment index system includes: an adaptability index to characterize the system's ability to maintain its functional requirements when subjected to various expected environmental factors during service; a robustness index to characterize the system's ability to ensure that its quality performance indicators remain stable within the allowable range under environmental disturbances; a recoverability index to characterize the system's ability to recover its original operational capacity and efficiency from failures; and a speed index to characterize the system's ability to quickly recover to expected performance after structural damage when subjected to environmental disturbances.

[0011] Step S5: Based on the values ​​of the four indicators calculated in step S4, a weighted fusion method is used to generate a comprehensive resilience assessment result for the scenario to be evaluated.

[0012] The rock drilling rig toughness assessment method based on personalized customization and environmental disturbance provided by the present invention has the following beneficial effects:

[0013] 1. This invention considers the impact of environmental disturbances on the performance of the rock drilling rig during operation, establishes an environmental disturbance library, and addresses the impact of various disturbances on the rock drilling rig, thereby improving the robustness of the rock drilling rig in the face of various disturbances.

[0014] 2. This invention takes into account the impact of changes in user needs on system performance, constructs a personalized needs library, and improves the adaptability of the rock drilling rig to cope with different changes in needs;

[0015] 3. This invention analyzes the correlation between demand changes and environmental disturbances on the performance of rock drilling rigs. It uses Spearman's rank correlation coefficient to analyze the correlation between environmental disturbances and customized demand parameters and the toughness index of rock drilling rigs, and analyzes the impact of the coupling of environmental disturbances and customized demand parameters on each index, thereby improving the reliability of toughness assessment.

[0016] 4. This invention constructs a four-dimensional toughness index system consisting of adaptability, robustness, recoverability, and speed, and combines a weighted model of the analytic hierarchy process and the entropy weight method to achieve a multi-dimensional quantitative assessment of toughness level, which can effectively improve the toughness of rock drilling rigs under environmental disturbances and personalized customization requirements. Attached Figure Description

[0017] Figure 1 A schematic diagram of the process for evaluating the toughness of a rock drilling rig based on personalized customization and environmental disturbance provided by the present invention.

[0018] Figure 2 This is a graph showing the environmental disturbance and performance of a rock drilling rig. Detailed Implementation

[0019] To facilitate understanding of the present invention, a more complete description will be given below with reference to various embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] Please see Figure 1 The embodiments of the present invention provide a method for evaluating the toughness of a rock drilling rig based on personalized customization and environmental disturbance, including steps S1-S5:

[0022] Step S1: Construct a personalized requirement library and an environmental disturbance library. The personalized requirement library includes drive unit type, drilling capacity requirement parameters, operation efficiency requirement parameters, and functional adaptability parameters. The environmental disturbance library includes rock mass parameters and environmental parameters.

[0023] The drive unit types include hydraulic cylinder drive, chain drive, and rotary motor drive. The drilling capacity requirements parameters include tunnel cross-section shape, tunnel cross-section size, drilling depth, and drilling diameter. The operation efficiency requirements parameters include drilling cycle time and number of drill arms. The functional adaptability parameters include rock drill impact power adaptation value and dust removal system air volume adaptation value.

[0024] The rock mass parameters include uniaxial compressive strength, rock abrasiveness, rock mass integrity, and rock mass water inflow classification. The environmental parameters include ambient temperature, ambient humidity, salinity, altitude, and dust concentration.

[0025] Specifically, changes in rock mass parameters and environmental parameters are considered disturbance events.

[0026] Step S2: Analyze the functional, structural and physical connection relationships between components in the rock drilling rig, construct the forward propagation network of demand changes, the reverse feedback network of environmental disturbances, and the propagation network of both acting simultaneously, and identify the components and paths that jointly propagate the influence of demand changes and environmental disturbances.

[0027] This includes identifying the components and pathways through which demand changes and environmental disturbances propagate together, specifically including:

[0028] Based on the propagation network analysis, components affected by both demand change propagation and environmental disturbances are identified as cross-components. The set of cross-components... Represented as ,in, This represents a set of components that are only affected by the positive propagation of changes in demand. This refers to a set of components that are only affected by environmental disturbance feedback.

[0029] When the propagation path between two components is generated by the combined effects of demand changes and environmental disturbances, the propagation path between these two components is defined as an intersecting path.

[0030] Step S3: Set up a first scenario for environmental disturbance assessment, a second scenario for personalized customization requirement change assessment, and a third scenario for assessment when environmental disturbance and personalized customization requirement change occur simultaneously. The first scenario analyzes the impact of at least one environmental disturbance event selected from the environmental disturbance library on the performance of the rock drilling rig. The second scenario analyzes the impact of at least one requirement change selected from the personalized requirement library on the performance of the rock drilling rig. The third scenario analyzes the impact of at least one environmental disturbance event selected from the environmental disturbance library and at least one requirement change selected from the personalized requirement library on the performance of the rock drilling rig when the requirement change and environmental disturbance event occur together, based on the identified components and paths.

[0031] The first scenario involves analyzing the impact of at least one environmental disturbance event selected from the environmental disturbance library on the performance of the rock drilling rig, specifically including:

[0032] rock drilling rig When subjected to disturbances, its performance changes from its initial value. It began to descend, Real-time performance drops to its lowest level Gradually adapt over a period of time Repairing immediately, Performance will recover to its initial level at any time, such as Figure 2 As shown.

[0033] The second scenario involves analyzing the impact of at least one change in demand selected from the personalized demand database on the performance of the rock drilling rig, specifically including:

[0034] The product before the change in requirements is defined as the original product, and the product after adaptive design following the change in requirements is defined as the variant product. When requirements change, if the performance of the original product cannot meet the performance requirements of the variant product, the system performance is considered to have decreased relatively. After a period of operation, if the product cannot adapt to the change in requirements, its performance is restored through repair. When requirements change, if the original product does not have the performance expected by the variant product, that performance of the original product is considered non-existent, and then the performance expected by the variant product is achieved through redesign.

[0035] The third scenario analyzes the impact of at least one environmental disturbance event selected from the environmental disturbance library and at least one demand change selected from the personalized demand library on the performance of the rock drilling rig after the demand change and the environmental disturbance event occur together. Specifically, it includes:

[0036] S301, based on step S2, the components and paths of the joint propagation of demand changes and environmental disturbances are identified. The correlation between the impact of demand changes and environmental disturbances on the performance of the rock drilling rig is analyzed. The Spearman rank correlation coefficient is used to quantify the correlation between the impact of demand changes on performance and the impact of environmental disturbances on performance, denoted as... ;

[0037] S302, Note To adapt to changing demands, the rock drilling rig is in Performance metrics at any given time For rock drilling rigs during environmental disturbances The performance index values ​​of the rock drilling rig at any given time, under the simultaneous influence of demand changes and environmental disturbances. The performance index value at time is denoted as ;

[0038] S303, when the effects of demand changes and environmental disturbances on system performance are irrelevant, i.e. ,but, , This indicates taking the minimum value;

[0039] S304, when the impact of demand changes and environmental disturbances on system performance is perfectly positively correlated, i.e. ,but, , This indicates taking the maximum value. Performance of rock drilling rigs before changes in demand and environmental disturbances;

[0040] S305, when the impact of demand changes and environmental disturbances on system performance falls between uncorrelated and perfectly positively correlated, i.e. Then the following equation is satisfied:

[0041] .

[0042] Step S4: Establish a toughness assessment index system for the rock drilling rig. The toughness assessment index system includes: an adaptability index to characterize the system's ability to maintain its functional requirements when subjected to various expected environmental factors during service; a robustness index to characterize the system's ability to ensure that its quality performance indicators remain stable within the allowable range under environmental disturbances; a recoverability index to characterize the system's ability to recover its original operational capacity and efficiency from failures; and a speed index to characterize the system's ability to quickly recover to expected performance after structural damage when subjected to environmental disturbances.

[0043] The expression for the adaptability index is as follows:

[0044]

[0045] in, For the reason about the Functional requirements Adaptability indicators It is to adaptively change the amount of information to meet the changing needs of personalized customization. It is a new amount of information developed to meet the changing needs of personalized customization;

[0046] The expression for the robustness indicator is:

[0047]

[0048] in, It is the first disturbance Performance metrics robustness indicators The normalized performance value after being subjected to disturbance. The performance value is the one under the steady-state condition before the disturbance.

[0049] The expression for the recoverability index is:

[0050]

[0051] in, It's about the system's performance. The resilience index after being disturbed To improve the system's performance after being disturbed The new steady-state performance value achieved can be restored. This represents the system's performance value in its initial steady state.

[0052] The expression for the speed index is:

[0053]

[0054] in, For structure The speed index of the ability to withstand environmental disturbances. For structure Repair time after damage caused by environmental disturbances The time required to rebuild the damaged structure.

[0055] Step S5: Based on the values ​​of the four indicators calculated in step S4, a weighted fusion method is used to generate a comprehensive resilience assessment result for the scenario to be evaluated.

[0056] Specifically, step S5 includes:

[0057] Step S501: Using the Analytic Hierarchy Process (AHP), pairwise comparisons are made between the adaptability, robustness, recoverability, and speed indicators to construct a judgment matrix. The relative importance of each indicator is judged and the judgment matrix is ​​assigned values. The maximum eigenvalue and consistency index in the judgment matrix are calculated to determine the subjective weights of the adaptability, robustness, recoverability, and speed indicators.

[0058] Step S502: The adaptability, robustness, recoverability and speed indicators are standardized using the entropy weight method to determine the information entropy value and calculate the information entropy redundancy, thereby determining the objective weights of the adaptability, robustness, recoverability and speed indicators.

[0059] Step S503: The subjective weights of the analytic hierarchy process and the objective weights of the entropy weight method are combined using the Lagrangian function to determine the weight factors of the adaptability index, robustness index, recoverability index and speed index.

[0060] Step S504: Using the adaptability, robustness, recoverability, and speed indicators of the scenario to be evaluated as inputs, and combining the weighting factors of each indicator, calculate the comprehensive resilience score of the scenario to be evaluated. The expression is:

[0061]

[0062] in, , , and These are the weighting factors for the adaptability, robustness, recoverability, and speed indicators, respectively.

[0063] This leads to the determination of the resilience level corresponding to the overall resilience score.

[0064] In this embodiment, the toughness level is divided into four levels: high toughness, good toughness, medium toughness, and low toughness. At that time, it exhibits high toughness; At that time, it exhibits good toughness; At that time, it was of medium toughness. At that time, it exhibits low toughness.

[0065] The following uses a certain model of rock drilling rig as an application example to illustrate the invention.

[0066] The specific implementation process is as follows:

[0067] Based on the established personalized demand library and environmental disturbance library, rock mass integrity is selected as the disturbance parameter, and an environmental disturbance assessment scenario is set. Tunnel cross-sectional dimensions are selected as the demand parameter, and an assessment scenario for changes in demand parameters is set.

[0068] (1) Environmental disturbance assessment scenario

[0069] Rock mass integrity was selected as the disturbance parameter from the environmental disturbance database, and five disturbance levels (D1-D5) were defined, with each level corresponding to a rock mass integrity coefficient. Kv Typical lithology and propulsion hydraulic cylinder propulsion force (clamp) performance benchmark values, robustness judgment criteria under each level of disturbance are judged by performance loss, as detailed in Table 1.

[0070] Table 1

[0071]

[0072] The performance loss of propulsion (jaw) and the overall robustness results of each disturbance level were compared with the performance loss in the environmental disturbance library to determine the robustness of the rock drilling rig. The results are summarized in Table 2.

[0073] Table 2

[0074]

[0075] When rock integrity is used as the environmental disturbance parameter, disturbance levels D1-D5 all meet the robustness performance requirements.

[0076] (2) Scenario for assessing changes in demand parameters

[0077] The tunnel cross-section size requirements were selected from the personalized requirements database. The original design requirement was a standard adaptable tunnel cross-section of straight wall arch (arch height 3000mm × wall height 4000mm × span 6000mm). The adaptability criteria were a rated rock drilling coverage rate ≥95% and a single cycle operation efficiency ≥12m under standard working conditions. 2 / h, drill arm adjustment response time ≤2s.

[0078] When the tunnel cross-sectional dimensions change, the tunnel cross-sectional dimension parameters are divided into three requirement levels (S1-S3) according to different functional requirements. The tunnel cross-sectional dimension parameters corresponding to each level are shown in Table 3.

[0079] Table 3

[0080]

[0081] By using the demand input module of the rock drilling rig toughness assessment system, the tunnel cross-sectional dimension parameters of the three levels S1-S3 are retrieved from the built personalized demand library. Based on the parameters, the adaptation parameters such as the extension length of the drilling rig arm and the swing angle range are adjusted, and the results are shown in Table 4.

[0082] Table 4

[0083]

[0084] When the tunnel cross-section dimensions vary within the range specified in the personalized demand database, for demand levels S1 or S2, the drilling coverage, operational efficiency, and adjustment response time all meet the requirements under standard working conditions, and the adaptability is deemed satisfactory; for demand level S3, the drilling coverage is 94.5%, which is less than 95%, and the operational efficiency is 10.8m. 2 / h, less than 12m 2 The drill arm adjustment response time is 2.1s / h, which is greater than 2s, so the adaptability is not met. Adding an eagle-type boom to the rock drilling rig increases the drilling coverage to 96.5% and the operating efficiency to 13.6m. 2 / h, the adjustment response time is shortened to 1.8s, meeting the adaptability requirements.

[0085] (3) Based on the evaluation scenario when personalized customization and environmental disturbances act simultaneously, first conduct correlation analysis, then analyze the impact of demand changes on the performance of the rock drilling rig, analyze the impact of environmental disturbances on the performance of the rock drilling rig, and analyze the impact of simultaneous action on the rock drilling rig.

[0086] Specifically, the borehole diameter is selected from the personalized demand database as the demand change, and the rock hardness grade is selected from the environmental disturbance database as the environmental disturbance event. The impact of demand changes and environmental disturbance changes occurring individually and jointly on the performance of the rock drilling rig is analyzed.

[0087] Five borehole diameter grades Z1-Z5 (Φ35mm-Φ55mm) and five rock hardness grades R1-R5 (Protodyakonov hardness coefficients f=4, 6, 8, 10, 12) were selected to cover typical engineering scenarios from soft rock to medium-hard rock.

[0088] Analysis was conducted using Spearman's rank correlation coefficient, with the following criteria: | is highly correlated Strong correlation, It is moderately relevant. It is a weak correlation. | indicates no correlation; the significance level is set at α=0.05, and the reliability of the correlation is verified through hypothesis testing.

[0089] The influence of borehole diameter on adaptability was analyzed. Taking Z3=Φ45mm as the benchmark, the average adaptability of different hardnesses under the same diameter represents the influence of diameter, and the average adaptability of different diameters under the same hardness represents the influence of hardness.

[0090] Adaptability data for five groups of different rock hardnesses under each grade Z1-Z5 were extracted, and the mean adaptability value of diameter for each group was calculated. The results are shown in Table 5.

[0091] Table 5

[0092]

[0093] When the diameter is smaller than the reference value, the adaptability is lower than the reference value; when the diameter is larger than the reference value, the adaptability is higher than the reference value.

[0094] Analysis of the effect of rock hardness on adaptability, using R3 as the baseline:

[0095] Adaptability data for five groups of different borehole diameters under each grade (R1-R5) were extracted, and the mean adaptability value of hardness for each group was calculated. The results are shown in Table 6.

[0096] Table 6

[0097]

[0098] Rock hardness is positively correlated with adaptability, and the greater the deviation from the reference hardness f=8, the more significant the impact. When the hardness is lower than the reference, the adaptability is lower than the reference value; when the hardness is higher than the reference, the adaptability is higher than the reference value.

[0099] The absolute value of the deviation from the benchmark is used as a quantitative indicator of the influence of the variable on fitness. The larger the absolute value, the stronger the influence. Spearman's rank correlation coefficient is used for analysis.

[0100] The critical value for the Spearman rank correlation coefficient (n=5, α=0.05) is calculated to be 0.878. ,satisfy The correlation was determined to be strong; however, it was less than 0.878, indicating that the correlation did not reach the statistical significance level at the significance level of α=0.05, and P<0.05, indicating that the correlation was significant, and the degree of influence of borehole diameter on adaptability was strongly positively correlated with the degree of influence of rock hardness on adaptability.

[0101] The effect of borehole diameter on robustness, with Z3=Φ45mm as the benchmark:

[0102] The robustness raw data of five groups of different rock hardness under each grade Z1-Z5 were extracted, the mean robustness of diameter for each group was calculated, and the influence of diameter on robustness was quantified. The results are shown in Table 7.

[0103] Table 7

[0104]

[0105] Increasing the borehole diameter reduces the wear rate and enhances robustness. The greater the deviation from the reference diameter Φ45 mm, the more significant the impact: when the diameter is smaller than the reference, the wear rate is higher than the reference value, and robustness decreases; when the diameter is larger than the reference, the wear rate is lower than the reference value, and robustness improves.

[0106] The effect of rock hardness on robustness is based on R3.

[0107] The robustness raw data of five groups of different borehole diameters under each grade R1-R5 were extracted, the mean robustness of each group of hardness was calculated, and the influence of hardness on robustness was quantified. The results are shown in Table 8.

[0108] Table 8

[0109]

[0110] Calculated The value is greater than 0.878 and P < 0.05, indicating a very strong and significant correlation, and the two groups are determined to have a very strong positive correlation in terms of influence.

[0111] The influence of borehole diameter on recoverability was investigated by extracting raw recoverability data for five groups of different rock hardnesses at each grade (Z1-Z5), calculating the mean recoverability of diameter for each group, and quantifying the influence of diameter on recoverability. The results are shown in Table 9.

[0112] Table 9

[0113]

[0114] The borehole diameter is positively correlated with recoverability; the greater the deviation from the reference diameter Φ45 mm, the more significant the impact.

[0115] The influence of rock hardness on recoverability was investigated by extracting raw recoverability data for five groups of borehole diameters at each of the R1-R5 levels. The mean hardness of each group was calculated to quantify the influence of hardness on recoverability. The results are shown in Table 10.

[0116] Table 10

[0117]

[0118] Rock hardness is positively correlated with recoverability; the greater the deviation from the reference hardness f=8, the more significant the impact.

[0119] Calculated The value was greater than 0.878 and P < 0.05, indicating a very strong and significant correlation. The influence of borehole diameter on recoverability was strongly positively correlated with the influence of rock hardness on recoverability.

[0120] The influence of borehole diameter on speed was investigated by extracting raw speed data for five groups of different rock hardness at each grade (Z1-Z5), calculating the mean value of diameter for each group, and quantifying the influence of diameter on speed. The results are shown in Table 11.

[0121] Table 11

[0122]

[0123] The greater the deviation of the borehole diameter from the reference diameter Φ45 mm, the more significant the impact.

[0124] The influence of rock hardness on speed performance was investigated by extracting raw speed performance data for five groups of different borehole diameters under grades R1-R5, calculating the mean hardness of each group, and quantifying the influence of hardness on speed performance. The results are shown in Table 12.

[0125] Table 12

[0126]

[0127] The greater the deviation of the rock hardness from the reference hardness f=8, the more significant the impact.

[0128] Calculated The value was greater than 0.878 and P < 0.05, indicating a very strong and significant correlation. The influence of borehole diameter on speed is strongly positively correlated with the influence of rock hardness on speed.

[0129] Seven evaluation scenarios are set below. Scenario 1 and Scenario 2 are the impact on performance when they act alone, while Scenario 3 to Scenario 7 are the impact on performance when they act together in a coupled manner.

[0130] Scenario 1: Changes only in borehole diameter requirements

[0131] The borehole diameter is divided into 5 demand levels (Z1-Z5). Each level corresponds to the borehole diameter parameters and the corresponding basic operating parameters. Adaptability is quantified by operating efficiency, and robustness is quantified by thrust fluctuation, as shown in Table 13.

[0132] Table 13

[0133]

[0134] Operational efficiency is quantified by the ratio of drilling depth to the total time from the moment the drill bit contacts the rock surface until drilling is completed. Thrust fluctuation is the ratio of the difference between the maximum and minimum thrust to the average thrust multiplied by 100%.

[0135] With the rock hardness fixed at the baseline grade R3 (f=8), the borehole diameter parameters of grades Z1-Z5 were tested sequentially, and the results corresponding to each required grade are shown in Table 14.

[0136] Table 14

[0137]

[0138] When the borehole diameter increases, the operating efficiency decreases linearly (from 10.5 m / min at Φ35 mm to 6.2 m / min at Φ55 mm), and the thrust fluctuation increases slowly, but the values ​​are all within the normal range, meeting the requirements of adaptability and robustness.

[0139] Scenario 2: Only the rock hardness changes

[0140] Rock hardness is divided into 5 disturbance levels (R1-R5), each level corresponding to a rock hardness coefficient and typical lithology. The speed of disturbance is quantified by recovery time, as shown in Table 15.

[0141] Table 15

[0142]

[0143] With the fixed borehole diameter set at reference grade Z3 (Φ45mm), rock hardness parameters of grades R1-R5 were tested sequentially when the disturbance event changed. The results corresponding to each disturbance grade are shown in Table 16.

[0144] Table 16

[0145]

[0146] Only when the rock hardness increases, the operating efficiency decreases significantly (from 9.8 m / min when f=4 to 5.9 m / min when f=12) due to the sharp increase in cutting resistance in hard rock; the thrust fluctuation amplitude increases significantly, and the recovery time increases with increasing hardness. When the disturbance level is R1-R3, the speed meets the standard, while the speed does not meet the standard for R4 and R5.

[0147] The impact of changes in demand and environmental disturbances on the performance of the rock drilling rig was analyzed. Adaptability was quantified by operational efficiency, robustness by thrust fluctuation, recoverability by regression measurement, and speed by recovery time.

[0148] Scenario 3: Drill hole diameter Z1 (small diameter), rock hardness disturbance level R1 (soft rock) dual-factor coupled variation scenario.

[0149] When the borehole diameter changes to a small diameter of Φ35mm and the rock hardness grade changes to R1 soft shale, the corresponding results are shown in Table 17.

[0150] Table 17

[0151]

[0152] Scenario 4: Drill hole diameter is Z3 reference diameter, rock hardness disturbance level is R3 reference rock hardness, a dual-factor coupled change scenario.

[0153] When the borehole diameter changes to the reference diameter of Φ45mm and the rock hardness grade changes to the reference rock hardness of R3, the corresponding results are shown in Table 18.

[0154] Table 18

[0155]

[0156] Scenario 5: Drill hole diameter Z5 (large diameter), rock hardness disturbance level R5 (hard rock) dual-factor coupled variation scenario.

[0157] When the borehole diameter changes to the reference diameter of Φ55mm and the rock hardness grade changes to the reference rock hardness of R3, the corresponding results are shown in Table 19.

[0158] Table 19

[0159]

[0160] Scenario 6: Drill hole diameter Z1 (small diameter), rock hardness disturbance level R5 (hard rock) dual-factor coupled variation scenario.

[0161] When the borehole diameter changes to a small diameter of Φ35mm and the rock hardness grade changes to R5 hard rock, the corresponding results are shown in Table 20.

[0162] Table 20

[0163]

[0164] Scenario 7: Drill hole diameter Z5, soft rock with R1 soft rock disturbance level, dual-factor coupled variation scenario.

[0165] When the borehole diameter changes to a large diameter of Φ55mm and the rock hardness grade changes to R1 soft rock, the corresponding results are shown in Table 21.

[0166] Table 21

[0167]

[0168] When two factors are coupled, the performance indicators are affected by the synergy of both: ① When the diameter is small and the rock is soft (Z1+R1), the operation efficiency is the highest, the fluctuation is the smallest, the recovery is the fastest, and the toughness is the best; ② When the diameter is large and the rock is hard (Z3+R3), the operation efficiency is the lowest, the fluctuation is the largest, and the recovery is the slowest, but all indicators are still satisfied; ③ The operation efficiency of small diameter + hard rock is lower and the fluctuation is greater than that of large diameter + soft rock, indicating that the influence of rock hardness on toughness is greater than that of borehole diameter.

[0169] In this embodiment, the weighting factors obtained through steps S501 to S503 are: For 0.30, For 0.30, For 0.20, The overall resilience score was calculated using a weighted fusion method with a value of 0.20. .

[0170] The toughness assessment results for changes in borehole diameter alone are shown in Table 22.

[0171] Table 22

[0172]

[0173] The toughness assessment results for changes in rock hardness alone are shown in Table 23.

[0174] Table 23

[0175]

[0176] The toughness assessment results for the dual-coupling condition are shown in Table 24.

[0177] Table 24

[0178]

[0179] The above-mentioned method for evaluating the toughness of rock drilling rigs based on personalized customization and environmental disturbance has the following beneficial effects:

[0180] 1. This invention considers the impact of environmental disturbances on the performance of the rock drilling rig during operation, establishes an environmental disturbance library, and addresses the impact of various disturbances on the rock drilling rig, thereby improving the robustness of the rock drilling rig in the face of various disturbances.

[0181] 2. This invention takes into account the impact of changes in user needs on system performance, constructs a personalized needs library, and improves the adaptability of the rock drilling rig to cope with different changes in needs;

[0182] 3. This invention analyzes the correlation between demand changes and environmental disturbances on the performance of rock drilling rigs. It uses Spearman's rank correlation coefficient to analyze the correlation between environmental disturbances and customized demand parameters and the toughness index of rock drilling rigs, and analyzes the impact of the coupling of environmental disturbances and customized demand parameters on each index, thereby improving the reliability of toughness assessment.

[0183] 4. This invention constructs a four-dimensional toughness index system consisting of adaptability, robustness, recoverability, and speed, and combines a weighted model of the analytic hierarchy process and the entropy weight method to achieve a multi-dimensional quantitative assessment of toughness level, which can effectively improve the toughness of rock drilling rigs under environmental disturbances and personalized customization requirements.

Claims

1. A method for evaluating the toughness of a rock drilling rig based on personalized customization and environmental disturbance, characterized in that, include: Step S1: Construct a personalized demand library and an environmental disturbance library. The personalized demand library includes drive unit type, drilling capacity demand parameters, operation efficiency demand parameters, and functional adaptability parameters. The environmental disturbance library includes rock mass parameters and environmental parameters. Step S2: Analyze the functional, structural and physical connection relationships between components in the rock drilling rig, construct the forward propagation network of demand changes, the reverse feedback network of environmental disturbances, and the propagation network of both simultaneously, and identify the components and paths that jointly propagate the effects of demand changes and environmental disturbances. Step S3: A first scenario for environmental disturbance assessment, a second scenario for personalized customization requirement change assessment, and a third scenario for assessment when environmental disturbance and personalized customization requirement change occur simultaneously are defined. The first scenario analyzes the impact of at least one environmental disturbance event selected from the environmental disturbance library on the performance of the rock drilling rig. The second scenario analyzes the impact of at least one requirement change selected from the personalized requirement library on the performance of the rock drilling rig. The third scenario analyzes the impact of at least one environmental disturbance event selected from the environmental disturbance library and at least one requirement change selected from the personalized requirement library, based on identified components and paths, on the performance of the rock drilling rig when the requirement change and environmental disturbance event occur together. Step S4: Establish a toughness assessment index system for the rock drilling rig. The toughness assessment index system includes: an adaptability index to characterize the system's ability to maintain its functional requirements when subjected to various expected environmental factors during service; a robustness index to characterize the system's ability to ensure that its quality performance indicators remain stable within the allowable range under environmental disturbances; a recoverability index to characterize the system's ability to recover its original operational capacity and efficiency from failures; and a speed index to characterize the system's ability to quickly recover to expected performance after structural damage when subjected to environmental disturbances. Step S5: Based on the values ​​of the four indicators calculated in step S4, a weighted fusion method is used to generate a comprehensive resilience assessment result for the scenario to be evaluated. In step S2, the components and pathways through which demand changes and environmental disturbances propagate together are identified, specifically including: Based on the propagation network analysis, components affected by both demand change propagation and environmental disturbances are identified. Components simultaneously affected by both demand change propagation and environmental disturbances are designated as cross-components. The set of cross-components... Represented as ,in, This represents a set of components that are only affected by the positive propagation of changes in demand. This refers to a set of components that are only affected by environmental disturbance feedback. When the propagation path between two components is generated by the combined effect of demand changes and environmental disturbances, the propagation path between these two components is defined as an intersecting path. Step S3 specifically includes: S301, based on step S2, the components and paths of the co-propagation impact of demand changes and environmental disturbances are identified. The correlation between the impact of demand changes and environmental disturbances on the performance of the rock drilling rig is analyzed. The Spearman rank correlation coefficient is used to quantify the correlation between the impact of demand changes on performance and the impact of environmental disturbances on performance, denoted as... ; S302, Note To adapt to changing demands, the rock drilling rig is in Performance metrics at any given time For rock drilling rigs during environmental disturbances The performance index values ​​of the rock drilling rig at any given time, under the simultaneous influence of demand changes and environmental disturbances. The performance index value at time is denoted as ; S303, when the effects of demand changes and environmental disturbances on system performance are irrelevant, i.e. ,but, , This indicates taking the minimum value; S304, when the impact of demand changes and environmental disturbances on system performance is perfectly positively correlated, i.e. ,but, , This indicates taking the maximum value. Performance of rock drilling rigs before changes in demand and environmental disturbances; S305, when the impact of demand changes and environmental disturbances on system performance falls between uncorrelated and perfectly positively correlated, i.e. Then the following equation is satisfied: 。 2. The method for evaluating the toughness of a rock drilling rig based on personalized customization and environmental disturbance as described in claim 1, characterized in that, In step S1, the drive unit type includes hydraulic cylinder drive, chain drive, and rotary motor drive. The drilling capacity requirement parameters include tunnel cross-section shape, tunnel cross-section size, drilling depth, and drilling diameter. The operation efficiency requirement parameters include drilling cycle time and number of drill arms. The functional adaptability parameters include rock drill impact power adaptation value and dust removal system air volume adaptation value. The rock mass parameters include uniaxial compressive strength, rock abrasiveness, rock mass integrity, and rock mass water inflow classification. The environmental parameters include ambient temperature, ambient humidity, salinity, altitude, and dust concentration. Changes in rock mass parameters and environmental parameters are considered disturbance events.

3. The method for evaluating the toughness of a rock drilling rig based on personalized customization and environmental disturbance as described in claim 1, characterized in that, In step S3, the first scenario involves analyzing the impact of at least one environmental disturbance event selected from the environmental disturbance library on the performance of the rock drilling rig after the occurrence of the environmental disturbance event, specifically including: rock drilling rig When subjected to disturbances, its performance changes from its initial value. It began to descend, Real-time performance drops to its lowest level Gradually adapt over a period of time Repairing immediately, Performance was restored to its initial level at any time.

4. The method for evaluating the toughness of a rock drilling rig based on personalized customization and environmental disturbance as described in claim 1, characterized in that, In step S3, the second scenario involves analyzing at least one change in demand selected from the personalized demand database, and analyzing the impact of this change on the performance of the rock drilling rig, specifically including: The product before the change in requirements is defined as the original product, and the product after adaptive design following the change in requirements is defined as the variant product. When requirements change, if the performance of the original product cannot meet the performance requirements of the variant product, the system performance is considered to have decreased relatively. After a period of operation, if the product cannot adapt to the change in requirements, its performance is restored through repair. When requirements change, if the original product does not have the performance expected by the variant product, that performance of the original product is considered non-existent, and then the performance expected by the variant product is achieved through redesign.

5. The method for evaluating the toughness of a rock drilling rig based on personalized customization and environmental disturbance as described in claim 1, characterized in that, In step S4, the expression for the fitness index is: in, For the reason about the Functional requirements Adaptability indicators It is to adaptively change the amount of information to meet the changing needs of personalized customization. It is a new amount of information developed to meet the changing needs of personalized customization; The expression for the robustness indicator is: in, It is the first disturbance Performance metrics robustness indicators The normalized performance value after being subjected to disturbance. The performance value is the one under the steady-state condition before the disturbance. The expression for the recoverability index is: in, It's about the system's performance. The resilience index after being disturbed To improve the system's performance after being disturbed The new steady-state performance value achieved can be restored. This represents the system's performance value in its initial steady state. The expression for the speed index is: in, For structure The speed index of the ability to withstand environmental disturbances. For structure Repair time after damage caused by environmental disturbances The time required to rebuild the damaged structure.

6. The method for evaluating the toughness of a rock drilling rig based on personalized customization and environmental disturbance as described in claim 5, characterized in that, Step S5 specifically includes: Step S501: Using the Analytic Hierarchy Process (AHP), pairwise comparisons are made between the adaptability, robustness, recoverability, and speed indicators to construct a judgment matrix. The relative importance of each indicator is judged and the judgment matrix is ​​assigned values. The maximum eigenvalue and consistency index in the judgment matrix are calculated to determine the subjective weights of the adaptability, robustness, recoverability, and speed indicators. Step S502: The adaptability, robustness, recoverability and speed indicators are standardized using the entropy weight method to determine the information entropy value and calculate the information entropy redundancy, thereby determining the objective weights of the adaptability, robustness, recoverability and speed indicators. Step S503: The subjective weights of the analytic hierarchy process and the objective weights of the entropy weight method are combined using the Lagrangian function to determine the weight factors of the adaptability index, robustness index, recoverability index and speed index. Step S504: Using the adaptability, robustness, recoverability, and speed indicators of the scenario to be evaluated as inputs, and combining the weighting factors of each indicator, calculate the comprehensive resilience score of the scenario to be evaluated. The expression is: in, , , and These are the weighting factors for the adaptability, robustness, recoverability, and speed indicators, respectively. This leads to the determination of the resilience level corresponding to the overall resilience score.

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