Rotation force-based feedforward-feedback model-free adaptive tracking control method and system for jumbolter

Abstract

The invention relates to the technical field of drilling, and provides a roofbolter feedforward-feedback model-free adaptive tracking control method and system based on rotation force. According to the method, a valve-controlled hydraulic propulsion control model for driving a hydraulic cylinder and a corresponding reversing valve in the working process of the hydraulic jumbolter is established, and a nonlinear autoregressive moving average model between the propulsion force in the working process of the hydraulic jumbolter and the output driving current of the reversing valve is obtained through the valve-controlled hydraulic propulsion control model; through a nonlinear autoregression moving average model of the hydraulic jumbolter, an output identification observer deployed with a data-driven adaptive control algorithm of the hydraulic jumbolter is established, and the output identification observer performs adaptive tracking control on the working state of the hydraulic jumbolter through the deployed data-driven adaptive control algorithm. The tracking control problem of the valve control electro-hydraulic servo unit under the complex working condition is effectively solved.

Description

Technical Field

[0001] This application relates to the field of drilling technology, and in particular to a feedforward-feedback model-free adaptive tracking control method and system for anchor drilling rigs based on rotational force. Background Technology

[0002] In the field of coal mine drilling engineering, drilling operations play a crucial role in the early exploration of coal mines and the installation of anchor bolts in roadways. As a core piece of equipment, the performance and operational precision of the anchor bolt drilling rig directly affect the quality and efficiency of the entire project. However, due to limitations such as small drilling space and large depths, relying solely on manual experience to judge the rock type encountered by the drill bit is extremely difficult, making it hard to determine suitable drilling parameters. This leads to low drilling efficiency and poor stability of the drilling rig's hydraulic system. Furthermore, real-time and accurate assessment of changes in the surrounding rock is challenging. When the drill bit encounters rocks of varying hardness, sudden fluctuations in drilling pressure, torque, and hydraulic cylinder oil pressure can cause instability in the hydraulic cylinder's propulsion force, affecting the quality and efficiency of the drilling project. Summary of the Invention

[0003] The purpose of this application is to provide a feedforward-feedback model-free adaptive tracking control method and system for anchor drilling rigs based on rotational force, so as to solve or alleviate the problems existing in the prior art.

[0004] To achieve the above objectives, this application provides the following technical solution: This application provides a feedforward-feedback model-free adaptive tracking control method for anchor drilling rigs based on rotational force, comprising: establishing a valve-controlled hydraulic propulsion control model of the driving hydraulic cylinder and its corresponding directional valve during the operation of the hydraulic anchor drilling rig; and obtaining the propulsion force during the operation of the hydraulic anchor drilling rig through the valve-controlled hydraulic propulsion control model of the hydraulic anchor drilling rig. Input drive current of the directional valve A nonlinear autoregressive moving average model is used to model the hydraulic anchor drilling rig. Based on this model, an output identification observer with a data-driven adaptive control algorithm is established for the hydraulic anchor drilling rig. The output identification observer adaptively tracks and controls the working state of the hydraulic anchor drilling rig using the deployed data-driven adaptive control algorithm.

[0005] The preferred valve-controlled hydraulic propulsion control model is as follows: In the formula, For the working time of the hydraulic anchor drilling rig The displacement of the valve core of the directional control valve. This represents the gain coefficient of the directional control valve. For the working time of the hydraulic anchor drilling rig The input drive current of the directional valve; For the working time of the hydraulic anchor drilling rig The load flow rate that drives the hydraulic cylinder. To determine the effective working area of ​​the hydraulic cylinder piston, This refers to the piston displacement that drives the hydraulic cylinder during the operation of the hydraulic anchor drilling rig. The total compression volume for driving the hydraulic cylinder, The dimensionless area ratio of the two chambers of the hydraulic cylinder. To drive the effective bulk modulus of the hydraulic oil in the hydraulic cylinder, To drive the load pressure of the hydraulic cylinder, The total leakage coefficient of the driving hydraulic cylinder, Calculate the leakage coefficient for driving the hydraulic cylinder; The oil pressure of the hydraulic system corresponding to drive the hydraulic cylinder; For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. The total mass is equivalent to the piston rod driving the hydraulic cylinder; The viscous damping coefficient of the hydraulic cylinder under load; The static friction coefficient for driving the hydraulic cylinder; For the working time of the hydraulic anchor drilling rig The rotational load force borne by the hydraulic cylinder during operation.

[0006] Preferably, the valve-controlled hydraulic propulsion control model is nonlinearized by Taylor series to obtain the propulsion control system model that drives the hydraulic cylinder during the operation of the hydraulic anchor drilling rig; The propulsion control system model is discretized to obtain a nonlinear autoregressive moving average model of the propulsion force and the input drive current of the directional valve during the operation of the hydraulic anchor drilling rig.

[0007] The preferred propulsion control system model is as follows: in, In the formula, For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. For the working time of the hydraulic anchor drilling rig The input drive current of the directional valve; The static friction coefficient for driving the hydraulic cylinder; For the working time of the hydraulic anchor drilling rig The rotational load force borne by the hydraulic cylinder during operation; For the working time of the hydraulic anchor drilling rig The piston displacement of the hydraulic cylinder is driven by the time; All are intermediate variables; The viscous damping coefficient of the hydraulic cylinder under load; The flow and pressure coefficients of the directional valve corresponding to the hydraulic cylinder are determined. The total leakage coefficient of the driving hydraulic cylinder, To drive the effective area of ​​the rodless chamber of the hydraulic cylinder, To be equivalent to the total mass of the piston rod driving the hydraulic cylinder, The total compression volume for driving the hydraulic cylinder, The dimensionless area ratio of the two chambers of the hydraulic cylinder. The effective bulk modulus of elasticity of the hydraulic oil in the hydraulic cylinder; To control the flow rate of the directional valve corresponding to the hydraulic cylinder, Calculate the leakage coefficient for driving the hydraulic cylinder; The oil pressure of the hydraulic system corresponding to drive the hydraulic cylinder.

[0008] Preferably, the working time of the hydraulic anchor drilling rig The nonlinear autoregressive moving average model between the thrust and the input drive current of the directional valve is as follows: In the formula, For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. For the working time of the hydraulic anchor drilling rig The piston displacement of the hydraulic cylinder is driven by the time; All are intermediate variables; For the working time of the hydraulic anchor drilling rig The input drive current of the directional valve; The static friction coefficient for driving the hydraulic cylinder; For the working time of the hydraulic anchor drilling rig The input drive current of the directional valve; For the working time of the hydraulic anchor drilling rig The rotational load force borne by the hydraulic cylinder during operation; Sampling time.

[0009] Preferably, the data-driven adaptive control algorithm is as follows: In the formula, for The estimated state, for The estimated vector, for The estimation error; Adjusting parameters to account for observation errors. These are the weighting factor and the first-step length factor, respectively. , , , >0 represents any positive number. This is the second step length factor. , The set thrust for driving the hydraulic cylinder during the operation of the hydraulic anchor drilling rig. It can be any positive number; in, and: Sampling time for hydraulic anchor drilling rig Propulsion at time , drive the piston displacement The rotational load borne by the driving hydraulic cylinder The Lipschitz constant that satisfies the Lipschitz condition; All are intermediate variables. Piston displacement , Rotary load The partial derivatives; For propulsion Regarding input drive current The dynamic pseudo-partial derivative.

[0010] This embodiment also provides a feedforward-feedback model-free adaptive tracking control system for a hydraulic anchor drilling rig based on rotational force. The system is characterized by employing any of the above-described feedforward-feedback model-free adaptive tracking control methods for the hydraulic anchor drilling rig to adaptively track and control its operating state. The system includes: The propulsion relationship unit is configured to establish a valve-controlled hydraulic propulsion control model for the drive hydraulic cylinder and its corresponding reversing valve during the operation of the hydraulic anchor drilling rig. The nonlinear autoregressive unit is configured to obtain the thrust during the operation of the hydraulic anchor drilling rig through the valve-controlled hydraulic propulsion control model of the hydraulic anchor drilling rig. Input drive current of the directional valve The nonlinear autoregressive moving average model between them; The tracking control unit is configured to establish an output identification observer for the hydraulic anchor drilling rig using a nonlinear autoregressive moving average model of the hydraulic anchor drilling rig, and to deploy a data-driven adaptive control algorithm. The output identification observer adaptively tracks and controls the working state of the hydraulic anchor drilling rig using the deployed data-driven adaptive control algorithm.

[0011] Beneficial effects: The feedforward-feedback model-free adaptive tracking control method and system for anchor drilling rigs based on rotational force provided in this application establishes a valve-controlled hydraulic propulsion control model of the driving hydraulic cylinder and its corresponding directional valve during the operation of the hydraulic anchor drilling rig, and obtains the propulsion force during the operation of the hydraulic anchor drilling rig through the valve-controlled hydraulic propulsion control model. With the output drive current of the reversing valve A nonlinear autoregressive moving average model between the two is used. Finally, through the nonlinear autoregressive moving average model of the hydraulic anchor drilling rig, an output identification observer with a data-driven adaptive control algorithm is established for the hydraulic anchor drilling rig. The output identification observer then uses the deployed data-driven adaptive control algorithm to adaptively track and control the working state of the hydraulic anchor drilling rig.

[0012] Therefore, by establishing a mapping model between the thrust of the hydraulic cylinder, the output drive current of the directional valve, and the change in the rotational force of the hydraulic anchor drilling rig, the system operation of feedforward open-loop control and feedback closed-loop control is realized. Utilizing the drilling rig's rotational torque, precise control of the hydraulic anchor drilling rig's thrust is achieved through data-driven methods. This effectively solves the tracking control problem of the valve-controlled electro-hydraulic servo unit under complex working conditions. Compared with traditional control methods, it can respond to the impact of surrounding rock changes more quickly and effectively, greatly improving the safety and reliability of coal mine drilling projects and providing strong technical support for the safe production and efficient operation of coal mines. Attached Figure Description

[0013] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. Wherein: Figure 1 This is a flowchart illustrating a feedforward-feedback model-free adaptive tracking control method for anchor drilling rigs based on rotational force, according to some embodiments of this application. Figure 2 This is a diagram illustrating the feedforward-feedback valve-controlled asymmetric hydraulic cylinder thrust data-driven control framework according to some embodiments of this application. Figure 3This is a schematic diagram of the principle of the reversing valve corresponding to the drive hydraulic cylinder of a hydraulic anchor drilling rig provided according to some embodiments of this application; Figure 4 This is a schematic diagram comparing the performance of different thrust controllers under abrupt changes in surrounding rock characteristics according to an embodiment of this application; Figure 5 This is a schematic diagram comparing tracking errors under abrupt changes in surrounding rock according to an embodiment of this application; Figure 6 This is a schematic diagram illustrating the performance of a thrust controller under varying surrounding rock conditions according to an embodiment of this application. Figure 7 This is a schematic diagram comparing tracking errors under gradually changing surrounding rock according to an embodiment of this application; Figure 8 This is a schematic diagram of a feedforward-feedback model-free adaptive tracking control system for a rock bolt drilling rig based on rotational force, according to some embodiments of this application. Detailed Implementation

[0014] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. In fact, those skilled in the art will understand that modifications and variations can be made to the present application without departing from the scope or spirit of the present application. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention should fall within the scope of protection of the embodiments of the present invention.

[0015] The drilling thrust and speed of the anchor drilling rig are controlled by the proportional valve to drive the hydraulic actuator (hydraulic cylinder / hydraulic motor) to provide thrust / speed. For the valve-controlled electro-hydraulic servo unit composed of the proportional valve and the hydraulic actuator, position control or speed control is usually used to achieve the tracking control of the hydraulic actuator's predetermined thrust (or speed).

[0016] On the one hand, valve-controlled electro-hydraulic servo units themselves have nonlinear problems due to unmodeled dynamics, as well as time-varying nonlinear problems of control parameters caused by changes in operating conditions such as temperature and pressure during the operation of hydraulic actuators. Existing data-driven control methods, such as PID, are difficult to adapt to the fixed control gain parameters of PID control methods due to changes in operating conditions such as high temperature and high humidity during operation. Although intelligent PID algorithms such as fuzzy algorithms and neural network algorithms can achieve better control performance through parameter tuning, they have nonlinear problems such as leakage and friction. When the load changes abruptly, PID control will have steady-state errors or oscillation problems.

[0017] On the other hand, existing valve-controlled electro-hydraulic servo units all assume that system changes or disturbances are within a certain bounded range, meaning they achieve good dynamic and static performance during the smooth drilling process of the anchor drilling rig. However, in actual anchor drilling, the rock hardness and drillability that the drill bit contacts vary, causing the valve-controlled electro-hydraulic servo unit to face random load disturbances, which cannot be easily suppressed to achieve the stability and tracking performance of the control system.

[0018] Based on this, this embodiment provides a model-free adaptive tracking control method for anchor drilling rigs based on rotational force, using a feedforward-feedback architecture. A data-driven feedforward-feedback controller is designed to solve the tracking control problem of valve-controlled electro-hydraulic servo units under complex working conditions. Specifically, the hydraulic cylinder thrust is used as the output, a three-dimensional four-way proportional valve as the input, and the rotational torque change as the disturbance. An incremental mapping data model is established, and feedforward open-loop control and feedback closed-loop control work in tandem. Utilizing the drilling rig's rotational torque, precise control of the hydraulic anchor drilling rig's thrust is achieved through data-driven methods. Compared to traditional control methods, this approach can more quickly and effectively respond to the impact of surrounding rock changes, significantly improving the safety and reliability of coal mine drilling projects and providing strong technical support for safe and efficient coal mine production.

[0019] like Figures 1 to 3 As shown, the feedforward-feedback model-free adaptive tracking control method for anchor drilling rigs based on rotational force includes: Step S101: Establish a valve-controlled hydraulic propulsion control model for the drive hydraulic cylinder and its corresponding directional valve during the operation of the hydraulic anchor drilling rig.

[0020] First, it should be noted that in this embodiment, the hydraulic oil of the hydraulic anchor drilling rig is defined as incompressible, with no compression or leakage within the valve cavity; the directional valve has good dynamic response, and the flow rate changes with the pressure drop at the valve port and the displacement of the valve core.

[0021] In this embodiment, the signal input and valve core displacement of the directional control valve driven by the hydraulic cylinder are used as proportional components to determine the dynamics of the directional control valve and the relationship between the valve orifice flow rate. The directional control valve (electro-hydraulic proportional servo valve) is current-driven; based on the input current control signal, the valve core generates a corresponding displacement, thereby changing the output flow rate. Specifically, the input drive current of the directional control valve (electro-hydraulic proportional servo valve) is defined as... The valve core displacement is Then there is the working time of the hydraulic anchor drilling rig. The valve dynamics model of the time-reversing valve is as follows: In the formula, For the working time of the hydraulic anchor drilling rig The displacement of the valve core of the directional control valve. This represents the gain coefficient of the directional control valve. For the working time of the hydraulic anchor drilling rig The input drive current of the directional control valve. Within the small-signal range of the directional control valve's operation (5%-10% of the valve core displacement stroke), the control process can be approximated as linear, and the gain coefficient... It is time-varying under actual operating conditions. Specifically, at rated pressure... Normal oil temperature Under the condition, gain coefficient .

[0022] For the driving hydraulic cylinder of the anchor drilling rig, based on the continuity of the flow in the two chambers of the driving hydraulic cylinder, a flow balance model for the driving hydraulic cylinder is established, which is: In the formula, For the working time of the hydraulic anchor drilling rig The load flow rate that drives the hydraulic cylinder. The effective working area for driving the hydraulic cylinder piston is determined by the piston rod diameter. Sure, ; This refers to the piston displacement that drives the hydraulic cylinder during the operation of the hydraulic anchor drilling rig. The total compression volume for driving the hydraulic cylinder, The dimensionless area ratio of the two chambers of the hydraulic cylinder. , To drive the effective area of ​​the piston on the rod side of the hydraulic cylinder, The effective area of ​​the rodless side of the piston in the hydraulic cylinder.

[0023] To drive the effective bulk modulus of the hydraulic oil in the hydraulic cylinder, To drive the load pressure of the hydraulic cylinder, , These are the pressure in the inlet chamber and the return chamber of the hydraulic cylinder, respectively. The total leakage coefficient of the driving hydraulic cylinder, Calculate the leakage coefficient for driving the hydraulic cylinder; The oil pressure is the hydraulic pressure supplied by the oil pump of the hydraulic anchor drilling rig to drive the hydraulic cylinder.

[0024] In a specific example, according to the formula: Calculate the total leakage coefficient of the drive hydraulic cylinder And calculate the leakage coefficient In the formula, These are the internal leakage coefficient and external leakage coefficient of the driving hydraulic cylinder, respectively. The internal leakage coefficient... The external leakage coefficient corresponds to the gap leakage between the rodless and rod-side chambers of the driving hydraulic cylinder. This corresponds to leakage from the piston rod of the hydraulic cylinder to the outside. At rated pressure... Normal oil temperature Under these conditions, internal leakage coefficient External leakage coefficient The range of values ​​is .

[0025] In this embodiment, the rotational force of the hydraulic anchor drilling rig during operation is defined as... The axial force model inside the driving hydraulic cylinder is as follows: In the formula, For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. The total mass equivalent to the piston rod of the driving hydraulic cylinder is denoted as , and the equivalent sum of the piston rod mass of the driving hydraulic cylinder and the connected anchor bolt mass is denoted as . The viscous damping coefficient of the hydraulic cylinder under load is the coefficient of viscous friction between the moving parts of the hydraulic cylinder and the hydraulic oil, guide parts, etc. The static friction coefficient of the driving hydraulic cylinder is used to characterize the elastic restoring force coefficient generated by resisting changes in displacement (hydraulic cylinder piston displacement), and its value is taken as the equivalent spring stiffness of the driving hydraulic cylinder. For the working time of the hydraulic anchor drilling rig The rotational load force borne by the hydraulic cylinder during operation.

[0026] Furthermore, by combining the valve dynamics model of the directional valve, the flow balance model of the driving hydraulic cylinder, and the axial force model within the driving hydraulic cylinder, a dynamic model (valve-controlled hydraulic propulsion control model) of the driving hydraulic cylinder and its corresponding directional valve during the operation of the hydraulic anchor drilling rig is constructed. Therefore, by establishing a dynamic data model of the driving hydraulic cylinder of the hydraulic anchor drilling rig, a data mapping relationship is established between the driving hydraulic cylinder's thrust and the current of the reversing valve, the rotational load force, etc. This allows the rig to react in advance to changes in rotational force during operation. When abnormal changes in rotational force are detected, the voltage of the three-position four-way proportional valve (reversing valve) is adjusted according to the established incremental mapping data model, changing the flow and pressure of the driving hydraulic cylinder. This avoids damage to the driving hydraulic cylinder caused by sudden changes in rock hardness and reduces fluctuations in the driving hydraulic cylinder's thrust. For example, when encountering hard rocks, the rotation speed increases, and the thrust is reduced in time to prevent the driving hydraulic cylinder from bearing excessive pressure.

[0027] Step S102: Obtain the thrust during the operation of the hydraulic anchor drilling rig through the valve-controlled hydraulic propulsion control model of the hydraulic anchor drilling rig. Input drive current of the directional valve The nonlinear autoregressive moving average model between them.

[0028] In this embodiment, the valve-controlled hydraulic propulsion control model is nonlinearized using Taylor series to construct a propulsion control system model that drives the hydraulic cylinder during the operation of the hydraulic anchor drilling rig. Specifically, the dynamic nonlinearization of the propulsion control system model is expressed as follows: in, In the formula, For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. For the working time of the hydraulic anchor drilling rig The input drive current of the directional valve; The static friction coefficient for driving the hydraulic cylinder; For the working time of the hydraulic anchor drilling rig The rotational load force borne by the hydraulic cylinder during operation; For the working time of the hydraulic anchor drilling rig The piston displacement of the hydraulic cylinder is driven by the time; All are intermediate variables.

[0029] The viscous damping coefficient of the hydraulic cylinder under load; The flow and pressure coefficients of the directional valve corresponding to the hydraulic cylinder are determined. The total leakage coefficient of the driving hydraulic cylinder, To drive the effective area of ​​the rodless chamber of the hydraulic cylinder, To be equivalent to the total mass of the piston rod driving the hydraulic cylinder, The total compression volume for driving the hydraulic cylinder, The dimensionless area ratio of the two chambers of the hydraulic cylinder. The effective bulk modulus of elasticity of the hydraulic oil in the hydraulic cylinder; To control the flow rate of the directional valve corresponding to the hydraulic cylinder, Calculate the leakage coefficient for driving the hydraulic cylinder; The oil pressure of the hydraulic system corresponding to drive the hydraulic cylinder.

[0030] In a specific example, according to the formula: In the formula, This represents the gain coefficient of the directional control valve. The valve orifice flow coefficient of the directional control valve. This represents the valve area gradient of the directional control valve. To drive the hydraulic cylinder, the hydraulic system's oil pressure, To drive the load pressure of the hydraulic cylinder, The dimensionless area ratio of the two chambers of the hydraulic cylinder. The density of the hydraulic oil, This is the input drive current for the directional valve.

[0031] In this embodiment, by discretizing the dynamically nonlinear representation of the propulsion control system model, a nonlinear autoregressive moving average model of the propulsion force and the input drive current of the reversing valve during the operation of the hydraulic anchor drilling rig can be obtained. Specifically, during the operation of the hydraulic anchor drilling rig... The nonlinear autoregressive moving average model between the thrust and the input drive current of the directional valve is as follows: In the formula, For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. For the working time of the hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation. For the working time of the hydraulic anchor drilling rig The piston displacement of the hydraulic cylinder is driven by the time; All are intermediate variables.

[0032] For the working time of the hydraulic anchor drilling rig The input drive current of the directional valve; The static friction coefficient for driving the hydraulic cylinder; For the working time of the hydraulic anchor drilling rig The input drive current of the directional valve; For the working time of the hydraulic anchor drilling rig The rotational load force borne by the hydraulic cylinder during operation; Sampling time.

[0033] It should be noted here that the hydraulic anchor drilling rig operates at the following times. For continuous time parameters, sampling time For discrete quantities, For example, for hydraulic anchor drilling rigs... Time's up Discretized sampling is performed at each time step, with a sampling step size of 0.01. Therefore, the sampling time is... .

[0034] Step S103: Using the nonlinear autoregressive moving average model of the hydraulic anchor drilling rig, establish the output identification observer of the hydraulic anchor drilling rig with a data-driven adaptive control algorithm.

[0035] In this embodiment, during the operation of the hydraulic anchor drilling rig, the piston rod displacement... Rotational load force The partial derivatives exist and are continuous. The nonlinear autoregressive moving average model of the hydraulic anchor drilling rig satisfies the Lipschitz condition, so that if the thrust exceeds the torque provided by the load during the drilling process, the hydraulic anchor drilling rig will automatically perform protective actions such as reversing the push rod and decelerating.

[0036] In other words, for ,have: In the formula, These are the working times of the hydraulic anchor drilling rig. Propulsion at time , drive the piston displacement The rotational load borne by the driving hydraulic cylinder The Lipschitz constant when the Lipschitz condition is satisfied.

[0037] in, In the formula, Sampling time for hydraulic anchor drilling rig (i.e., sampling time) The thrust of the hydraulic cylinder at the next sampling time. Sampling time for hydraulic anchor drilling rig The thrust of the hydraulic cylinder during operation; Sampling time for hydraulic anchor drilling rig The input drive current of the directional valve. Sampling time for hydraulic anchor drilling rig (i.e., sampling time) The input drive current of the directional valve at the previous sampling time; Sampling time for hydraulic anchor drilling rig The piston displacement of the hydraulic cylinder is driven by time. Sampling time for hydraulic anchor drilling rig (i.e., sampling time) The piston displacement of the driving hydraulic cylinder at the previous sampling time; Sampling time for hydraulic anchor drilling rig The rotational load force borne by the hydraulic cylinder during operation. Sampling time for hydraulic anchor drilling rig (i.e., sampling time) The rotational load force borne by the hydraulic cylinder at the previous sampling time.

[0038] when At that time, the nonlinear autoregressive moving average model at the working time Dynamically equivalent descriptions are: in, In the formula, All are intermediate variables. Piston displacement , Rotary load The partial derivatives; For propulsion Regarding input drive current The dynamic pseudo-partial derivative.

[0039] Define intermediate variables ,have: Then the hydraulic anchor drilling rig during working time The nonlinear autoregressive moving average model is as follows: In this embodiment, the definition is... for The estimated state, for The estimated vector, for The estimation error, and based on the hydraulic anchor drilling rig at the working time Design an output observer for a nonlinear autoregressive moving average model: In the formula, Adjust parameters to account for observation errors.

[0040] Estimating system gradient and state using I / O data: In the formula, These are weighting factors, with no physical meaning. It can be any positive number, used to prevent the denominator from being zero in the algorithm. The first step is a long factor, which has no physical meaning. This is used to increase the adjustability of the algorithm. .

[0041] At the same time, a parameter reset algorithm is set to ensure the tracking performance of the estimated parameters, specifically: In the formula, Let be any positive number. This leads to the feedforward-feedback model-free adaptive control algorithm: In the formula, For adaptive feedback control input, This is the feedforward control input. The adaptive feedback control input... To ensure the tracking performance of the hydraulic anchor drilling rig to the desired thrust during operation, feedforward control input is used to maintain the stability of the hydraulic anchor drilling rig's thrust when the thrust load changes drastically.

[0042] In this embodiment, For propulsion Regarding input drive current The linearized system parameters are unknown time-varying values, which can be determined by estimation algorithms (system gradient and state) and used to control the input drive current. The update control input is the electrical signal of the directional valve, which drives the valve core to move, causing oil pressure to be generated on both sides of the piston of the hydraulic cylinder, and the piston movement generates a pushing force.

[0043] Among them, adaptive feedback control input for: In the formula, This is the second step size factor, which has no physical meaning. This is used to increase the adjustability of the algorithm. The set thrust for driving the hydraulic cylinder during the operation of the hydraulic anchor drilling rig. It can be any positive number.

[0044] Feedforward control input for: In the formula, for The estimated vector. In this embodiment, the observation error adjustment parameter... The first step is the long factor. , , Second step length factor , , .

[0045] Furthermore, the data-driven adaptive control algorithm for hydraulic anchor drilling rigs during operation includes: Therefore, a data-driven adaptive control algorithm is deployed in the output identification observer to adaptively track and control the working state of the hydraulic anchor drilling rig. Specifically, the feedforward open-loop control reacts in advance to changes in rotational force. When abnormal changes in rotational force are detected, the voltage of the three-position four-way proportional valve is adjusted according to the established incremental mapping data model, changing the flow and pressure of the drive hydraulic cylinder. This avoids damage to the drive hydraulic cylinder caused by sudden changes in rock hardness and reduces thrust fluctuations. For example, when encountering harder rocks, the rotational force increases, and the feedforward control can promptly reduce the thrust to prevent the drive hydraulic cylinder from bearing excessive pressure.

[0046] Feedback closed-loop control uses the deviation between the expected thrust of the hydraulic cylinder under abruptly changing surrounding rock conditions and the current thrust (actual thrust) as a basis to correct the required thrust of the hydraulic cylinder. By continuously comparing the expected thrust with the current thrust, when a deviation occurs, the voltage of the three-dimensional four-way proportional valve is adjusted to change the working state of the hydraulic cylinder, gradually bringing the actual thrust closer to the expected value.

[0047] Through feedback closed-loop control, the influence of various uncertain factors such as changes in the surrounding rock encountered by the drill bit can be effectively addressed. This ensures that the hydraulic cylinder can accurately track the changes in propulsion force under complex working conditions of changing surrounding rock, enabling early intervention in the control of the hydraulic cylinder's propulsion force. This ensures stable control of the propulsion force under complex changes in surrounding rock, maintaining high drilling efficiency, ensuring operational stability, and guaranteeing the efficient and stable operation of the anchor drilling rig.

[0048] like Figures 4 to 7 As shown in the figure, the propulsion control results of the feedforward-feedback model-free adaptive tracking control and integral separation PID control method for anchor drilling rig based on rotational force in this embodiment under the conditions of rapid and gradual changes in surrounding rock properties show that the method in this embodiment is superior in terms of robustness, dynamic performance, and steady-state performance, with faster response, smaller overshoot, and the ability to resist impact when the surrounding rock changes.

[0049] Compared to traditional integral-separated PID control methods, the method in this embodiment effectively compensates for system nonlinearity and parameter uncertainties through data-driven modeling and adaptive control algorithms, thus significantly improving the accuracy of thrust control. Feedforward control can proactively address load changes, and combined with feedback control, the system responds quickly to changes in slewing load, reducing lag. Even under abrupt or gradual changes in surrounding rock properties, it maintains stable thrust, adapting to different working conditions and improving drilling rig operational stability. Furthermore, this method requires no precise mathematical model, relying only on data mapping relationships, making it highly adaptable to complex hydraulic systems and reducing modeling difficulty and cost.

[0050] In this embodiment, based on the actual working characteristics of the valve-controlled hydraulic cylinder under different surrounding rock conditions, a dynamic linearized data model considering the slewing load force is established. The system input-output characteristics are described using data mapping relationships, and a linear data model of the propulsion force and input quantities such as proportional valve current and slewing load force is accurately established. The system state and parameters are estimated by an observer to provide reliable state information to the controller, ensuring the effectiveness of the control algorithm. Feedforward control is used to compensate for load disturbances in advance, and feedback control is used to ensure tracking accuracy, thereby achieving efficient control of the propulsion force through the combination of feedforward control and feedback control.

[0051] like Figure 8 As shown, this embodiment also provides a feedforward-feedback model-free adaptive tracking control system for a hydraulic anchor drilling rig based on rotational force. The system uses the feedforward-feedback model-free adaptive tracking control method for a hydraulic anchor drilling rig based on rotational force from any of the above embodiments to adaptively track and control the working state of the hydraulic anchor drilling rig. The system includes: The propulsion relationship unit 801 is configured to establish a valve-controlled hydraulic propulsion control model for the drive hydraulic cylinder and its corresponding reversing valve during the operation of the hydraulic anchor drilling rig. The nonlinear autoregressive unit 802 is configured to obtain the thrust during the operation of the hydraulic anchor drilling rig through the valve-controlled hydraulic propulsion control model of the hydraulic anchor drilling rig. Input drive current of the directional valve The nonlinear autoregressive moving average model between them; The tracking control unit 803 is configured to establish an output identification observer of the hydraulic anchor drilling rig by using a nonlinear autoregressive moving average model of the hydraulic anchor drilling rig and deploying a data-driven adaptive control algorithm; wherein, the output identification observer performs adaptive tracking control of the working state of the hydraulic anchor drilling rig through the deployed data-driven adaptive control algorithm.

[0052] The feedforward-feedback model-free adaptive tracking control system for anchor drilling rigs based on rotational force provided in this embodiment can realize the steps and processes of the feedforward-feedback model-free adaptive tracking control method for anchor drilling rigs based on rotational force in any of the above embodiments, and achieve the same technical effect, which will not be repeated here.

[0053] In the description of this invention, it should be understood that the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0054] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A feedforward-feedback model-free adaptive tracking control method for rotary force-based anchor rod drillers, characterized in that, include: Establish a valve-controlled hydraulic propulsion control model for the drive hydraulic cylinder and its corresponding directional valve during the operation of a hydraulic anchor drilling rig. Obtaining a propelling force in a hydraulic roof bolter during a working process through a valve-controlled hydraulic propelling control model of the hydraulic roof bolter Nonlinear autoregressive moving average model between an input drive current of a reversing valve ​ A nonlinear autoregressive moving average model of a hydraulic anchor drilling rig is used to establish an output identification observer for the rig, which is equipped with a data-driven adaptive control algorithm. The output identification observer adaptively tracks and controls the working state of the hydraulic anchor drilling rig through the deployed data-driven adaptive control algorithm.

2. The method of claim 1, wherein, The valve-controlled hydraulic propulsion control model is as follows: In the formula, is the working time of the hydraulic anchor rod drill is the displacement of the spool of the directional valve, is the gain coefficient of the directional valve, is the working time of the hydraulic anchor rod drill is the input drive current of the directional valve at the time Qload for the hydraulic roof bolter at the moment of operation Qload for the hydraulic cylinder at the moment of operation, Aeff for the effective area of the piston of the hydraulic cylinder, Xp for the piston displacement of the hydraulic cylinder at the moment of operation of the hydraulic roof bolter, Vtot for the total compression volume of the hydraulic cylinder, R for the dimensionless area ratio of the two chambers of the hydraulic cylinder, Eeff for the effective bulk modulus of the hydraulic oil in the hydraulic cylinder, Pload for the load pressure of the hydraulic cylinder, Ctot for the total leakage coefficient of the hydraulic cylinder, Ccalc for the calculated leakage coefficient of the hydraulic cylinder; P for the oil pressure of the hydraulic system corresponding to the hydraulic cylinder. is the working moment of the hydraulic roof bolter is the thrust force of the drive cylinder at the moment of time t, is the total mass equivalent to the piston rod of the drive cylinder; is the viscous damping coefficient of the drive cylinder in the loaded state; is the static friction coefficient of the drive cylinder; is the working moment of the hydraulic roof bolter is the rotary load force borne by the drive cylinder at the moment of time t.

3. The method according to claim 1, characterized in that, The valve-controlled hydraulic propulsion control model is nonlinearized using Taylor series, resulting in a propulsion control system model that drives the hydraulic cylinder during the operation of the hydraulic anchor drilling rig. The propulsion control system model is discretized to obtain a nonlinear autoregressive moving average model of the propulsion force and the input drive current of the directional valve during the operation of the hydraulic anchor drilling rig.

4. The method of claim 3, wherein, The propulsion control system model is as follows: in, wherein is the hydraulic anchor drilling rig working moment is the propulsion force of the hydraulic cylinder at the time, is the hydraulic anchor drilling rig working moment is the input drive current of the reversing valve at the time; is the static friction coefficient of the drive hydraulic cylinder; is the hydraulic anchor drilling rig working moment is the rotary load force borne by the drive hydraulic cylinder at the time; is the hydraulic anchor drilling rig working moment is the piston displacement of the drive hydraulic cylinder at the time; are all intermediate variables; viscous damping coefficient of the driving hydraulic cylinder under load state; flow pressure coefficient of the corresponding directional valve of the driving hydraulic cylinder, total leakage coefficient of the driving hydraulic cylinder, effective area of the rodless chamber of the driving hydraulic cylinder, total mass equivalent to the piston rod of the driving hydraulic cylinder, total compression volume of the driving hydraulic cylinder, dimensionless area ratio of the two chambers of the driving hydraulic cylinder, effective bulk modulus of the hydraulic oil in the driving hydraulic cylinder; flow of the corresponding directional valve of the driving hydraulic cylinder, calculated leakage coefficient of the driving hydraulic cylinder; oil pressure of the corresponding hydraulic system of the driving hydraulic cylinder.

5. The method according to claim 4, characterized in that, Hydraulic anchor drill working moment The nonlinear autoregressive moving average model between the thrust force at the moment and the input drive current of the reversing valve is: wherein is the hydraulic cylinder piston displacement at the time of operation of the hydraulic roof bolter is the advance force of the hydraulic cylinder at the time of operation of the hydraulic roof bolter is the hydraulic cylinder piston displacement at the time of operation of the hydraulic roof bolter is the advance force of the hydraulic cylinder at the time of operation of the hydraulic roof bolter is the hydraulic cylinder piston displacement at the time of operation of the hydraulic roof bolter is the advance force of the hydraulic cylinder at the time of operation of the hydraulic roof bolter is the hydraulic cylinder piston displacement at the time of operation of the hydraulic roof bolter is the advance force of the hydraulic cylinder at the time of operation of the hydraulic roof bolter are both intermediate variables is the hydraulic anchor drill working time is the input drive current to the directional valve at time is the static friction coefficient for driving the hydraulic cylinder is the hydraulic anchor drill working time is the input drive current to the directional valve at time is the hydraulic anchor drill working time is the rotary load force the hydraulic cylinder is subjected to at time is the sampling time.

6. The method of claim 1, wherein, The data-driven adaptive control algorithm is as follows: wherein is the estimated state, is the estimated vector, is the estimation error; observed error adjustment parameter, weight factor and first step factor, respectively, , , , arbitrary positive number, second step factor, , set thrust force of the hydraulic cylinder driven by the hydraulic anchor rod drill during operation, arbitrary positive number; in, and: Respectively, the sampling time of the hydraulic roofbolter The thrust force at the time The piston displacement of the drive cylinder The rotational load on the drive cylinder The Lipschitz constant when the Lipschitz condition is satisfied. are intermediate variables, are the piston displacements are the partial derivatives of the rotational load are the partial derivatives of the rotational load are the partial derivatives of the thrust force are the dynamic pseudo partial derivatives with respect to the input drive current are the dynamic pseudo partial derivatives with respect to the input drive current 7. A model-free adaptive tracking control system for anchor drilling rigs based on rotational force feedforward-feedback, characterized in that, The working state of the hydraulic anchor drilling rig is adaptively tracked and controlled using the feedforward-feedback model-free adaptive tracking control method based on rotational force as described in any one of claims 1-6. The system includes: The propulsion relationship unit is configured to establish a valve-controlled hydraulic propulsion control model for the drive hydraulic cylinder and its corresponding reversing valve during the operation of the hydraulic anchor drilling rig. The nonlinear autoregressive unit is configured to obtain the thrust during the operation of the hydraulic anchor drilling rig through the valve-controlled hydraulic propulsion control model of the hydraulic anchor drilling rig. Input drive current of the directional valve The nonlinear autoregressive moving average model between them; The tracking control unit is configured to establish an output identification observer for the hydraulic anchor drilling rig using a nonlinear autoregressive moving average model of the hydraulic anchor drilling rig, and to deploy a data-driven adaptive control algorithm. The output identification observer adaptively tracks and controls the working state of the hydraulic anchor drilling rig using the deployed data-driven adaptive control algorithm.

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