CN108643884A - A kind of jumbolter propulsion rotary system and its cooperative self-adapted control method - Google Patents
A kind of jumbolter propulsion rotary system and its cooperative self-adapted control method Download PDFInfo
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- CN108643884A CN108643884A CN201810410589.0A CN201810410589A CN108643884A CN 108643884 A CN108643884 A CN 108643884A CN 201810410589 A CN201810410589 A CN 201810410589A CN 108643884 A CN108643884 A CN 108643884A
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000005553 drilling Methods 0.000 claims abstract description 110
- 239000011435 rock Substances 0.000 claims abstract description 65
- 230000001141 propulsive effect Effects 0.000 claims abstract description 51
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000001914 filtration Methods 0.000 claims abstract description 11
- 241001074085 Scophthalmus aquosus Species 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000013178 mathematical model Methods 0.000 claims description 9
- 239000012530 fluid Substances 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 239000002828 fuel tank Substances 0.000 claims description 3
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- 230000003044 adaptive effect Effects 0.000 abstract description 6
- 238000001727 in vivo Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 238000011160 research Methods 0.000 description 4
- 206010034719 Personality change Diseases 0.000 description 3
- 238000004873 anchoring Methods 0.000 description 3
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- 239000003245 coal Substances 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
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- 102000016938 Catalase Human genes 0.000 description 1
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- 238000004458 analytical method Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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Abstract
The invention discloses a kind of jumbolters to promote rotary system and its cooperative self-adapted control method, to improve Anchor Care speed and drilling quality, first, to inhibit borer system non-linear, enhance drilling process robustness, Active Disturbance Rejection Control is implemented to propulsion system and rotary system single loop.Secondly, a kind of hardness coefficient of rock acquisition methods based on drilling machine with brill information are provided.Finally, drilling machine is determined when time optimal propulsive force of drilling and optimal rotary speed, and then realize the co-operating of anchor pole revolution and propulsion system according to the hardness coefficient of rock estimated using complex controll mode；When estimating country rock hardness factor and actual value has differences, according to the low frequency filtering value of rotation pressure, optimal propulsive force is adaptively adjusted, enhances the adaptive ability of jumbolter.
Description
Technical field
The present invention relates to a kind of jumbolters to promote rotary system and its cooperative self-adapted control method, belongs to engineering machinery
Automatic control technology field.
Background technology
Jumbolter is one of the key equipment in geotechnical anchor engineering construction, and equipment performance directly determines entire work
The progress and quality of journey.Jumbolter mainly consists of two parts, including propulsion system and rotary system.Wherein, propulsion system
By application propulsive force, keep drill bit and bottom hole rock contact close, then rotating torques generated by rotary system, cuts rock,
The two collective effect can achieve the purpose that effective fractured rock.It can thus be seen that the performance of propulsion system and rotary system
The drilling quality and drilling efficiency of jumbolter are codetermined.Therefore, this patent passes through jumbolter propulsion system and revolution
The Collaborative Control of system achievees the purpose that improve anchoring speed and anchoring quality.
Currently, the control of jumbolter is depended primarily on by staff's experience, by manually adjusting drilling machine
Propulsive force and rotational speed.But due to lacking the understanding to creeping into country rock character, it is poor to be easy to cause drilling quality, or even goes out
The now failures such as other bar, disconnected bar.Therefore, the various information that there is an urgent need to be acquired according to drilling process, estimation drilling country rock character, leads to
Self-adaptive wavelet base jumbolter propulsive force and rotational speed are crossed, realizes the automation control of jumbolter.
The control with rotary system, document (Zhijian HU, Peng S, Geng L.Model are promoted for jumbolter
Analysis on Electro-hydraulic Proportional Control for Rotary Drilling System
of Engineering Geological Drilling Rig[J].Machine Tool&Hydraulics,2009,13(6),
12-16.) explicitly pointing out propulsive force and cutting rotational speeds is the important control parameter of drilling machine rotary drilling, and uses ratio pressure regulating pump,
Realize propulsion system control；It is pumped by proportional displacement control and adjusts load flow, and then control drilling machine rotary system rotating speed.But
It is that the control mode requires propulsion system to use different oil circuits from rotary system, higher to equipment requirement.
Document (Feifei L V, Cuihua XU.Dynamic Performance Study on Drilling Rig
Feeding System controlled by Constant Pressure Variable Pump[J].Coal
Engineering, 2013,45 (8), 89-92) it proposes to use continuous variable-displacement pump, it realizes to promoting circuit to directly control.Though
The oil sources of right direct pump control mode is efficient, but there are larger inertia for motor-pump machanism, cause control action slow, even
Damage of the drilling machine under some complex working conditions.
Patent (a kind of mine drilling machine intelligent control system [P] .CN 1O7339094A, 2017.08.31 of Tang Yi Kon) is logical
Default drilling machine rotary speed threshold value is crossed, the rotating speed and torque to drilling machine implement logic control.This method realizes brill to a certain extent
Machine adjustment of rotational speed, but drilling machine rotating speed cannot be adaptively adjusted according to drilling country rock, it cannot achieve the maximization of drilling machine efficiency.
(Li Aihou, Wang Jing, Wu Wanrong wait to be based on AMESim down-the-hole drill feeding force control system researches and emulation to document
Analyze [J] mechanicnl manufacture and automations, 2009,38 (2):170-173.) believed according to collected rotary motor inlet pressure
Number, by fuzzy controller, the electricity liquid ratio relief valve outlet pressure promoted in circuit is adjusted in real time, realizes that down-the-hole drill promotes
The self adaptive control of revolution, effectively prevents pipe sticking.
(revolution of Wang Dongsheng, Lin Hongwu, Guo Yong, Li Zejie rock drilling machines promotes electrohydraulic control method and its controls back patent
Road [P], CN 1O4389579 A, 2014.10.31) equally it is country rock character to be judged according to rotation pressure, and then control and promote
Power.But since the variation of propulsive force can influence rotation pressure, so reflecting that rock character becomes in hole by rotation pressure approximation
Change degree can have large error.
Patent (Wang Yonglong, Sun Yuning, the intelligent safe and efficient automatic drilling control systems of the such as Zhou Fubao and control method
[P], CN 10683729 A, 2017.01.25) by detecting the torque in borer drilling procedure, thrust and promoting power and brill
Into information such as depth, drilling rod rotational speed and rate of penetrations, drilling tool stress situation of change in hole is analyzed, and then adjust drilling machine rotating speed
And propulsive force.This method greatly enhances the adaptivity of drilling machine, but is a lack of drilling machine rotating speed and propulsive force given value
Basis of design.
Currently, the research about drill control is concentrated mainly on drilling machine propulsion system and the independent control of rotary system, it is right
Promote revolution Collaborative Control research less in drilling machine；Also, in existing research the setting value of drilling machine rotating speed and propulsive force usually according to
It is set according to artificial experience, does not depend on country rock character and carry out, from main regulation, drilling process being caused to tend not to operate in optimum state.
Invention content
To solve the deficiencies in the prior art, the purpose of the present invention is to provide a kind of jumbolter promote rotary system and its
Cooperative self-adapted control method reaches raising anchoring speed and supporting quality, and reduces the purpose of drilling machine failure.
In order to realize that above-mentioned target, the present invention adopt the following technical scheme that：
A kind of jumbolter propulsion rotary system, characterized in that including threephase asynchronous machine, duplicate gear constant displacement pump, push away
Into system and rotary system；
The threephase asynchronous machine drives duplex gear pump rotation with rated speed, pumps out high pressure oil and supplies propulsion system all the way
System, another way supply rotary system；High filter pressed oil is both provided between the duplex gear pump and propulsion system and rotary system
Device；
The rotary system includes 3-position 4-way electro-hydraulic proportional valve and two-way hydraulic motor；The high pressure oil of the rotary system
By 3-position 4-way electro-hydraulic proportional valve, driving two-way hydraulic motor rotation, and then drilling rod rotation is driven, by adjusting 3-position 4-way
The aperture control of electro-hydraulic proportional valve enters the fluid flow of two-way hydraulic motor, and then controls rod rotation speed；The bidirectional hydraulic
The both ends of motor are both connected on 3-position 4-way electro-hydraulic proportional valve；The two-way hydraulic motor is also associated with revolution load；
The propulsion system includes proportional pressure control valve, electromagnetic direction valve, hydraulic cylinder successively and promotes load, drive cylinder
Action makes drilling rod generate axial propulsive force；It is big to control propulsive force by the valve opening of adjusting proportional pressure control valve for the propulsion system
It is small；
It is respectively connected with cooler on the 3-position 4-way electro-hydraulic proportional valve and electromagnetic direction valve；The other end of the cooler
Connect fuel tank.
The cooperative self-adapted control method of a kind of jumbolter propulsion revolution, characterized in that include the following steps：
The cooperative self-adapted control method of a kind of jumbolter propulsion revolution, characterized in that include the following steps：
Step 1) establishes drilling machine rotary system mathematical model according to jumbolter system；
Step 2) establishes drilling machine propulsion system mathematical model according to jumbolter system, by proportional overflow valve control cylinder mode
Force servo system is reduced to second-order system；
Step 3) is using drilling machine with brill acquisition of information hardness coefficient of rock；
Step 4) is according to the hardness coefficient of rock estimated, and setting drilling machine is when time optimal propulsive force of drilling and optimal rotation speed
Degree；
Step 5) fusion is on an equal basis and hypotactic complex method, design jumbolter promote revolution cooperative control structure；
Step 6) is based on step for non-linear, parameter time varying and more interference characteristics existing for jumbolter system
1) with the system mathematic model of step 2) structure, the automatic disturbance rejection controller of jumbolter propulsion and rotary system is separately designed；
Union simulation platform of the step 7) based on Matlab and AMESim verifies carried drilling machine and promotes revolution Collaborative Control side
The validity and reasonability of method.
A kind of jumbolter above-mentioned, which promotes, turns round cooperative self-adapted control method, characterized in that the tool of the step 1)
Hold in vivo and is：
11) note 3-position 4-way electro-hydraulic proportional valve input current is iv, output spool displacement is xv, electric current/displacement conversion coefficient
For kv, fluid density is ρ, and rotary system charge oil pressure is PS, load pressure PL, valve discharge coefficient is Cd, area gradient be Wv,
Valve port flow is Qv, the mathematical model for establishing electro-hydraulic proportional valve is：xv=kviv,
Remember KqFor valve flow gain, KcFor valve flow-pressure coefficient；To above-mentioned non-linear valve port flow relationshipLinearization process is carried out, is reduced to：Qv=Kqxv-KcPL；
12) note hydraulic motor corner is θm, discharge capacity Dm, oil inlet cavity pressure be Pm1, back oil cavity pressure Pm2, total leakage system
Number is Ctm, the total compression volume of two chamber of motor and connecting pipe is Vt, fluid effective modulus of elasticity is βe, the mathematics of hydraulic motor
Model is：
13) the note equivalent total inertia of motor drive shaft is Jt, viscous damping coefficient Bm, load torque ML, drilling machine rotary system
Load characteristic model is：
14) ignore motor to leak under the conditions of leakage quantity, QL=Qv；Remember that total flow pressure coefficient is Kce=Kc+Ctm, La Pula
This operator is s, and the mathematical model that integration obtains drilling machine rotary system is：
A kind of jumbolter above-mentioned, which promotes, turns round cooperative self-adapted control method, characterized in that the tool of the step 3)
Hold in vivo and is：
31) according to the rotation of the detected propulsive force F of jumbolter propulsion system and drilling speed v and rotary system speed
N and rotating torques T is spent, rock crushing work ratio is calculatedWherein, drilling cross-sectional area is A,
The drilling machine unit interval, effective broken rock consumption power was P, and drilling volume is V；
32) it considers that rock crushing work ratio is directly proportional to hardness coefficient of rock, is bored upper one according to the drilling machine that detection obtains
Into propulsive force F (k-1), forward displacement x (k-1), rotating speed n (k-1) and moment information T (k-1) in the process, formation hardness is obtained
Coefficient instructs this drilling process；Remember that this drilling process is the k stages, the k stage hardness coefficient of rock f (k) estimated are：Wherein, μ is proportionality coefficient,For forward displacement x (k-1)
About the first differential of time t (k-1), the i.e. drilling speed in k-1 stages.
A kind of jumbolter above-mentioned, which promotes, turns round cooperative self-adapted control method, characterized in that the tool of the step 4)
Hold in vivo and is：
Note D is drill pipe diameter, and λ and c are that regulating constant sets this stage most according to the k stage hardness coefficient of rock estimated
Excellent propulsive force Fv(k) and optimal rotary speed nv(k) it is：Fv(k)=λ Df (k),
A kind of jumbolter above-mentioned, which promotes, turns round cooperative self-adapted control method, characterized in that the tool of the step 5)
Hold in vivo and is：
51) according to rotation pressure, judge the difference degree of country rock, remember that the rotation pressure of a upper drilling process is P (k-1),
The rotation pressure of this drilling process is P (k), then rotation pressure variable quantity is：
Δ P=P (k)-P (k-1)；Definition diversity factor is ε, when | Δ P | when ＜ ε, show country rock corresponding to adjacent anchor pole
Characteristic is with uniformity；
According to the hardness coefficient of rock estimated, using equal way, the optimal propulsive force according to step 4) setting and rotation
Speed instructs the synchronization action of drilling machine propulsive force and rotational speed；When | Δ P | when >=ε, show the drilling corresponding to adjacent anchor pole
There is some difference for characteristics of surrounding rock, it is contemplated that and influence of the propulsion system than rotary system to drilling quality and efficiency is more notable,
It keeps drilling machine rotating speed constant using master-slave mode according to the rotary system pressure collected, adjusts drilling machine propulsive force, make brill
Machine dynamic in drilling process adapts to local country rock difference；Note propulsive force increment of adjustment is Δ F, and propulsive force adjusts proportional gain
For kF, then propulsive force F after adjustingv＇ is denoted as Fv＇=Fv+ Δ F, Δ F=kFΔP；
52) when drilling having differences property of country rock corresponding to the adjacent anchor pole, it is special that low frequency dither is presented in rotation pressure
Property；Low frequency filtering is carried out using first order inertial loop, pressure is eliminated and buffets the influence that signal adjusts propulsive force；Remember that the k stages are former
Beginning rotation pressure is Pr(k), low-frequency filter transmission function is H (s), then has P (k)=Pr(k) H (s), H (s)=1/ (Ts+1).
A kind of jumbolter above-mentioned, which promotes, turns round cooperative self-adapted control method, characterized in that the tool of the step 6)
Hold in vivo and is：
61) second-order active disturbance rejection controller is used, realizes jumbolter propulsion system feeding force control and rotary system respectively
Rotating speed controls；Automatic disturbance rejection controller is made of three parts：Differential tracker, extended state observer and nonlinear state error
Feedback rate control；
62) note controlled volume given value is R, and expectation sequences and its first differential of the R in transient process are respectively v1And v2,
Sampling step length is h, filtering factor h0, optimum control function is fhan (), velocity factor r, v1Current time t sampled value is
v1(t), subsequent time t+1 prediction samples value is v1(t+1), it is preset given value initially to give R (0), R, that is, R (t),
It is given value, other initial values of all variables at the t=0 moment are set as 0；Differential tracker is：Wherein, fhan () is represented by：
63) note state variable is z1And z2, total interference volume is z3, nonlinear function is fal (), and system output amount is y, is seen
Survey device gain is β01、β02、β03With parameter b0, extended state observer is:
Wherein, fal () is represented by：
64) remember that proportional gain and differential coefficient are β11And β12, nonlinear feedback output is u0, nonlinear factor a1、a2,
Designing nonlinear state error feedback rate control is：
A kind of jumbolter above-mentioned, which promotes, turns round cooperative self-adapted control method, characterized in that the tool of the step 7)
Hold in vivo and is：
71) union simulation platform based on Matlab and AMESim realizes automatic disturbance rejection controller and jumbolter physics
System building；
72) reasonable adjusting control device parameter r, h0、β01、β02、β03、β11、β12And b0, make system tracking error in t → ∞
Converge to zero；
73) jumbolter that experimental verification is carried, which promotes, turns round cooperative self-adapted control method validity and reasonability.
The advantageous effect that the present invention is reached：The present invention is suitable for jumbolter and promotes the cooperative self-adapted control of revolution, solution
Conventional drilling machine of having determined controls the problem big to operating personnel's working experience dependence.Drilling machine is adaptive to adjust according to country rock character
Propulsive force and rotational speed improve working efficiency and driving speed, certainly for drilling machine to reduce the failures such as drilling machine disconnected bar, other bar
Dynamicization, intelligence lay the foundation.
Description of the drawings
Fig. 1 is that jumbolter promotes rotary system schematic diagram；
Fig. 2 is that the jumbolter based on complex method promotes the cooperative self-adapted control block diagram of revolution；
Fig. 3 is the union simulation platform based on Matlab and AMESim；
Fig. 4 is propulsion system response curve；
Fig. 5 is rotary system response curve；
Fig. 6 is Sandy Silt drilling revolution pressure difference；
Pressure difference is turned round after filtering when Fig. 7 is the variation of country rock character；
Propulsive force self adaptive control performance when Fig. 8 is the variation of country rock character；
Hardness coefficient of rock estimated value when Fig. 9 is the variation of country rock character.
The meaning of reference numeral in figure：
1- threephase asynchronous machines, 2- duplicate gear constant displacement pumps, 3- high-pressure filters, 4- safety valves, 5- 3-position 4-ways are electro-hydraulic
Proportioning valve control signal, 6- 3-position 4-way electro-hydraulic proportional valves, 7- hydraulic motors, 8- revolution loads, the first coolers of 9-, 10- the
Two coolers, 11- proportional pressure control valves, 12- electromagnetic direction valves control signal, 13- electromagnetic direction valves, 14- hydraulic cylinders, 15- are pushed away
Into load, 16- fuel tanks.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
This patent sets optimal propulsive force and optimized rotating speed according to country rock character, and coordinating drilling machine using complex method promotes
Rotary system, and in view of the non-linear and more interference characteristic of jumbolter hydraulic system, realized using automatic disturbance rejection controller
Drilling machine promotes and the independent control of rotary system.
Jumbolter promote revolution it is cooperative self-adapted control be realize jumbolter complete machine automation and it is roboticized heavy
Component part is wanted, the intelligence to implementing Anchor Care process has far reaching significance.
In the present embodiment, jumbolter devices in system core parameter value, as shown in table 1.The Feng huangshan Mountain of actual acquisition
Coal mine roadway country rock data, as shown in table 2.
1 jumbolter system equipment core parameter value of table
2 Feng huangshan Mountain coal mine roadway Surrounding Rock Strength of table
The function of setting parameter and its influence to control performance are respectively waited for according to automatic disturbance rejection controller, is incorporated experience into, and are set
Promote circuit automatic disturbance rejection controller parameter be：R=20000, h0=0.005, β01=680.8, β02=5884, β03=
10000, β11=300, β12=0, b0=2.97；The parameter of rotary loop automatic disturbance rejection controller is：R=20000, h0=0.005,
β01=30, β02=1000, β03=0, β11=500, β12=0, b0=5.65；The time constant of low-frequency filter is T=0.1；It pushes away
Into power proportional control factor kF=13.84, diversity factor is set as ε=0.5.
First, the independent control performance of propulsion system and rotary system is verified.By taking the top plate that Sandy Silt is constituted as an example,
Hardness coefficient of rock is about f=4.5.It is 576N to obtain optimal propulsive force as a result, and optimal rotary speed is 453.3rpm.Using
The response curve for propulsive force and the rotational speed control that automatic disturbance rejection controller is realized, is shown in attached drawing 4 and attached drawing 5, rotation pressure respectively
See attached drawing 6.
Automatic disturbance rejection controller is used it can be seen from attached drawing 4,5, may be implemented to propulsive force and rotational speed it is quick,
Non-overshoot tracks.It can be seen from attached rotary system pressure history shown in fig. 6 before 2.2s, produced by revolution pressure difference
Raw torque is mainly used for drilling machine rotation；After 2.2s, when drilling machine mud stone sandy with setting speed contact top plate, pressure difference is turned round
The torque of generation is mainly used for overcoming the rock moment of resistance；But revolution pressure difference will appear low-frequency oscillation, oscillation amplitude by
Degradation subtracts.If directly controlling propulsive force according to the pressure difference signal, optimal propulsive force being caused low frequency buffeting occur, eventually
Seriously affect propulsion system control performance.Therefore, this patent uses low-frequency filter, to the rotary system pressure difference signal of acquisition into
Row filtering changes optimal propulsive force given value using pressure difference signal after filtering, realizes and the coordination with rotary system is promoted to control.
Secondly, it when verification country rock there is some difference property, proposes propulsion and turns round coordinated control system performance.It is arranged based on table 2
The Fenghuangshan Mine roadway surrounding rock character gone out, drilling machine from hardness coefficient of rock estimated value be f=4.5 Sandy Silt in, successively into
Enter in the middle sandstone that hardness coefficient of rock is f=7.7 and the softer Sandy Silt that hardness coefficient of rock is f=3.2, obtains corresponding
Optimal propulsive force be respectively 576N, 985.6N and 409.6N.Pressure difference is turned round in the drilling process, after filtering and sees attached drawing 7, is assisted
See that attached drawing 8, the hardness coefficient of rock of prediction are shown in attached drawing 9 with self adaptive control performance.
When drilling machine has just enter into middle sandstone from Sandy Silt, revolution pressure difference can have variation by a relatively large margin, and and rock
The directly proportional variation of hardness factor, as shown in Fig. 7.As shown in Fig. 8, rotation pressure is believed after the filtering in a upper drilling process
Number, i.e. drilling machine collected rotation pressure in the Sandy Silt drilling of f=4.5, about 31.4bar after the filtering；Work as brill
When machine has just enter into middle sandstone, rotation pressure difference becomes larger, and actual hardness coefficient of rock is more than the hardness coefficient of rock estimated, can be with
Judgement country rock character changes, and needs to increase propulsive force；When therefrom sandstone enters softer Sandy Silt to drilling machine, rotation pressure is poor
Become smaller, actual hardness coefficient of rock is less than the hardness coefficient of rock estimated, it is possible to determine that country rock character changes, and needs to subtract
Small propulsive force；As seen from Figure 8, the tracking performance of propulsive force is superior, no steady-state error and overshoot, but since rotational speed responds
Slowly, so the regulating time of propulsive force is extended.If the cooperative control method for not using this patent to be proposed, system is promoted
The optimal propulsive force that system can be always maintained at Sandy Silt is 576N；When country rock character changes, due to propulsive force given value
It is unable to adaptive change, drilling machine efficiency is caused to be lower, drilling quality is deteriorated.Catalase ratio is utilized it can be seen from attached drawing 9
Work(, obtain to estimate hardness coefficient of rock precision higher, still, since rotational speed response is slow, cause to estimate the response time
In 3.5s or so.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of jumbolter promotes rotary system, characterized in that including threephase asynchronous machine, duplicate gear constant displacement pump, promote
System and rotary system；
The threephase asynchronous machine drives duplex gear pump rotation with rated speed, pumps out high pressure oil and supplies propulsion system all the way,
Another way supplies rotary system；It is both provided with high-pressure filter between the duplex gear pump and propulsion system and rotary system；
The rotary system includes 3-position 4-way electro-hydraulic proportional valve and two-way hydraulic motor；The high pressure oil of the rotary system passes through
3-position 4-way electro-hydraulic proportional valve, driving two-way hydraulic motor rotation, and then drilling rod rotation is driven, it is electro-hydraulic by adjusting 3-position 4-way
The aperture control of proportioning valve enters the fluid flow of two-way hydraulic motor, and then controls rod rotation speed；The two-way hydraulic motor
Both ends be both connected on 3-position 4-way electro-hydraulic proportional valve；The two-way hydraulic motor is also associated with revolution load；
The propulsion system includes proportional pressure control valve, electromagnetic direction valve, hydraulic cylinder successively and promotes load, and drive cylinder is dynamic
Make, drilling rod is made to generate axial propulsive force；It is big to control propulsive force by the valve opening of adjusting proportional pressure control valve for the propulsion system
It is small；
It is respectively connected with cooler on the 3-position 4-way electro-hydraulic proportional valve and electromagnetic direction valve；The other end of the cooler connects
Fuel tank.
2. a kind of cooperative self-adapted control method promoting rotary system based on jumbolter described in claim 1, feature
It is to include the following steps：
Step 1) establishes drilling machine rotary system mathematical model according to jumbolter system；
Step 2) establishes drilling machine propulsion system mathematical model according to jumbolter system, and proportional overflow valve control cylinder mode power is watched
Dress system is reduced to second-order system；
Step 3) is using drilling machine with brill acquisition of information hardness coefficient of rock；
Step 4) is according to the hardness coefficient of rock estimated, and setting drilling machine is when time optimal propulsive force of drilling and optimal rotary speed；
Step 5) fusion is on an equal basis and hypotactic complex method, design jumbolter promote revolution cooperative control structure；
Step 6) for non-linear, parameter time varying and more interference characteristics existing for jumbolter system, and based on step 1) and
The system mathematic model of step 2) structure, separately designs the automatic disturbance rejection controller of jumbolter propulsion and rotary system；
Union simulation platform of the step 7) based on Matlab and AMESim verifies carried drilling machine and promotes revolution cooperative control method
Validity and reasonability.
3. a kind of jumbolter according to claim 2, which promotes, turns round cooperative self-adapted control method, characterized in that described
The particular content of step 1) is：
11) note 3-position 4-way electro-hydraulic proportional valve input current is iv, output spool displacement is xv, electric current/displacement conversion coefficient is
kv, fluid density is ρ, and rotary system charge oil pressure is PS, load pressure PL, valve discharge coefficient is Cd, area gradient be Wv, valve
Mouth flow is Qv, the mathematical model for establishing electro-hydraulic proportional valve is：xv=kviv,
Remember KqFor valve flow gain, KcFor valve flow-pressure coefficient；To above-mentioned non-linear valve port flow relationshipLinearization process is carried out, is reduced to：Qv=Kqxv-KcPL；
12) note hydraulic motor corner is θm, discharge capacity Dm, oil inlet cavity pressure be Pm1, back oil cavity pressure Pm2, total leakage coefficient be
Ctm, the total compression volume of two chamber of motor and connecting pipe is Vt, fluid effective modulus of elasticity is βe, the mathematical model of hydraulic motor
For：
13) the note equivalent total inertia of motor drive shaft is Jt, viscous damping coefficient Bm, load torque ML, the load of drilling machine rotary system
Characteristic model is：
14) ignore motor to leak under the conditions of leakage quantity, QL=Qv；Remember that total flow pressure coefficient is Kce=Kc+Ctm, Laplce's calculation
Son is s, and the mathematical model that integration obtains drilling machine rotary system is：
4. a kind of jumbolter according to claim 2, which promotes, turns round cooperative self-adapted control method, characterized in that described
The particular content of step 3) is：
31) according to the rotary speed n of jumbolter propulsion system detected propulsive force F and drilling speed v and rotary system and
Rotating torques T, is calculated rock crushing work ratioWherein, drilling cross-sectional area is A, drilling machine
Unit interval, effective broken rock consumption power was P, and drilling volume is V；
32) consider that rock crushing work ratio is directly proportional to hardness coefficient of rock, the drilling machine obtained according to detection was crept into upper one
Propulsive force F (k-1), forward displacement x (k-1), rotating speed n (k-1) in journey and moment information T (k-1) obtains formation hardness system
Number, instructs this drilling process；Remember that this drilling process is the k stages, the k stage hardness coefficient of rock f (k) estimated are：Wherein, μ is proportionality coefficient,For forward displacement x (k-1)
About the first differential of time t (k-1), the i.e. drilling speed in k-1 stages.
5. a kind of jumbolter according to claim 4, which promotes, turns round cooperative self-adapted control method, characterized in that described
The particular content of step 4) is：
Note D is drill pipe diameter, and λ and c are regulating constant, and according to the k stage hardness coefficient of rock estimated, setting this stage optimal pushes away
Into power Fv(k) and optimal rotary speed nv(k) it is：Fv(k)=λ Df (k),
6. a kind of jumbolter according to claim 5, which promotes, turns round cooperative self-adapted control method, characterized in that described
The particular content of step 5) is：
51) according to rotation pressure, judge the difference degree of country rock, remember that the rotation pressure of a upper drilling process is P (k-1), this
The rotation pressure of drilling process is P (k), then rotation pressure variable quantity is：Δ P=P (k)-P (k-1)；Definition diversity factor is ε, when
| Δ P | when ＜ ε, show that the characteristic of country rock corresponding to adjacent anchor pole is with uniformity；
According to the hardness coefficient of rock estimated, using equal way, the optimal propulsive force and rotary speed that foundation step 4) is set,
Instruct the synchronization action of drilling machine propulsive force and rotational speed；When | Δ P | when >=ε, show the drilling country rock corresponding to adjacent anchor pole
There is some difference for characteristic, it is contemplated that and influence of the propulsion system than rotary system to drilling quality and efficiency is more notable, according to
The rotary system pressure collected keeps drilling machine rotating speed constant using master-slave mode, adjusts drilling machine propulsive force, drilling machine is made to exist
Dynamic adapts to local country rock difference in drilling process；Note propulsive force increment of adjustment is Δ F, and propulsive force adjusts proportional gain and is
kF, then propulsive force F after adjustingv' it is denoted as Fv'=Fv+ Δ F, Δ F=kFΔP；
52) when drilling having differences property of country rock corresponding to the adjacent anchor pole, low frequency dither characteristic is presented in rotation pressure；It adopts
Low frequency filtering is carried out with first order inertial loop, pressure is eliminated and buffets the influence that signal adjusts propulsive force；Remember the original revolution of k stages
Pressure is Pr(k), low-frequency filter transmission function is H (s), then has P (k)=Pr(k) H (s), H (s)=1/ (Ts+1).
7. a kind of jumbolter according to claim 2, which promotes, turns round cooperative self-adapted control method, characterized in that described
The particular content of step 6) is：
61) second-order active disturbance rejection controller is used, realizes jumbolter propulsion system feeding force control and rotary system rotating speed respectively
Control；Automatic disturbance rejection controller is made of three parts：Differential tracker, extended state observer and nonlinear state error feedback
Control rate；
62) note controlled volume given value is R, and expectation sequences and its first differential of the R in transient process are respectively v1And v2, sampling
Step-length is h, filtering factor h0, optimum control function is fhan (), velocity factor r, v1Current time t sampled value is v1
(t), subsequent time t+1 prediction samples value is v1(t+1), it is preset given value initially to give R (0), other are all
Initial value of the variable at the t=0 moment is set as 0；Differential tracker is：Its
In, fhan () is represented by：
63) note state variable is z1And z2, total interference volume is z3, nonlinear function is fal (), and system output amount is y, observer
Gain is β01、β02、β03With parameter b0, extended state observer is:Its
In, fal () is represented by：
64) remember that proportional gain and differential coefficient are β11And β12, nonlinear feedback output is u0, nonlinear factor a1、a2, design
Nonlinear state error feedback rate control is：
8. a kind of jumbolter according to claim 2, which promotes, turns round cooperative self-adapted control method, characterized in that described
The particular content of step 7) is：
71) union simulation platform based on Matlab and AMESim realizes automatic disturbance rejection controller and jumbolter physical system
It builds；
72) reasonable adjusting control device parameter r, h0、β01、β02、β03、β11、β12And b0, system tracking error is made to be restrained in t → ∞
To zero；
73) jumbolter that experimental verification is carried, which promotes, turns round cooperative self-adapted control method validity and reasonability.
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