CN108710754B - Optimal active disturbance rejection control method for propelling force of jumbolter - Google Patents

Optimal active disturbance rejection control method for propelling force of jumbolter Download PDF

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CN108710754B
CN108710754B CN201810478099.4A CN201810478099A CN108710754B CN 108710754 B CN108710754 B CN 108710754B CN 201810478099 A CN201810478099 A CN 201810478099A CN 108710754 B CN108710754 B CN 108710754B
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郭一楠
程伟
陆希望
巩敦卫
程健
杨帆
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
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Abstract

The invention discloses an optimal active disturbance rejection control method for the propelling force of a jumbolter, which is characterized by comprising the following steps of: step 1) establishing a mathematical model of a jumbolter propulsion system; step 2) setting the optimal propelling force of the current drilling of the drilling machine by utilizing the information of the drilling machine during drilling; step 3) designing an optimal active disturbance rejection controller by combining a particle swarm optimization algorithm; and 4) verifying the effectiveness and the rationality of the control method of the advancing system of the lifted anchor rod drilling machine based on a combined simulation platform of Matlab and AMESim. The invention achieves the following beneficial effects: the method is suitable for optimal control of the propelling force of the jumbolter, and solves the problem that the traditional drill control has great dependence on the working experience of operators; the drilling machine adaptively adjusts the propelling force according to the drilling surrounding rock characters, so that the faults of broken rods, different rods and the like of the drilling machine are reduced, the working efficiency and the tunneling speed are improved, and a foundation is laid for the automation and the intellectualization of the drilling machine.

Description

Optimal active disturbance rejection control method for propelling force of jumbolter
Technical Field
The invention relates to an optimal active disturbance rejection control method for the propelling force of a jumbolter, and belongs to the technical field of automatic control of engineering machinery.
Background
The jumbolter is one of key equipment in geotechnical anchoring engineering construction, and the equipment performance directly determines the progress and quality of the whole engineering. This patent is main research jumbolter's axial propulsion control. During drilling operation, the propelling mechanism applies a certain axial force to the drill bit to enable the drill bit to be in close contact with the rock, and the rotary mechanism is effectively assisted to break the rock. Research has shown that the correct propulsion causes the drilling machine to work in the optimum drilling area of rock, and the maximum drilling efficiency and drilling speed can be obtained. If the thrust is too low, the drill bit will not be in close contact with the rock at the bottom of the hole, which will significantly reduce the drilling speed. On the contrary, the excessive propelling force can increase the abrasion of the drill bit and even cause the bent rod or the broken rod. Therefore, accurate control of the thrust becomes critical to increasing the drilling rate of the drilling rig.
Aiming at the control of the propelling force of the anchor rod drilling machine, the proportional pressure regulating pump is adopted in the literature (simulation analysis of a proportional control system for rotary drilling of a Francis hardness, Pengsha, Gunn. engineering geological drilling machine [ J ]. machine tool and hydraulic pressure, 2009,37(10):219 and 221.), so that the control of the propelling system is realized, but the generated propelling force has high-frequency jitter.
The literature (Wu W R, Xu Z. mechanical mechanisms and Application of High Speed On/Off Valve to Feeding System of Hydraulic Drilling Rig J. Advanced Materials Research,2014,908: 330-. However, the high-speed switch valve is high in price, and is rarely applied to the jumbolter at present.
The document (research on a propelling and rotating control system of a hydraulic drilling machine adapting to complex working conditions [ D ]. Zhongnan university, 2014) adopts fuzzy control to automatically adjust the propelling pressure of the down-the-hole drilling machine to be matched with the rotating pressure of the drilling machine, so that the down-the-hole drilling machine is rapidly drilled, and the drill jamming is prevented. However, since the control amount is designed based on the fuzzy rule, there are disadvantages that the control accuracy is poor and the response speed is slow.
The patent (lujiangbo, wucheng, pankai, etc. motor load and propulsive force self-adaptive hydraulic drilling machine [ P ], CN 201358708.2009.12.9) sets a remote control pressure reducing valve in the propulsive circuit; the remote control pressure reducing valve is connected to a rotary loop of the drilling machine through a load inductor of the remote control pressure reducing valve. When the rotary circuit detects that the load of the drilling machine is increased, the propelling circuit can automatically reduce the propelling force and the propelling speed; on the contrary, when the load of the drilling machine is reduced, the propelling force can be automatically increased; thereby improving the rock formation self-adaptive capacity of the drilling machine.
In the patent (Wangshikn, Linigao, Gaoqiang, Jianyin. high-efficiency automatic drilling machine control system [ P ], CN 203223215U, 2013.10.2), a rotary pressure sensor and a feed pressure sensor are respectively added in a rotary circuit and a propulsion circuit of a rock drilling machine. Through real-time working condition detection, the controller is used for automatically adjusting the impact energy and the rotation speed of the rock drill and the propelling force of the feeding hydraulic cylinder, the movement of the drill rod is controlled, and the purposes of reducing the damage of the drill rod and improving the working efficiency are achieved.
The patent (Lujiangbo, Pan Fang, Hurenchun, etc.. implementation of drilling machine nudge tapping, self-adaptive capacity and automatic anti-blocking function [ P ], CN 101358522A, 2009.02.4) solves the defect that the control mode of a manual drilling machine cannot adapt to rock stratum change by modifying the structure of the original drilling machine and utilizing a mechanical mode.
At present, the research on the propelling force of a drilling machine mainly focuses on two aspects: on one hand, the self-adaptive control of the propelling force of the drilling machine is realized by utilizing components such as a proportional pressure regulating pump, a load sensitive device, a high-speed switch valve and the like, and the reliability of the method is low; on the other hand, according to the collected rotation pressure information, the logic control of the propelling force is realized by utilizing a proportional valve and a variable pump. Due to the lack of optimal propulsion estimation under different surrounding rocks, adaptive control of the propulsion cannot be achieved.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide an optimal active disturbance rejection control method for the propelling force of a jumbolter, which realizes the self-adaptive adjustment of the propelling force of the jumbolter according to the properties of surrounding rocks, and achieves the purposes of improving the anchoring speed and the supporting quality and reducing the faults of the jumbolter.
In order to achieve the above object, the present invention adopts the following technical solutions:
a jumbolter propulsion system is characterized by comprising a three-phase asynchronous motor, a constant delivery pump, a high-pressure oil filter, a safety valve, an electro-hydraulic proportional overflow valve, an electromagnetic directional valve and a hydraulic oil cylinder; the three-phase asynchronous motor is connected with the constant delivery pump; high-pressure oil pumped out by the constant delivery pump flows to the electro-hydraulic proportional overflow valve and the electromagnetic directional valve respectively after passing through the high-pressure oil filter; the electro-hydraulic proportional overflow valve and the constant delivery pump are also connected with the same oil tank; the electromagnetic directional valve is in bidirectional connection with the hydraulic oil cylinder; the hydraulic oil cylinder is also connected with a load; the electro-hydraulic proportional overflow valve comprises a damping hole, a proportional electromagnet, a pilot control stage and a main valve control stage which are sequentially connected; the pilot control stage is internally provided with a pilot valve core, and the main valve control stage is internally provided with a main valve core; the damping hole is used for shunting emulsion.
An optimal active disturbance rejection control method for the propelling force of a jumbolter is characterized by comprising the following steps:
step 1) establishing a mathematical model of the jumbolter propulsion system;
step 2) setting the optimal propelling force of the current drilling of the drilling machine by utilizing the information of the drilling machine during drilling;
step 3) designing an optimal active disturbance rejection controller by combining a particle swarm optimization algorithm;
and 4) verifying the effectiveness and the rationality of the control method of the advancing system of the lifted anchor rod drilling machine based on a combined simulation platform of Matlab and AMESim. The optimal active disturbance rejection control method for the propelling force of the jumbolter is characterized in that the concrete content of the step 1) is as follows:
101) when a proportional electromagnet coil of the electro-hydraulic proportional overflow valve is electrified, the generated electromagnetic force acts on the pilot valve core; the emulsion passes through the damping hole R1Divided, after divisionA part passes through the damping hole R2Acting on the upper cavity of the main valve core, and the other part passes through the damping hole R3Acting on the pilot valve;
if the emulsified hydraulic pressure acting on the pilot valve can not overcome the electromagnetic force, the pressures of the upper cavity and the lower cavity of the main valve core are approximately equal, and the main valve keeps a closed state under the initial acting force of a main valve spring; when the emulsion pressure exceeds the electromagnetic force of the pilot valve, the pilot valve is opened; through a damping hole R1Then, the pressure of the emulsion is reduced, so that the pressure of the lower cavity of the main valve is greater than that of the upper cavity, and the main valve is opened;
102) the input current of the proportional electromagnet is I, and the output electromagnetic force is FemA gain of KbThe laplacian operator is s, and the mathematical model of the proportional electromagnet is as follows:
Figure BDA0001665018370000041
103) the sum of the mass of the valve core of the pilot valve and the mass of the push rod is m2The viscous damping coefficient of the pilot valve is BvEquivalent spring rate of KvThe displacement of the valve core of the pilot valve is X2The proportionality coefficient of the pilot stage is Km＝1/KvA natural frequency of
Figure BDA0001665018370000042
Damping coefficients are respectively
Figure BDA0001665018370000043
The mathematical model of the pilot control stage is:
Figure BDA0001665018370000044
104) the pressure of the lower cavity and the upper cavity of the main valve are respectively p1 and p2, and the stress areas of the lower surface and the upper surface of the main valve are respectively A1、A2The sum of the mass of the valve core of the main valve and the mass of the push rod is m1The rigidity of the spring of the main valve core is K, and the initial compression amount of the spring is X10The main valve core displacement is X1With steady-state hydrodynamic force of FhThen, then
Figure BDA0001665018370000045
Note Δ Fh、ΔX1、Δp1And Δ p2Are respectively Fh、X1、p1And p2The amount of change in the amount of change,
Figure BDA0001665018370000046
is represented by FhWith respect to X1First order partial derivatives of
Figure BDA0001665018370000047
After linearization, is expressed as Δ Fh＝Kh1ΔX1+Kh2(Δp1-Δp2)；
105) Recording the effective elastic modulus of the oil liquid as betaeThe flow pressure coefficient of the fixed hydraulic resistance is GR1The flow gain and flow-pressure coefficient of the pilot valve are respectively Kq2And Kc2The main flow of the pilot valve and the branch flow of the pilot valve are respectively Q2And Q4Upper cavity flow of main valve is Q3Volume of upper chamber of main valve is V2Then, then
Figure BDA0001665018370000051
106) Noting the natural frequency of the main valve as
Figure BDA0001665018370000052
The upper cavity of the main valve has a turning frequency of omegac＝(GR1+Kc2)βe/V2The main valve dominant turning frequency is omegav＝(K+Kh1)(GR1+Kc2)/A2 2The effective action area is
Figure BDA0001665018370000053
Then the valve core of the main valve displaces X1Expressed as:
Figure BDA0001665018370000054
wherein
Figure BDA0001665018370000055
107) Based on omegaMAnd ωcFar greater than the natural frequency of the hydraulic propulsion system, neglecting the influence on the control performance of the system, and will be X1(s) is simplified by
Figure BDA0001665018370000056
108) The overflow flow of the proportional overflow valve is recorded as Q, and the flow of the lower cavity of the main valve is recorded as Q1The volume of the lower cavity of the main valve is V1The flow gain and flow-pressure coefficient of the main valve are respectively Kq1And Kc1Then, the valve port flow of the main valve is:
Figure BDA0001665018370000057
109) note K0＝K1/(1+K1Kc1)，K1＝(K+Kh1)/AKq1，
Figure BDA0001665018370000058
Figure BDA0001665018370000059
ω1＝Kc1βe/V1，
Figure BDA00016650183700000510
D(s)＝K0(1+s/ωv) Neglecting the transition frequency K with high frequency characteristicsq1/A1To obtain the output pressure p of the proportional relief valve1And pilot valve core displacement X2And relief valve input flow Q1The relationship of the transfer function between the two is as follows:
Figure BDA00016650183700000511
110) recording the output force and the load force of the propulsion system as F and F respectivelyLThe displacement of the drill bit is x, the total weight of the drill rod and the propulsion oil cylinder is m, and the propulsion oil cylinder returns oilChamber pressure of p3The effective action areas of two cavities of the propulsion oil cylinder are respectively A3And A4The equivalent spring rate of the load of the propulsion system is KLThe sum of the friction force, the vibration interference and the resistance which is difficult to model in the drilling process of the drilling machine is F1The mathematical model of the propulsion oil cylinder is as follows:
Figure BDA0001665018370000063
111) according to the mathematical model of the proportional overflow valve and the mathematical model of the propulsion oil cylinder, the following functional relation is satisfied between the output force of the propulsion system and the input current of the electro-hydraulic proportional overflow valve by synthesis:
Figure BDA0001665018370000061
the method for controlling the optimal active disturbance rejection of the propulsion force of the jumbolter is characterized in that in the step 112), the natural frequency omega of the pilot valve is setmDesigned as main valve equivalent frequency omega0More than 100 times, simplifies the mathematical model of the propulsion system, and has
Figure BDA0001665018370000062
The optimal active disturbance rejection control method for the propelling force of the jumbolter is characterized in that the concrete content of the step 2) is as follows:
according to the detected propelling force F (k-1), propelling displacement x (k-1), rotating speed n (k-1) and torque information T (k-1) of the drilling machine in the drilling process of the k-1 stage, predicting a rock hardness coefficient F (k) in the drilling process of the k stage;
recording the diameter of a drill rod as D, adjusting the constant as lambda, and setting the optimal propelling force F in the k stagev(k) Comprises the following steps: fv(k)＝λDf(k)。
The optimal active disturbance rejection control method for the propelling force of the jumbolter is characterized in that the concrete content of the step 3) is as follows:
31) the control of the propulsion force of the jumbolter propulsion system is realized by adopting a second-order active disturbance rejection controller; the active disturbance rejection controller comprises a differential tracker, an extended state observer and a nonlinear state error feedback control rate;
velocity factor r and filter factor h of differential tracker0Extended state observer gain beta01，β02，β03And parameter b0And gain beta in a non-linear feedback controller11And beta12；
32) Setting parameters of the active disturbance rejection controller by adopting a particle swarm optimization algorithm;
recording the number of particles in the particle group as m0And D is the dimension of each particle, the position of the ith particle is represented as xi＝(xi1,xi2,…,xiD)，i＝1,2,…,m0(ii) a Its velocity is vi＝(vi1,vi2,…,viD) (ii) a The optimum position searched by the ith particle is pi＝(pi1,pi2,…,piD) P in this caseiCan be represented directly by the vector on the right hand side of the equation, with p appearing above1、p2In contrast, the optimal position searched by the whole particle swarm is pg＝(pg1,pg2,…,pgD)；
Inertia weight is w, acceleration constant is c1And c2，r1And r2Is [0,1 ]]Uniformly distributed random variables, then each particle has a formula of passing
Figure BDA0001665018370000071
Update its speed, pass-through
Figure BDA0001665018370000072
Updating the position of the user, and realizing evolution search;
Figure BDA0001665018370000073
represents the d-th optimal position of the ith particle during the nth iteration,
Figure BDA0001665018370000074
representing the velocity of the d-th optimal position of the ith particle during the nth iteration,
Figure BDA0001665018370000075
indicating the d-th position of the ith particle during the nth iteration,
Figure BDA0001665018370000076
representing the d optimal position of the whole particle swarm in the Nth iteration process;
33) the particles adopt a real number coding form and are marked as xi＝(r,h0,β01,β02,β03,β11,β12,b0)；
34) Considering the requirements of rapidity and accuracy of a drilling machine propulsion control system, adopting an integral criterion of absolute error times time as an objective function, and adding a performance index for measuring overshoot in the objective function:
the weight is recorded as omega1And ω2The instantaneous error of the system is e (t), the overshoot is Mp, and a comprehensive objective function is obtained
Figure BDA0001665018370000077
35) And aiming at the objective function, constructing a particle swarm optimization setting method of the parameters of the active disturbance rejection controller.
The optimal active disturbance rejection control method for the propelling force of the jumbolter is characterized in that the concrete content of the step 35) is as follows:
351) initializing initial positions and speeds of all particles of a particle swarm;
352) introducing the parameters of the active disturbance rejection controller corresponding to each particle position into a physical simulation system of a propulsion control system, operating and calculating a target value of the physical simulation system;
353) updating the local optimal particles, the global optimal particles, and the local extreme value and the global extreme value thereof according to the target value of each particle;
354) updating the position and velocity of each particle;
355) judging whether the maximum iteration times is reached, if the judgment condition is met, terminating the search, and outputting a global optimal solution; otherwise, jump to 352).
The optimal active disturbance rejection control method for the propelling force of the jumbolter is characterized in that the concrete content of the step 4) is as follows:
41) based on a combined simulation platform of Matlab and AMESim, building an optimal active disturbance rejection controller and a jumbolter propulsion system;
42) the effectiveness and the rationality of the provided optimal active disturbance rejection control method for the propulsion of the jumbolter are verified through experiments.
The invention achieves the following beneficial effects: the method is suitable for optimal control of the propelling force of the jumbolter, and solves the problem that the traditional drill control has great dependence on the working experience of operators; the drilling machine adaptively adjusts the propelling force according to the drilling surrounding rock characters, so that the faults of broken rods, different rods and the like of the drilling machine are reduced, the working efficiency and the tunneling speed are improved, and a foundation is laid for the automation and the intellectualization of the drilling machine.
Drawings
FIG. 1 is a schematic view of a jumbolter propulsion system;
FIG. 2 is a structural component of an electro-hydraulic proportional relief valve;
FIG. 3 is a propulsion system transfer function block diagram;
FIG. 4 is a propulsion system control block diagram;
FIG. 5 is a Matlab and AMESim based joint simulation platform;
FIG. 6 is a PSO based ADRC and PI controller parameter optimization process;
FIG. 7 is a reference trajectory output by a differential tracker under different surrounding rock properties;
FIG. 8 is a comparison of different ADRC controller performance;
figure 9 is a two-class force controller performance curve for a gradient wall rock.
The meaning of the reference symbols in the figures:
the system comprises a three-phase asynchronous motor 1, a constant delivery pump 2, a high-pressure oil filter 3, an electro-hydraulic proportional overflow valve 4, an electromagnetic directional valve 5, a hydraulic oil cylinder 6, a load 7, a proportional overflow valve control signal 8 and an oil tank 9.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The method comprises the steps of firstly, setting an optimal propelling force according to the properties of surrounding rocks; secondly, considering the nonlinearity, parameter time-varying property and multi-interference characteristic of a hydraulic system of the anchor rod drilling machine, the driving force control of the drilling machine is realized by adopting an active disturbance rejection controller; and finally, considering the requirements of system response rapidity and dynamic stability, and adopting a particle swarm optimization algorithm to adaptively adjust the parameters of the active disturbance rejection controller, thereby ensuring that the drilling machine propulsion system obtains the optimal response performance.
In this embodiment, the values of the core parameters of the equipment in the jumbolter system are shown in table 1.
Parameter [ unit ]] Numerical value Parameter [ unit ]] Numerical value
Kb[N/A] 20 m2[kg] 0.00185
Be[N/m2] 7×108 ρ[kg/m3] 850
Bv[N/(m·s)] 1.63 Kv[N/m] 2921
A1[mm2] 804 A2[mm2] 804
m1[kg] 0.092 V1[cm3] 5080
V2[cm3] 504 GR1[cm3/(MPa·s)] 51.2
TABLE 1 roofbolter Propulsion System core parameter values
Actually collected surrounding rock data of coal mine tunnels of the Jincheng Temple river are shown in table 2.
Lithology Cumulative thickness/m Thickness/m Compressive strength/MPa Coefficient of rock hardness
Fine sandstone 6.33 1.1 114.9 11.5
Sandstone 7.28 2.7 89.6 9
Middle sandstone 4.91 0.55 77.3 7.7
Argillaceous sandstone 10 3.67 45.2 4.5
Argillaceous sandstone 5.23 0.32 35.6 3.6
Argillaceous sandstone 4.36 2.96 32.35 3.2
Coal seam 1.4 1.4 21.9 2.2
TABLE 2 surrounding rock strength of coal mine tunnel of Jincheng temple
And respectively optimizing parameters of the active disturbance rejection controller and the PI controller by adopting a particle swarm optimization algorithm. Setting the search range of the parameter to be set as follows: r is an element of 10,100000]，h0∈[0.001,1]，β01∈[0,1000]，β02∈[0,10000]，β03∈[0,10000]，β11∈[0,100]，β12∈[0,2]，b0∈[0.1,3]；KP∈[0.1,1]，KI∈[0.1,0.8]。
The particle swarm size is selected to be 100, and the maximum iteration number is 100. The particle swarm optimization process is shown in figure 6. And setting the adjustable interval of the PI control parameters by using the priori knowledge. Therefore, the ADRC controller optimization process is slower compared to the PI controller parameter optimization process.
The obtained controller parameter values are: PSO-ADRC: beta is a01＝878.8375，β02＝8435.8676，β03＝6022.1461，β11＝199.8151，β12＝3.5746，b0＝1.1956。
PI：KP＝0.624，KI＝0.283。
And verifying the influence of the output reference track of the differential tracker on the performance of the controller under different surrounding rock properties. Considering that a drilling machine drills sandstone from sandy mudstone, converting the optimal propelling force Fv of the sandy mudstone into 576N according to an optimal propelling force calculation formula; the optimum propelling force of the medium sandstone is Fv 985.6N.
Determining traditional active disturbance rejection controller differential tracker parameters according to a traditional active disturbance rejection controller parameter setting methodComprises the following steps: r is 20000, h00.01. Other parameters of the controller are obtained by PSO setting and are consistent with the PSO-ADRC.
The differential tracker parameters set based on the particle swarm optimization algorithm are shown in table 3.
Figure BDA0001665018370000111
TABLE 3 comparison of PSO-ADRC and conventional ADRC control Performance under different wall rock Properties
Obviously, the expected response trajectory varies from one surrounding rock to another. The differential tracker output reference trace compared to the conventional ADRC controller and the PSO-ADRC controller is shown in fig. 7, and the corresponding propulsion control performance is shown in fig. 8. When the rig drills into sandstone from sandy mudstone, the conventional ADRC controller has a settling time of over 1.2s and a large overshoot. This is because the speed factor of the differential tracker in the conventional ADRC is empirically chosen and does not take into account the associated effects of other parts of the system. And a higher speed factor can ensure a higher response speed. However, the inherent characteristics of the drilling machine propulsion system cause the actual response process of the drilling machine to not well track the expected response trajectory, and large dynamic errors are generated to form overshoot. In particular, the overshoot of the system response is more pronounced when there is a small degree of variation in the drilling surrounding rock behavior. Compared with the attached figure 8, the optimal active disturbance rejection controller provided by the patent can obtain the optimal differential tracker parameters under different surrounding rock properties through the PSO-based setting module, remarkably improve the response speed of the control system, ensure no overshoot in the response process and enable the drilling machine system to obtain the optimal dynamic performance.
And verifying the tracking performance of the optimal propelling force under the condition of the gradual change surrounding rock. When the surrounding rock characters of the drilling machine are gradually changed in the drilling process, the outlet pressure of the proportional overflow valve is continuously adjusted, so that the drilling propelling force meets the optimal performance requirement. Assuming that the surrounding rock has sandy mudstone and medium sandstone, a slope signal with the optimal propelling force of 409.6-985.6N is estimated, as shown in figure 9. When the drilling machine runs on the gradual-change surrounding rock and other external interference does not exist, the response speed of the optimal active disturbance rejection controller is high, and no steady-state error exists; meanwhile, in the adjusting process, overshoot is avoided. However, the PI controller has a steady state error of 19.78N and a small overshoot. The optimal active disturbance rejection controller has better control performance than the traditional PI control.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (7)

1. An optimal active disturbance rejection control method for the propelling force of a jumbolter is characterized by comprising the following steps:
step 1) establishing a mathematical model of a jumbolter propulsion system;
101) when a proportional electromagnet coil of the electro-hydraulic proportional overflow valve is electrified, the generated electromagnetic force acts on the pilot valve core; the emulsion passes through the damping hole R1The part after the flow splitting passes through the damping hole R2Acting on the upper cavity of the main valve core, and the other part passes through the damping hole R3Acting on the pilot valve;
if the emulsified hydraulic pressure acting on the pilot valve can not overcome the electromagnetic force, the pressures of the upper cavity and the lower cavity of the main valve core are approximately equal, and the main valve keeps a closed state under the initial acting force of a main valve spring; when the emulsion pressure exceeds the electromagnetic force of the pilot valve, the pilot valve is opened; through a damping hole R1Then, the pressure of the emulsion is reduced, so that the pressure of the lower cavity of the main valve is greater than that of the upper cavity, and the main valve is opened;
102) the input current of the proportional electromagnet is I, and the output electromagnetic force is FemA gain of KbThe laplacian operator is s, and the mathematical model of the proportional electromagnet is as follows:
Figure FDA0003423323060000011
103) the sum of the mass of the valve core of the pilot valve and the mass of the push rod is m2Viscous resistance of pilot valveA damping coefficient of BvEquivalent spring rate of KvThe displacement of the valve core of the pilot valve is X2The proportionality coefficient of the pilot stage is Km＝1/KvA natural frequency of
Figure FDA0003423323060000012
Damping coefficient of
Figure FDA0003423323060000013
The mathematical model of the pilot control stage is:
Figure FDA0003423323060000014
104) the pressure of the lower cavity and the upper cavity of the main valve is respectively recorded as p1、p2The bearing areas of the lower surface and the upper surface of the main valve are respectively A1、A2The sum of the mass of the valve core of the main valve and the mass of the push rod is m1The rigidity of the spring of the main valve core is K, and the initial compression amount of the spring is X10The main valve core displacement is X1With steady-state hydrodynamic force of FhThen, then
Figure FDA0003423323060000015
Figure FDA0003423323060000016
Is X1The second derivative of (a);
note Δ Fh、ΔX1、Δp1And Δ p2Are respectively Fh、X1、p1And p2The amount of change in the amount of change,
Figure FDA0003423323060000017
is represented by FhWith respect to X1First order partial derivatives of
Figure FDA0003423323060000021
After linearization, is expressed as Δ Fh＝Kh1ΔX1+Kh2(Δp1-Δp2)；
105) Recording the effective elastic modulus of the oil liquid as betaeThe flow pressure coefficient of the fixed hydraulic resistance is GR1The flow gain and flow-pressure coefficient of the pilot valve are respectively Kq2And Kc2The main flow of the pilot valve and the branch flow of the pilot valve are respectively Q2And Q4Upper cavity flow of main valve is Q3Volume of upper chamber of main valve is V2Then, then
Figure FDA0003423323060000022
Q4＝Kq2X2+Kc2p2T represents time;
106) noting the natural frequency of the main valve as
Figure FDA0003423323060000023
The upper cavity of the main valve has a turning frequency of omegac＝(GR1+Kc2)βe/V2The main valve dominant turning frequency is omegav＝(K+Kh1)(GR1+Kc2)/A2 2The effective action area is
Figure FDA0003423323060000024
Then the valve core of the main valve displaces X1Expressed as:
Figure FDA0003423323060000025
wherein
Figure FDA0003423323060000026
p1(s) is the output pressure of the proportional relief valve;
107) based on omegaMAnd ωcFar greater than the natural frequency of the hydraulic propulsion system, neglecting the influence on the control performance of the system, and will be X1(s) is simplified by
Figure FDA0003423323060000027
108) The overflow flow of the proportional overflow valve is recorded asQ, the flow of the lower cavity of the main valve is Q1The volume of the lower cavity of the main valve is V1The flow gain and flow-pressure coefficient of the main valve are respectively Kq1And Kc1Then, the valve port flow of the main valve is:
Figure FDA0003423323060000028
t represents time;
109) note K0＝K1/(1+K1Kc1)，K1＝(K+Kh1)/AKq1，
Figure FDA0003423323060000029
Figure FDA0003423323060000031
ω1＝Kc1βe/V1，
Figure FDA0003423323060000032
D(s)＝K0(1+s/ωv) Neglecting the transition frequency K with high frequency characteristicsq1/A1To obtain the output pressure p of the proportional relief valve1(s) and pilot valve core displacement X2And relief valve input flow Q1The relationship of the transfer function between the two is as follows:
Figure FDA0003423323060000033
110) recording the output force and the load force of the propulsion system as F and F respectivelyLThe displacement of the drill bit is x, the total weight of the drill rod and the propulsion oil cylinder is m, and the pressure of an oil return cavity of the propulsion oil cylinder is p3The effective action areas of two cavities of the propulsion oil cylinder are respectively A3And A4The equivalent spring rate of the load of the propulsion system is KLThe sum of the friction force, the vibration interference and the resistance which is difficult to model in the drilling process of the drilling machine is F1The mathematical model of the propulsion oil cylinder is as follows:
Figure FDA0003423323060000034
Figure FDA0003423323060000035
is the second derivative of x;
111) according to the mathematical model of the proportional overflow valve and the mathematical model of the propulsion oil cylinder, the following functional relation is satisfied between the output force of the propulsion system and the input current of the electro-hydraulic proportional overflow valve by synthesis:
Figure FDA0003423323060000036
step 2) setting the optimal propelling force of the current drilling of the drilling machine by utilizing the information of the drilling machine during drilling;
step 3) designing an optimal active disturbance rejection controller by combining a particle swarm optimization algorithm;
and 4) verifying the effectiveness and the rationality of the control method of the advancing system of the lifted anchor rod drilling machine based on a combined simulation platform of Matlab and AMESim.
2. The optimal active disturbance rejection control method for the propulsion of the jumbolter according to claim 1, wherein the propulsion system of the jumbolter comprises a three-phase asynchronous motor, a constant delivery pump, a high-pressure oil filter, a safety valve, an electro-hydraulic proportional overflow valve, an electromagnetic direction valve and a hydraulic oil cylinder; the three-phase asynchronous motor is connected with the constant delivery pump; high-pressure oil pumped out by the constant delivery pump flows to the electro-hydraulic proportional overflow valve and the electromagnetic directional valve respectively after passing through the high-pressure oil filter; the electro-hydraulic proportional overflow valve and the constant delivery pump are also connected with the same oil tank; the electromagnetic directional valve is in bidirectional connection with the hydraulic oil cylinder; the hydraulic oil cylinder is also connected with a load;
the electro-hydraulic proportional overflow valve comprises a damping hole, a proportional electromagnet, a pilot control stage and a main valve control stage which are sequentially connected; the pilot control stage is internally provided with a pilot valve core, and the main valve control stage is internally provided with a main valve core; the damping hole is used for shunting emulsion.
3. The jumbolter thrust optimum active disturbance rejection control method according to claim 1, wherein: will firstNatural frequency omega of pilot valvemDesigned as main valve equivalent frequency omega0More than 100 times, simplifies the mathematical model of the propulsion system, and has
Figure FDA0003423323060000041
4. The optimal active disturbance rejection control method for the propulsion force of the jumbolter according to claim 1, wherein the specific content of the step 2) is as follows:
according to the detected propelling force F (k-1), propelling displacement x (k-1), rotating speed n (k-1) and torque information T (k-1) of the drilling machine in the drilling process of the k-1 stage, predicting a rock hardness coefficient F (k) in the drilling process of the k stage;
recording the diameter of a drill rod as D, adjusting the constant as lambda, and setting the optimal propelling force F in the k stagev(k) Comprises the following steps: fv(k)＝λDf(k)。
5. The optimal active disturbance rejection control method for the propulsion force of the jumbolter according to claim 4, wherein the specific content of the step 3) is as follows:
31) the control of the propulsion force of the jumbolter propulsion system is realized by adopting a second-order active disturbance rejection controller; the active disturbance rejection controller comprises a differential tracker, an extended state observer and a nonlinear state error feedback control rate;
velocity factor r and filter factor h of differential tracker0Extended state observer gain beta01，β02，β03And parameter b0And gain beta in a non-linear feedback controller11And beta12；
32) Setting parameters of the active disturbance rejection controller by adopting a particle swarm optimization algorithm;
recording the number of particles in the particle group as m0And D is the dimension of each particle, the position of the ith particle is represented as xi＝(xi1,xi2,…,xiD)，i＝1,2,…,m0(ii) a Its velocity is vi＝(vi1,vi2,…,viD) (ii) a The ith granuleThe optimum position found by the sub-search is pi＝(pi1,pi2,…,piD) The optimal position searched by the whole particle swarm is pg＝(pg1,pg2,…,pgD)；
Inertia weight is w, acceleration constant is c1And c2，r1And r2Is [0,1 ]]Uniformly distributed random variables, then each particle has a formula of passing
Figure FDA0003423323060000051
Update its speed, pass-through
Figure FDA0003423323060000052
Updating the position of the user, and realizing evolution search;
Figure FDA0003423323060000053
represents the d-th optimal position of the ith particle during the nth iteration,
Figure FDA0003423323060000054
representing the velocity of the d-th optimal position of the ith particle during the nth iteration,
Figure FDA0003423323060000055
indicating the d-th position of the ith particle during the nth iteration,
Figure FDA0003423323060000056
representing the d optimal position of the whole particle swarm in the Nth iteration process;
33) the ith particle is represented by x'i＝(r,h0,β01,β02,β03,β11,β12,b0) Wherein r, h0,β01,β02,β03,β11,β12,b0Real number coding is adopted;
34) considering the requirements of rapidity and accuracy of a drilling machine propulsion control system, adopting an integral criterion of absolute error times time as an objective function, and adding a performance index for measuring overshoot in the objective function:
the weight is recorded as omega1And ω2The instantaneous error of the system is e (t), and the overshoot is MpObtaining a synthetic objective function
Figure FDA0003423323060000057
35) And aiming at the objective function, constructing a particle swarm optimization setting method of the parameters of the active disturbance rejection controller.
6. The optimal active disturbance rejection control method for the propulsion force of the jumbolter according to claim 5, wherein the specific contents of the 35) are as follows:
351) initializing initial positions and speeds of all particles of a particle swarm;
352) introducing the parameters of the active disturbance rejection controller corresponding to each particle position into a physical simulation system of a propulsion control system, operating and calculating a target value of the physical simulation system;
353) updating the local optimal particles, the global optimal particles, and the local extreme value and the global extreme value thereof according to the target value of each particle;
354) updating the position and velocity of each particle;
355) judging whether the maximum iteration times is reached, if the judgment condition is met, terminating the search, and outputting a global optimal solution; otherwise, jump to 352).
7. The optimal active disturbance rejection control method for the propulsion force of the jumbolter according to claim 1, wherein the specific content of the step 4) is as follows:
41) based on a combined simulation platform of Matlab and AMESim, building an optimal active disturbance rejection controller and a jumbolter propulsion system;
42) the effectiveness and the rationality of the provided optimal active disturbance rejection control method for the propulsion of the jumbolter are verified through experiments.
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