硬岩钻机自动送钻系统混合模糊PI控制器设计

Design of hybrid fuzzy PI controller for automatic bit-feeding system of hard-rock drill rig

针对硬岩大直径钻机自动送钻工艺复杂非线性不确定的控制问题,通过分析自动送钻工作模态,设计了一种将模糊算法和比例积分相结合的模糊比例积分控制器,较好地解决了自动送钻系统的时滞和非线性等问题。该控制器采用恒钻压模糊比例积分自动送钻工艺控制模式,选用钻压偏差和钻压偏差变化率作为模糊控制器的输入量,通过对其进行模糊控制运算,实现了控制钻头压力满足钻井工艺要求的目的。采用模糊控制的思想解决了被控制对象的精确数学模型不容易建立的问题,提高了系统的自适应性、稳定性和鲁棒性。

In view of the complex, nonlinear and uncertain control of the automatic bit-feeding system of the large-diametered hard-rock drill rig, the paper designed a kind of fuzzy proportional-integral（PI） controller after analyzing the operation mode of the automatic bit-feeding system, which solved the time lag and nonlinearity of the automatic bit-feeding system. The controller worked on fuzzy PI control of the automatic bit-feeding system based on constant drilling pressure. Deviation of the drilling pressure and its variation ratio served as the inputs of the fuzzy controller, so as to control the bit drilling pressure and meet technical requirements of the drilling process after fuzzy control algorithm. The fuzzy control was contributed to avoiding imprecise modeling of controlled object as well as improving the adaptability, stability and robustness of the system.