基于S曲线加减速旋挖钻机定位控制研究

Control of Rotary Drilling Rigs Positioning Based on S Curve Acceleration and Deceleration

以旋挖钻机回转自动定位控制系统为研究对象,分析旋挖转机回转自动定位系统与S曲线原理,根据S曲线调整的方法提出基于S曲线加减速的旋挖钻机自动回转定位控制算法,并对该算法进行了分类分析及设计。为验证S曲线加减速算法在旋挖钻机自动定位控制中的可行性及可靠性,在装有高速运动控制器的旋挖钻机上进行试验。结果表明:这种方法可满足旋挖钻机自动定位控制,且具有旋挖钻机运行平稳、控制精度高等优点。

Taking rotary drilling rig automatic positioning control system as the research object,the rotary drilling rig automatic positioning system and the principle of S curve were analyzed. According to adjustment method of S curve,the rotary drilling rig automatic positioning control algorithm based on S curve was proposed. And the algorithms were classified analysis and design. In order to verify the feasibility and reliability of S curve acceleration and deceleration algorithm,it was tested in high-speed motion controller of the rotary drilling rig. The test results show that this method can satisfy the control of rotary drilling rig automatic positioning,and has the advantages of rotary drilling rig smooth operation,high control precision.