基于最小二乘法的凿岩机智能防卡钎系统研究

Research On The Intelligent Blocking Prevention System Based on Least Squares for Hydraulic Drilling Equipment

研究了国内外液压凿岩机防卡钎方案,分析现有防卡钎方案的优缺点,综合分析凿岩机3种卡钎类型和卡钎的机理,提出了一种新型智能防卡钎系统。该系统使用IEC61131-3标准中支持的结构化文本(ST)语言进行编程,可在符合该标准的控制器中任意移植,通用性较高。凿岩时针对不同岩层自适应调整防卡钎的参数,基于最小二乘法处理采集的数据,求解转钎压力和推进压力随时间变化的相关参数拟合响应函数,能够精准判定卡钎并应用电液比例控制技术随着实际凿岩工况无级调节凿岩机工作参数,执行防卡钎措施。对于Ⅰ类和Ⅱ类卡钎,智能防卡钎系统能在出现卡钎先兆时精确识别卡钎形式并执行对应的防卡措施,对于Ⅲ类卡钎,智能防卡钎系统能在卡钎后迅速响应处理,避免造成时间和人力的浪费。相较于普通防卡钎方案,本系统以预防为主,减少了处理卡钎的时间,既能有效防卡钎又兼顾了凿岩效率。

The anti-jamming scheme of hydraulic rock drill at home and abroad was studied,the advantages and disadvantages of the existing anti-jamming scheme were analyzed,the mechanism of three types of tackler and brazing of rock drill was comprehensively analyzed,and a new intelligent anti-jamming system was proposed.The system was programmed using the structured text(ST) language supported in the IEC 61131-3 standard,and was freely portable in controllers that complied with the standard,making it highly versatile.During rock drilling,the parameters of anti-brazing were adaptively adjusted for different rock layers,and the data collected were processed based on the least squares method,and the relevant parameter fitting response function of the change of transfer brazing pressure and propulsion pressure with time was solved,and the anti-brazing measures could be implemented by applying electro-hydraulic proportional control technology to steplessly adjust the working parameters of the rock drill with the actual rock drilling conditions.For Class Ⅰ and Class Ⅱ brazing intelligent anti-jamming system can accurately identify the form of brazing and implement corresponding anti-jamming measures when there is a precursor to jamming,the brazing for Class Ⅲ,the intelligent anti-jamming system could quickly respond to processing after taczing,avoiding waste of time and manpower.Compared with the ordinary anti-jamming scheme,the system focuses on prevention,reduces the time to process the jamming,and can effectively prevent the jamming and take into account the rock drilling efficiency.