基于单位四元数的锚杆钻车铺网单元控制方法

Anchor Drill Rig Mesh-laying Unit Control Method Based on Unit Quaternion

针对现有铺网过程仍需人工手动操作、人工成本高、危险系数高、作业效率低等问题,提出了一种基于单位四元数的锚杆钻车铺网单元控制方法,通过对铺网单元机械手爪进行基于单位四元数的姿态建模,设计了扩张状态观测器完成自抗扰控制,并对所设计的控制系统进行了仿真验证。结果表明,该方法使网片运输和安装到目标位置的过程实现了自动化,并在遭受扰动时能很快回归稳态,为实现井下锚护过程自动化打下坚实的基础。

Aiming at the problems of manual operation, high labor cost, high risk coefficient and low operation efficiency in the existing mesh laying process, a unit control method for anchor drill rig mesh-laying based on unit quaternion has been proposed. This method models the attitude based on the quaternion of the mesh-laying unit, designs the expansion state observer to complete the self-immunity control, and simulates the designed control system. The results show that the proposed method automates the process of mesh transport and installation to the target location, and can quickly return to homeostasis when disturbed, laying a solid foundation for the automation of the downhole anchoring process.