基于PID迭代学习的液压锚杆钻机转速控制

Speed Control of Hydraulic Anchor Drilling Rig Based on PID Iterative Learning

井下多数液压锚杆钻机钻速控制主要依靠人工根据经验手动控制,在钻进不同岩层时仍采用固定钻速,影响钻孔质量,作业效率低。根据锚杆钻机电液伺服元件和比例阀的特点,首先利用动力学相关理论方程建立锚杆钻机回转系统模型,由状态变换得到空间表达式;然后根据测量岩层硬度系数估算出在变化围岩条件下锚杆钻机的最优转速;最后设计PID迭代学习控制律,随着迭代次数不断增加,通过反馈跟踪误差不断修正控制器,从而达到快速跟踪的目的。与传统PID控制进行仿真对比,结果表明该控制器响应速度、调节时间和跟踪精度等性能有了显著提升,且鲁棒性更强。

The drilling speed control of most hydraulic anchor drilling rig underground mainly relies on manual control based on experience.When drilling different rock layers,a fixed drilling speed is still used,which affects the drilling quality and has low operational efficiency.According to the characteristics of electro-hydraulic servo components and proportional valves in anchor drilling rig,firstly a model of the rotation system of anchor drilling rig was established by using dynamic theoretical equations,and the spatial expression was obtained from state transformation.Then based on the measured rock hardness coefficient,the optimal rotational speed of the anchor drilling rig under changing surrounding rock conditions was estimated.Finally designed a PID iterative learning control law,which continuously corrects the controller through feedback tracking error as the number of iterations increases,thereby achieves the goal of fast tracking.Compared with traditional PID control simulation,the results show that the controller has significantly improved performance in response speed,adjustment time and tracking accuracy,and has stronger robustness.