煤矿井下自动化钻机钻速模糊PID自适应控制方法

Adaptive Control Method of Fuzzy PID of Automatic Drilling Rig in Coal Mine

为提高井下作业质量,实现对钻机在工作中转速的精确、高效控制,以某煤矿工程为例,开展其井下作业过程自动化钻机钻速模糊比例-积分-微分(Proportion Integral Differential,PID)自适应控制方法的设计研究。根据钻机的动力系统,建立钻机动力函数,计算钻机推力,建立煤矿井下自动化钻机数学模型。将输入变量(转速误差、误差变化率)精确值转换为模糊集合的隶属度,设计基于模糊PID的钻机转速输入控制。在钻机上安装多种传感器,实时监测钻机的各项工作参数,利用模糊PID控制器,进行自动化钻机转速的自适应调节。对比实验结果表明:设计的方法可以实现对钻机转速的快速、准确控制,保证钻进速度的稳定性。

In order to improve the quality of downhole operation and realize the precise and efficient control of the working speed of the drilling rig,the design and research of the fuzzy PID adaptive control method of the automatic drilling machine is conducted.According to the power system of the rig,the power function of the rig is established,the thrust of the drill is calculated,and the mathematical model of the underground automatic drill is established.The precise value of the input variable(speed error and error change rate)are converted into the membership of the fuzzy set,and the input control of rig speed based on fuzzy PID is designed.A variety of sensors are installed on the rig to monitor the working parameters of the rig in real time,and the fuzzy PID controller is used to adjust the automatic rig speed.The comparative experiment results show that the design method can realize the fast and accurate control of the drilling rig speed,and ensure the stability of the drilling speed.