A LESO Based Backstepping Controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of drilling.In this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary speed.Firstly,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is established.Then an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam hardness.Based on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary speed.Finally,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

Intelligent classification model of surrounding rock of tunnel using drilling and blasting method

Classification of surrounding rock is the cornerstone of tunnel design and construction.The traditional methods are mainly qualitative and manual and require extensive professional knowledge and engineering experience.To minimize the effect of the empirical judgment on the accuracy of surrounding rock classification,it is necessary to reduce human participation.An intelligent classification technique based on information technology and artificial intelligence could overcome these issues.In this regard,using 299 groups of drilling parameters collected automatically using intelligent drill jumbos in tunnels for the Zhengzhou-Wanzhou high-speed railway in China,an intelligent-classification surrounding-rock database is constructed in this study.Based on a machine learning algorithm,an intelligent classification model is then developed,which has an overall accuracy of 91.9%.Finally,using the core of the model,the intelligent classification system for the surrounding rock of drilled and blasted tunnels is integrated,and the system is carried by intelligent jumbos to perform automatic recording and transmission of drilling parameters and intelligent classification of the surrounding rock.This approach provides a foundation for the dynamic design and construction(both conventional and intelligent)of tunnels.

Inverse kinematics of a heavy duty manipulator with 6-DOF based on dual quaternion

An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.