Design And Research On The Dynamic Characteristics And Control System Of Hydraulic Vertical Shaft Drill

With the deepening of the coal mining depth in China,the advanced degree of the shaft construction technology has a great influence on the construction period of the mine.Vertical shaft drill is the key equipment in the shaft opening of the mine developing,and its working performance directly affects the safety and speed of the wellbore opening.The directional control valve group of the original drill hydraulic control system is made up of manual reversing valves.In the working process,manual real-time adjustment is needed for borehole location,the location accuracy and the efficiency is not high,which has a certain risk of security and directly affect the speed of shaft sinking.Therefore,it is of great significance to the improve the control system of the hydraulic vertical shaft drill,which can raise its control characteristics and efficiency.Taking the YSJZ4.8 hydraulic shaft drilling rig as a reference,taking the single arm of position-attitude control module as the research object,combined with the specific working environment,the system is modeled and simulated.The main contents of this paper are as follows:First of all,3D structure on single manipulators is modelled according to the existing vertical shaft drill,DH method is used to solve the kinematics equation of the model,MATLAB robot toolbox is applied to verify correctness of kinematics,and then determine the working space of the manipulator.The Newton iterative method is used to solve the numerical solution of inverse kinematics of the kinematics,and the simulation verification is carried out.The results show that the mean absolute error of the joint is 1.2mm,and the algorithm is simple and reliable.Secondly,the geometric relationship between joint variable and corresponding hydraulic cylinder is determined,and the dynamic model is obtained by simplifying the original model.According to Lagrange equation,the relation between joint torque and joint rotation angle is obtained.The 3D model is put into the ADAMS to establish the virtual prototype.The accuracy of the kinetic equation is varied in a random working position.The simulation results show that the calculated values are similar to those of the simulation results,and the torque error of the main joint is larger than that of the drilling joint.And the reason for the error is analyzed.The rigid-flexible coupling model is generated in the virtual prototype model,which provides the reference model for the trajectory planning.Thirdly,trajectory planning method is analyzed in Cartesian space and joint spaces respectively,the model driving functions are calculated separately,and each trajectory performance is evaluated on the impact of the system.The comparison results show that five degree polynomial trajectory planning system has less impact for no intermediate point situation.For the case of intermediate points,the Bessel curve can be used to optimize the motion performance of the system.The final time is optimized to 4.7235 s,and then the system runs smoothly without obvious impact.Finally,the hydraulic control system of the position-attitude adjustment module of the original vertical shaft drill manipulator is improved,and the load sensing pump is used to provide pressure oil for the system,and the closed loop control of the main arm cylinder and the drilling arm cylinder are carried out.The PID control algorithm is used to improve the input signal of the proportional servo valve.The hydraulic model is set up on the AMESim simulation platform,and several sets of target positions are simulated,then the tracking results of each curve are obtained by the hydraulic cylinder.The simulation results show that the maximum steady error of the action hydraulic cylinder is about 0.3mm,which corresponds to the maximum direction deviation of the manipulator end 8mm.Setting up test rig for the arm of hydraulic vertical shaft drill,The test is made to reach a random target point.The test results show that the two groups of hydraulic cylinders can approximately follow the path of planning,and the absolute error between the target point and the final point is 11.4mm,which meets the automatic control requirements of the vertical shaft drill.On the background of practical engineering problems,this paper simplifies the structure of the shaft drill to get the model of the flexible series manipulator.Firstly,the kinematics and dynamics are analyzed,then the trajectory planning of the model is researched.Finally,the hydraulic system is designed and simulated,and the results are verified by experimental method.Through the research above,the control precision and working efficiency of the manipulator are improved,and the rigid-flexible coupling model and the automatic control hydraulic system are obtained.It is of reference significance for the research of the high precision hydraulic arm control system.