Cooperative Control Strategy Of Hydraulic System For Rotation And Propulsion In The Anchor-Hole Driller

With the continuous acceleration of the intelligent process of coal mines,the anchoring robot is the main supporting equipment in the roadway excavation process,and its anchoring effect will directly affect the supporting quality of the roadway.At present,as the key component of the bolt-drilling robot,the bolting rig provides rotary torque through a hydraulic motor,provides propulsion through a hydraulic cylinder,and realizes the anchoring operation by manual operation.Lead to equipment failure and broken rod accident.In order to improve the drilling efficiency of the rock bolt drilling rig and avoid the occurrence of dangerous accidents,this paper adopts the cross-coupling control strategy to study the control characteristics of the drilling parameters of the hydraulic rock bolt drilling rig under various surrounding rocks,so as to ensure the coordinated operation of the rotation and propulsion of the rock bolt drilling rig.,which is conducive to the normal operation of the bolting rig under various surrounding rocks.The specific research contents are as follows:1)On the basis of analyzing the rock breaking mechanism of the hydraulic rock bolt drilling rig,according to the design requirements and construction technology,the hydraulic system and its key components of each subsystem of the rock bolt drilling rig are designed and calculated respectively,so as to determine the component parameters of the valve-controlled hydraulic equipment.2)Due to the nonlinearity of the flow through the valve port,AMESim software is used to establish the nonlinear models of the rotary system and the propulsion system of the hydraulic rock bolt rig for analysis,and Simulink is used to establish the linear models of the two systems.The influence of nonlinear factors on the drilling parameters is analyzed,and the working state of the rock bolt drilling rig in various surrounding rocks is analyzed by comparing the simulation results.3)For the nonlinear rotary system and propulsion system,PID control,inversion control and sliding mode control strategies are designed respectively to study the control performance of each system.Use AMESim software to establish the simulation hardware of the bolt drilling rig,build the control algorithm through Simulink,and add the load resistance of different surrounding rocks at the load end of the bolt drilling rig,and analyze the dynamic response of each system under variable loads.Each system of the rod drill is controllable.4)In order to the synchronous operation of the rotary system and the propulsion system is required for the bolt drilling rig to ensure the quality and efficiency of anchoring,this paper proposes a cooperative control strategy of rotary propulsion based on the cross-coupling synchronization method.The surrounding rock properties are estimated by the existing detection while drilling system,and the optimal rotational speed and ROP are calculated accordingly.Combined with the cross-coupling cooperative control strategy,the cooperative controller of the bolt drilling rig is designed to study its cooperative control performance.The effectiveness of the cooperative control algorithm is further verified by the cosimulation platform.Figure 56 Table 8 Reference 98...