| Rock burst is one of the most serious dynamic disasters in deep coal mining.Drilling robot for rockburst prevention is the key equipment to realize the unmanned mining burst mine,and the precise control of drill position is the premise to realize the accurate drilling.In this thesis,to avoid the drilling robot drilling tool position control as the research object,the lifting valve control cylinder loop of drilling tool and the rotary valve control motor loop of drilling tool were modeled.The ILC+SNPID dual cylinder synchronous controller based on synchronous correction and ILC+SNPID drilling tool position controller based on dead zone pre-compensation were designed and verified by experiments.The main research contents and achievements of this thesis are as follows:(1)The basic structure of drilling robot for rockburst prevention and the principle of drill position and pose adjustment are analyzed,the kinematic model of drilling robot for rockburst prevention drill position and pose is established,the process of drilling robot for rockburst prevention drill position adjustment is analyzed,the hydraulic system of drilling robot for rockburst prevention pose adjustment unit is designed,and the overall structure of drilling robot for rockburst prevention drill position and pose control system is given.(2)The electro-hydraulic proportional valve-controlled cylinder position link in the lifting process of drilling robot for rockburst prevention drilling tool and the valvecontrolled hydraulic motor link in the rotating process of drilling tool are studied,the system of each link is simplified reasonably,the mathematical model of each link is established,and the transfer function of the single-cylinder control system and the rotary control system of drilling robot for rockburst prevention drilling tool is given.(3)The ILC+SNPID dual-cylinder synchronous controller based on synchronous correction and ILC+SNPID drilling position controller based on dead zone precompensation are designed and verified by simulation.The simulation results show that the ILC+SNPID algorithm with dead zone precompensation can effectively improve the accuracy of the following control of the drill position and the synchronous control of the two-cylinder motion.(4)Based on the ZYWL-4000 Y crawler type full hydraulic drill for coal mine,the position and pose control experiment platform of drilling tool was built and the position and pose control experiment was carried out.The steady-state error of the ILC+SNPID drilling tool position control system with dead zone pre-compensation is 0.28 mm for single cylinder control of drilling tool,0.71 mm for synchronous control of double cylinder of drilling tool,and 0.14° for rotation control of drilling tool.The experimental results show that: The ILC+SNPID control system with dead zone pre-compensation can effectively improve the control accuracy of drill position.There are 74 figures,21 tables,and 97 references in this thesis. |
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