| The research and development of domestic truck-mounted drilling rig is in its infancy,its function meets the requirements of operation,however,there are some problems,such as insufficient research on dynamic performance of electro-hydraulic control system and over-reliance on drilling experience.In this dissertation,the dynamic characteristics and control strategies of electro-hydraulic control system are studied.(1)The load characteristics of rotary and feed loops under complex conditions such as normal drilling,sweeping drilling,up-and-down buckle,up-and-down drilling and strong pull-out are studied.Based on the driving and control requirements of dynamic load characteristics,the electro-hydraulic system of truck-mounted drilling rig is developed.(2)The simulation model of key circuit system are established,the dynamic characteristics of the rotary circuit under the complex conditions of no-load quick start and stop,on-load start and stop,sticking and fluctuating load are analyzed by AMESim software,and the pressure response time of the rotary system is obtained: the pressure response time of no-load start is 0.3s and that of on-load start is 0.9s.The pressure response time of no-load stop and on-load stop is 0.2-0.3s.Through analysis,the diameter of the refueling pipeline(32mm)is optimized.Aiming at the problem of matching the flow rate of M7 valve and pipeline explosion-proof valve under fast dropping condition,an optimum scheme of 0.6-1.2 MPa opening pilot pressure of explosion-proof valve is proposed,which reduces the back pressure of the system and improves the operation efficiency.(3)The dynamic characteristics of the rotating and feeding loops under starting,stopping and step loads are tested,and the time domain characteristics of the system are obtained.The results of the test show that the starting pressure response time of the system is between 0.23 s and 0.94 s,the positive and reverse stable pressures are respectively 11.77 MPa and 11.23 MPa,and the fluctuation amplitude of pressure after stabilization is 0.12 MPa which shows that the rotary loop has fast response,good follow-up and small overshoot.The test also analyzed the dynamic characteristics of the feeding loop under the conditions of quick lifting and lowering,The reaction speed of the main valve was reduced and the matching characteristics with the anti-explosion valve of the pipeline were optimized by adding gaskets at the guide spring of the M7 valve,The working pressure of the no-load quick lowering condition was reduced from 28 MPa to 7MPa,which reduced power loss and improved operation stability.(4)In view of the limitation that the control of drilling pressure and speed depends on driller's experience in drilling process,the neural network technology is used to extract the distinguishing features of working conditions in intelligent control of drilling pressure and speed,and the connection matrix between input and output values is obtained.By learning the mapping relationship between seven main monitoring parameters and three control signals related to drilling pressure and speed,the pressure and speed control scheme for the BP neural network drilling is established..(5)Through the type test,it is verified that the technical parameters of ZMK5530TZJ100 fully hydraulic truck-mounted drilling rig met the design requirements.The high reliability of the electro-hydraulic control system has also been verified after the field industrial test of L-shaped drilling hole in Jincheng Sihe mine.On the one hand,by means of simulation and test,this dissertation reveals the dynamic characteristics of the main circuit under complex working conditions,and achieves the purpose of optimizing the system.On the other hand,based on historical drilling data,the data are extracted and analyzed by using neural network technology to realize the adaptive control of drilling pressure and rotational speed. |
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