| The full-face shaft boring machine(SBM)is a special type of shaft driving equipment for coal mines,and it has become the major piece of technical equipment urgently needed in the fields of national infrastructure construction and resource development,which represents the development direction of intelligence and automation for modern mine construction.Due to the influence factors including the geological structure distribution,mechanical structure characteristics and human operation,the running trajectory of full-face SBM often deviates from the reference axis of the shaft,which will affect the construction progress,even cause casualties.However,the relevant theories and application research are unable to meet the engineering requirement,which still needs to be improved.Therefore,it is necessary to deeply study the key techniques,such as the load identification of rock and machine,attitude measurement method and attitude control strategy for full-face SBM.The research is of great significance for upgrading the core technology level of domestic shaft driving equipment,improving the mine construction efficiency and ensuring the safe production of coal mines.The research is carried out based on the Development Project of Mine SBM(No.2012AA06A403)of 863 Program and the Key Technology and Construction Process of SBM(No.2018-TD-ZD003)of the Key Project of Tiandi Science and Technology Co.,Ltd.The main research works and highlights of this dissertation are as follows:1.The system composition,working principle,structural characteristics and interaction relationship of each part for SBM are analyzed,and the research objects of attitude control and load identification of rock and machine are determined.The mechanical coupling relationship between the motion characteristics and attitude adjustment mechanism(propulsion system and support system)of SBM are analyzed,and the motion coordinate system and dynamic characteristic model are established.The constraint effect of the surrounding rock on the support system and the cutterhead in the course of shaft driving are considered,the influence factors of drilling operation,attitude control are pointed out,and the change laws of position and attitude of SBM are studied.The modeling method of Lagrange dynamics is used to bulid the dynamic coupling model of multi-system mechanism,which provides the theoretical foundation for this thesis.2.For the process of rock breaking by mechanical rolling,the reference indexes of load identification method of rock and machine are pointed out,which contain the uniaxial compressive strength of rock,driving parameters(propulsive force,rotational torque,penetration rate,rotation speed of cutterhead),vibration signal characteristics.The numerical correspondence and interaction between the rock strength and driving parameters are analyzed,and the change laws of vibration response under different conditions are studied.Based on the sample information of rock strength,driving parameters and vibration characteristic vectors,the SVR method is used to establish the load identification model of rock and machine,the model parameters are optimized by differential evolutionary algorithm,and the prediction analysis steps are given.Through the comparison experiments of fault identification of rock and machine load,as well as the prediction of uniaxial compressive strength and driving parameters,the results show that the combination method of driving load analysis and time-frequency analysis of vibration characteristics can improve the accuracy and robustness of load identification of rock and machine,and the method provides the decision basis for the operation parameter optimization and deviation rectification control of geological adaptability for SBM.3.Due to the complexity of shaft conditions,the conventional attitude measurement technique cannot meet the actual requirements.Combined with the dynamic characteristics of SBM,a dual coordinate system is established to describe the change of attitude angle and displacement,the key parts of coordinate analysis are the attitude matrix transformation and state update,and they are in the form of quaternions to improve the efficiency of the calculation process,then the correspondence between attitude change and coordinate value is analyzed.The multi-sensor fusion data from gyroscope,accelerometer,magnetometer,position sensitive detector and barometer is used to calculate the attitude characteristics of SBM in the restricted space of the shaft.The influence factors,such as the electromagnetic interference,pressure change and mechanical vibration,are considered;combined with the complementary filter and extended Kalman filter,an improved method of attitude estimation and error compensation is designed to reduce the error of data fusion results.The simulation experiments of attitude measurement show that the method has better steady state and dynamic performance,which can improve the precision and reliability of attitude measurement for SBM.4.Combined with the shaft sinking and mechanical drilling characteristics,the influence factors of deviation rectification control are analyzed.The distance between the center point at the top of SBM and the center axis of the shaft,the spacing between the center point at the bottom of the cutterhead and the center axis of the shaft,and the attitude angle data are used as the judgment basis,five types of planning trajectory are summarized,and the specific plans of attitude adjustment are presented.The time-delay,under-constraint,time-varying characteristics,internal and external disturbances as well as uncertainties of SBM are considered.Based on the method of linear active disturbance rejection control(LADRC),the load characteristics of rock and machine,attitude measurement data are used to design the model-assisted attitude control model of SBM,thus the parameter setting processes are simplified effectively,and the simulation environment of attitude control is established by MATLAB/AMESim software.The simulation results show that the attitude control method of SBM based on LADRC can effectively solve the problems of time delay and disturbance,and the mothed has good performance of trajectory tracking. |
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