Research On Automatic Drilling Positioning Of Wn-the-hole Drilling Rig

Abstract:Down-the-hole (DTH) drilling rig has been widely used in the mining process, because its advantages of wide application range, drilling deep and large drilling diameter. The drilling positioning speed and accuracy is one of the main factors which affect the efficiency and quality of mining construction. But the drilling positioning is most done by manual operation at present, which led to low efficiency and poor accuracy. In order to achieve automatic drilling positioning of DTH drilling rig, theoretical analysis, simulation analysis and experimental verification of DTH drilling position and control were conducted.Firstly, by describing the method of DTH drilling positioning, combining the characteristics of commonly used positioning technology, the positioning program of laser scanning position base on two landmarks was proposed. For laser scanning positioning program may appear briefly blocked, the transition program using dead reckoning (DR) positioning was proposed.Secondly, according to the laser scanning positioning and DR positioning program, the laser scanning positioning system and DR positioning system were designed, the components of the system were analyzed. The working principle of the positioning system was analyzed, the models of laser scanning positioning and DR positioning are established and the positioning algorithm was conducted. The influence of each error source on the positioning accuracy was analyzed, the error model was build, and simulation was conducted to get the quantitative relationship of error source and positioning error, for providing theoretical basis to select the sensors. Drilling positioning control program is proposed, focusing on the boom control which determines the final accuracy of the drilling positioning control. Build the mathematical model of the electric-hydraulic proportional control system of the boom, design PID controller, and positioning error and boom positioning control simulation were conducted and analyzed by MATLAB toolbox.Finally, the experimental platform of laser scanning positioning system was built, to verify the feasibility of the proposed positioning program. And then the experimental research of the DTH drilling boom control system is carried out to verify the theoretical research and simulation analysis results. The experiments results show that:the proposed programs of the DTH drilling positioning and positioning control can achieve the DTH automatic drilling positioning requirements, which verify the theoretical and simulation analysis is correct.