| The anchor-hole drill is a key equipment in ground anchor-age engineering.Its performance has a direct influence on the quality,cost and progress of the entire driving process.The hydraulic-driven anchor-hole drill is focused on in this paper.Its actuator is composed of the mechanism of propulsion and rotation.Here,the propulsion part provides an axial force and controls the drilling speed for a drilling rig through a hydraulic cylinder.The rotation part cuts the rock by the valve-controlled hydraulic-motor system.In this way,the rock can be easily broken and a drill hole can be well formed.At present,the drilling operation is manually controlled by human in terms of the experience of the operators.Improper propulsion and rotary speed of an anchor-hole drill generally results in anchor-stuck or broken,even downtime during the drilling process,which reduces the drilling efficiency.Therefore,effectively controlling the drilling speed of the anchor-hole drills is an important issue to improve the drilling efficiency.Properly controlling the propulsion and rotation parts of the anchor-hole drills is the core of efficient drilling operation.For any type of the rock,there exits the optimal breaking-speed and propulsion.Firstly,the mathematic models of the rotary system and the propulsion part,with the nonlinearity,the time-varying parameters and the multi-interference,are respectively established.Secondly,the rock hardness coefficient is determined in term of the rotary pressure and rotary speed sampled during the drilling process of the anchor-hole drill,and then the optimum rotary speed is obtained.In order to overcome the influence of the nonlinearity,the valve's dead-zone and the uncertain factors existing in the rotary system,an adaptive robust control strategy with dead-zone compensation is proposed.The experimental results done on the simulation platform composed of AMESim and Matlab show that the controller has better dynamic performance,and the control efficiency.Taking the nonlinearity,the time-varying parameters and the disturbances in the propulsion system of the anchor-hole drill into account,an optimal active-disturbance-rejection controller is presented to control the propulsion of an anchor-hole drill.The set value of the propulsion is dynamically estimated according to the geological condition of the surrounding rocks.An active-disturbance-rejection controller is designed in terms of the order of the obtained dynamic model of the propulsion system.Considering the dynamic stability of the anchor-hole drill system,a novel optimal active-disturbance-rejection controller based on particle swarm optimization algorithm is proposed to adaptively adjust the controller's parameters so as to fit for the various surrounding rocks.The experiments done on the different kinds of the surrounding rocks show that the proposed method has the advantage stability and robustness.Finally,due to the correlation between the rotary and propulsion system,a cooperatively adaptive control strategy of the propulsion force and rotary speed based on master-slave is proposed to guarantee the optimal operation of the entire anchor-hole drilling system.The rock hardness coefficient of the current drilling process is estimated in terms of the drilling information in the last control cycle,and then the optimal propulsion force and optimal rotary speed are predefined.Because the rotary pressure reflects the changes of the surrounding rocks' characteristic,the set value of the optimal propulsion force and the low-frequency filtering are adaptively adjusted in terms of the sampling rotary pressure.The experimental results show that the cooperative controller has better accuracy.This provide the theoretical foundation for the automation and intelligence of the anchor-hole drills. |
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