Research On Horizontal Directional Driller Feed And Rotary Control System

This paper takes horizontal directional drilling machine as the research object,the propulsion and rotary hydraulic control circuit of the rig is analyzed and determined,analyzed two kinds of circuits of constant current pump(load sensitive technology)and constant pressure variable pump technology.Determine the hydraulic power components and actuators used in two circuits and their technical parameters.analyzed the characteristics of existing hydraulic simulation software,using AMESim software characteristics of focus on physical model,established the model of drilling feed and rotary system.Simulation and analysis of drilling parameters under different working conditions,concluded that the load sensing system can adjust the running state automatically according to the pressure,flow rate and rotational speed of the load,adaptive load characteristics.But the technology can not use flexible algorithm control,so the technology has limitations in drilling under complex conditions.Because the drilling rig has the characteristics of nonlinearity,time variation and uncertainty in rock drilling,In order to realize the adaptability of drilling rig in complex conditions and real-time control of drilling parameters,electro-hydraulic proportional control technology,deduced the electro-hydraulic proportional directional valve variable pump,rotary motor and feed cylinder and load of drilling feed and rotary hydraulic system.The corresponding transfer functions are derived by Laplace transform.Build completed closed loop control system.,analyzed and determined Fuzzy-PID control technology.The rig feeding and rotating system are respectively fuzzy.Determined membership function and fuzzy logic control rules to establish propulsion and rotation fuzzy controller.Fuzzy-PID control and PID control model are built by Matlab/Simulink.Simulation is carried out under different operating conditions.The simulation results are compared with common constant pressure variable pump and constant current variable pump,Iconcluded that the Fuzzy-PID technique can improve the dynamic performance of the control system during drilling,Application of fuzzy adaptive PID technology in drilling process can realize the purpose of intelligent control.