Study On Anti-jamming Drilling Control System Of Full Hydraulic Drilling Rig Based On Load Sensitivity

Percussive ground pressure and gas outburst have always been major safety accidents in underground coal mine operation.At present,drilling rig are generally used to bore holes in specific positions of coal walls to relieve pressure and drain gas.Due to the frequent occurrence of stuck drilling accidents during drilling and drilling operations,this paper designs an electro-hydraulic control system to prevent stuck drilling.According to the ZDY3200S type full hydraulic drilling rig,the mechanism of sticking is analyzed,and the types of sticking include cracking sticking and sediment sticking.Using hydraulic load sensitive technology and electro-hydraulic control technology comprehensively,the working pressure of rotary motor is collected and used as feedback signal.When the pressure exceeds a certain threshold,the drilling rig is automatically controlled to go back and realize automatic anti-jamming.According to the designed anti-jamming hydraulic system,AMESim software was used to establish the model of anti-jamming hydraulic system of drilling rig,and the pressure,flow,displacement and velocity curves of the anti-jamming hydraulic system were obtained through simulation.Sticking prevention control system mainly use the electro-hydraulic proportional control technology to control for the oil cylinder,and the oil cylinder movement process is a process of nonlinear and complex and changeable,are greatly influenced by the external environment,and the fuzzy sliding mode control for nonlinear system has better control effect,can quickly adjust to the speed of the oil cylinder,the drill in the case of sticking fast response,improve the anti sticking performance of drilling rig.In order to verify the control effect,AMESim and Matlab/Simulink were used for joint simulation.The simulation results show that fuzzy sliding mode control plays a significant role in improving the control performance of the system.Finally,the experiment verifies that the designed anti-jamming control system improves the drilling efficiency of the drill by 18.6%,and can prevent and deal with the sticking problems that often occur in the drilling process of full hydraulic drill rig.