Research On Fuzzy Adaptive Control Strategy Of Coal Mine Rescue Vehicle Drilling Rig

Because of its good mobility and high degree of mechanization,the truck-mounted drillin rig is often used in coal-bed methane mining and emergency rescue of mine disasters and accidents.It has become a type of drilling machinery with great development potential and important research significance.But at present,the domestic truck-mounted drilling rig is not highly automatic and dependents heavily on the operating technicians,and there is a lack of perception and adaptability to complex formations,which needs more research on it in order to improve its efficiency,automation and intelligence.Concerning the issues above,this paper has conducted the following research:First,in view of the low degree of automation of traditional full hydraulic truck-mounted drilling rigs,the load-sensitive electro-hydraulic control system of the drilling rig is designed on the basis of analyzing the function and process requirements of the drilling rig,and the model of hydraulic system is established and simulated in software of AMES im.Next,based on the characteristic relations between the drilling rig's working drilling parameters and the geotechnical physical and mechanical parameters of the stratum,a stratum identification model is established.Drilling parameters such as weight-on-bit,rotational speed,drilling speed,torque,and pump volume are used as training samples,and the PSO-SVM algorithm is used to learn the acquired training samples,and a formation identification model based on PSO-SVM is established.Then,the fuzzy PID algorithm is introduced into the drilling rig control system to complete the control of WOB.The fuzzy PID controller is designed,and the fuzzy PID controller model is built in the simulation software Simulink.After co-simulation with AMESim,the results show that the algorithm can realize the stable control of WOB.Finally,a drilling control test bench is established under laboratory conditions,and experiments based on the PSO-SVM-based formation identification method and WOB adaptive control strategy are carried out to verify the effectiveness of the PSO-SVM-based formation identification method and WOB adaptive control strategy,laying a foundation for the on-board drilling rig to achieve adaptive control.