The Key Technology Research Of Drilling Boom Motion Control For The Three-boom Rock Drilling Jumbo

As the main equipment for hard rock tunnel excavation,the three-boom rock drilling jumbo has the advantages of high automation,high efficiency in tunneling construction,and good safety.Achieving the automation of the three-boom rock drilling jumbo can further improve excavation speed,reduce over-under-excavation and improve the working environment for construction personnel.In this regard,this article takes the three-boom rock drilling jumbo as the research object,and studies issues such as the kinematics,hole sequence planning,multi-boom cooperative drilling,and anti-vibration trajectory optimization of the three-boom rock drilling jumbo.(1)Kinematics is the basis for the automatic drilling positioning of the three-boom rock drilling jumbo.The improved D-H method is used to establish the kinematic model of the three-boom rock drilling jumbo,and the forward kinematic matrix of the drilling boom is constructed.Based on the eagle-boom structure of the three-boom rock drilling jumbo,the reachable working space and effective working space of the three-boom rock drilling jumbo are obtained based on the Monte Carlo method.The effective working space is 17 m wide and15 m high.Based on the RBF neural network,the inverse kinematics model of the drilling boom is trained and predicted to obtain the inverse solution of the drilling boom,and the simulation verification is carried out with the hole positions arranged on the tunnel face.The experimental results show that the maximum error of the corresponding drilling positioning of the three drill arms is 2.94 mm,and the error is controlled within 3%.(2)Taking the shortest moving distance of the end of the drilling boom and the minimum sum of all joint variables during the movement of the drilling boom as the optimization objective,an improved genetic algorithm is proposed to optimize the drilling sequence of a three-boom rock drilling jumbo.It is compared with two existing drilling sequence planning algorithms,ant colony optimization algorithm,and adaptive genetic algorithm,by simulating the 188-hole tunnel face as an example.Compared with the two existing drilling sequence planning algorithms,when the shortest distance is taken as the optimization objective,the total distance traveled by the three drilling booms is reduced by 5.39 m and 10.84 m,respectively.When the minimum joint variable is taken as the optimization objective,the sum of joint variables of the three drilling booms is reduced by 2.76 rad and 5.34 rad,respectively.(3)Aiming at the collision interference problem between drilling booms during the collaborative drilling of a three-boom rock drilling jumbo,caused by unreasonable path planning,an improved artificial potential field method is proposed.Based on the optimized drilling sequence,a simulation experiment of collision-free path planning for the drill booms is carried out.The results showed that when path planning was carried out using the drilling sequence planned by the shortest distance,the shortest distances between the middle drilling boom and the left and right drilling booms were 984.6 mm and 580.8 mm,respectively,which can achieve multi-boom collaborative drilling.However,when path planning was carried out using the drilling sequence planned by the minimum joint variable,the shortest distances between the middle drill boom and the left and right drilling booms were 193.54 mm and 580.8mm,respectively.Considering the size and structure of the drilling booms and construction safety,collision may occur between the middle drill boom and the left drilling boom.Therefore,the shortest distance should be chosen as the construction drilling sequence.(4)In response to the problems of large motion joint impact and drilling boom vibration during the drilling operation of the three-boom rock drilling jumbo,a drilling boom joint space running trajectory based on fifth-order B-spline curve is constructed.After optimization,the drill boom running trajectory is a smooth curve,and the velocity,acceleration,and jerk curves of each joint are continuous,which effectively reduces the vibration of the drilling boom.(5)Based on the drill boom motion path,a control system for a three-boom rock drilling jumbo is established using the ADAMS-AMESim-Simulink model.A linear active disturbance rejection control strategy is proposed,and electromechanical and hydraulic joint simulation of drill boom motion control.The results show that the errors between the joint angle/displacement and the theoretical angle/displacement are small,and their relative errors are all lower than 3%.The positioning errors in the X and Y directions are 9.56 mm and 7.32 mm,respectively.Further selection of 23 hole positions based on the shortest drilling sequence for joint simulation to simulate the drill boom positioning process.The maximum error in the X direction is 25.5 mm,with a relative error of 0.89%.The maximum error in the Y direction is 12.9 mm,with a relative error of 0.15%.The results show that the drilling positioning error is within the allowable range of construction,which verifies the feasibility of the designed controller.This lays a theoretical foundation for the automatic control of drilling positioning by the drilling boom of the three-boom rock drilling jumbo.