远控钻机送杆机构自适应定位技术的研究  

Research on Self-adaptive Positioning Technology for Rod-feed Mechanism of Remote-controlled Drilling Machine

作　　者：肖玉清[1,2] 王宇[1,2] 陈松林[1,2] 

机构地区：[1]中煤科工集团重庆研究院有限公司,重庆400039 [2]瓦斯灾害监控与应急技术国家重点实验室,重庆400037

出　　处：《矿业安全与环保》2014年第5期33-36,共4页Mining Safety & Environmental Protection

基　　金："十二五"国家科技重大专项(2011ZX05041002);中煤科工集团重庆研究院青年创新基金项目(2012QNJJ15)

摘　　要：对远控钻机送杆机构定位系统的原理及其组成进行了分析,揭示了该定位系统滞后位移的存在;将自适应技术应用于送杆机构控制系统并建立了被控系统数学模型,通过数学模型分析了自适应定位的实现过程。为远控钻机送杆机构及其他执行机构精确定位提供了理论基础及解决方案,使远距离控制或自动控制钻机及工作面无人化作业的实现成为可能。In this paper, the theory and constitute of the self-adaptive positioning system for the rod-feed mechanism of the remote-controlled drilling machine were analyzed and the delay displacement of this system was discovered. The self-adaptive positioning technology was applied in the control system of the rod-feed mechanism and the mathematic model of the controlled system was built, with this model, the realization process of self-adaptive positioning was analyzed. This technology provided the theoretical foundation and solution for the accurate positioning of the rod-feed mechanism of the remote-controlled drilling machine and other actuating mechanisms, and thus made the remote or automatic control of the drilling machine and the unmanned operation in the working face become possible.

关 键 词：钻机 远距离控制 送杆机构 自适应定位 位置检测元件 滞后位移 

分 类 号：TD41[矿业工程—矿山机电]