基于共轭斜量法的凿岩参数自寻优控制研究  

Self optimizing control of rock drilling parameters based on conjugate gradient method

作　　者：罗春雷[1] 李德明[1] 郑惠斌 LUO Chun-lei;LI De-ming;ZHENG Hui-bin(State Key Laboratory of High Performance Complex Manufacturing,Central South University,Hunan 410083,China)

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《工程设计学报》2018年第5期553-560,596,共9页Chinese Journal of Engineering Design

基　　金：国家高技术研究发展计划资助项目(SS2012AA041809);髙性能复杂制造国家重点实验室自主研究课题(zzyjkt2014-08)

摘　　要：在凿岩过程中,影响凿岩速度的因素主要有凿岩机输出的冲击能、活塞冲击频率、液压推进力、钎杆回转速度和岩石性质。针对目前无法根据岩石性质快速实现凿岩参数的最优匹配,凿岩速度难以达到理论设计最佳值的问题,提出基于共轭斜量法的凿岩参数自寻优控制方案。将冲击能和冲击频率、推进力和转钎速度分成2组进行动态寻优,并充分考虑岩石性质对凿岩速度的影响,使得各凿岩参数可以快速地达到最优匹配关系。利用MATLAB软件对该自寻优方案在采用固定步长和模糊变步长时的应用效果进行仿真分析,验证该方案的可行性和合理性,并进行推进力和转钎速度的自寻优试验,以验证理论分析和仿真结果的正确性。仿真和试验结果表明基于共轭斜量法的自寻优控制方案可使凿岩参数快速收敛于最优值附近,极大地缩短了实现最佳凿岩速度所需的寻优时间,与常规方法相比凿岩速度可提高13.2%。研究结果对岩石开采设备的自寻优控制以及岩石开采效率的提升有良好的指导价值,同时为凿岩自动化和智能化的实现提供了一种新思路。In the process of rock drilling, the main factors affecting the drilling speed are impact energy, impact frequency, propulsion force, rotational speed and rock properties. Aiming at the problem that the optimal match of the rock drilling parameters couldn＇t be achieved quickly and the drilling speed was difficult to reach the optimal theoretical value, the self optimizing control scheme of rock drilling properties based on the conjugate gradient method was proposed. The influence of rock properties on the rock drilling rate was fully taken into account, and the grouping method of dynamic optimization which included impact energy and impact frequency as well as propulsion force and rotational speed was adopted. So each rock drilling parameter could achieve the optimal matching quickly. The application effect of the self optimizing scheme on the specific rock drilling equipment was analyzed and simulated by MATLAB when using the ways of fixed steps and fuzzy steps, respectively, which verified the feasibility and rationality of the scheme. The self optimizing test for the propulsion force and the rotational speed was conducted and the correctness of the theoretical analysis and the simulation results was proved. Simulation and experimental results showed that the self optimizing control scheme based on the conjugate gradient method made the rock drilling parameters quickly converge near the optimal value, which greatly reduced the optimization time required to achieve the optimal drilling speed. The rock drilling speed could be increased by 13.2% compared with the conventional method. The research results have good guiding value for the self optimizing control of rock mining equipment and the improvement of rock mining efficiency, and provide a new idea for the realization of rock drilling automation and intelligence.

关 键 词：共轭斜量法 岩石性质 自寻优控制 凿岩速度 

分 类 号：U455.32[建筑科学—桥梁与隧道工程]