基于数据融合的液压锚杆钻机钻臂摆角控制研究  

Research on Drill Arm Swing Angle Control of Hydraulic Roofbolter Based on Data Fusion

作　　者：徐美霞[1] Xu Meixia(Shandong Vocational College of Industry,Zibo 256400,China)

机构地区：[1]山东工业职业学院,山东淄博256400

出　　处：《煤矿机械》2021年第4期198-200,共3页Coal Mine Machinery

摘　　要：针对目前液压锚杆钻机钻臂摆角控制定位精度较低,易导致钻杆安装偏离设计位置的问题,提出了一种基于数据融合技术的钻臂摆角控制方法。该方法通过多种传感器获取钻臂与锚杆孔之间的位置关系,运用数据融合技术获取其目标角度,并采用动态滑膜自适应控制器对锚杆钻机钻臂摆角进行控制。经MATLAB联合AMESim仿真,结果表明,该方法能够在多种工况下完成钻臂摆角的控制,上升与调节过程用时较短,无超调现象的发生,对液压锚杆钻机钻臂摆角控制的研究有一定的指导意义。In view of the low positioning accuracy of the drill arm swing angle control of the hydraulic roofbolter which easily leads to the drill pipe installation deviating from the design position, a control method of drill arm swing angle based on data fusion technology was proposed. In this method, the position relationship between the drill arm and the bolt hole was obtained by a variety of sensors, the target angle was obtained by data fusion technology, and the swing angle of the drill arm of the roofbolter was controlled by the dynamic sliding film adaptive controller. Through the simulation of MATLAB and AMESim, the results show that the control method can complete the control of drill arm swing angle under various working conditions, the rising and adjusting process takes a short time, and there is no overshoot phenomenon. It has a certain guiding significance for the research of drill arm swing angle control of hydraulic roofbolter.

关 键 词：液压锚杆钻机 钻臂摆角控制 数据融合 

分 类 号：TD41[矿业工程—矿山机电] TP273.2[自动化与计算机技术—检测技术与自动化装置]