基于单位四元数的锚杆钻车铺网单元控制方法  

Anchor Drill Rig Mesh-laying Unit Control Method Based on Unit Quaternion

作　　者：杨泽源 贾运红[1,2,3,4] YANG Zeyuan;JIA Yunhong(China Coal Research Institute,Beijing 100013,China;School of Mechanical Electronic and Information Engineering,China University of Mining and Technology-Beijing,Beijing 100083,China;China Coal Technology and Engineering Group Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030006,China)

机构地区：[1]煤炭科学研究总院,北京100013 [2]中国矿业大学(北京)机电与信息工程学院,北京100083 [3]中国煤炭科工集团太原研究院有限公司,太原030006 [4]煤矿采掘机械装备国家工程实验室,太原030006

出　　处：《煤炭技术》2023年第3期241-244,共4页Coal Technology

基　　金：国家重点研发计划资助项目(2020YFB1314003);山西省重点研发计划(2020XXX001)。

摘　　要：针对现有铺网过程仍需人工手动操作、人工成本高、危险系数高、作业效率低等问题,提出了一种基于单位四元数的锚杆钻车铺网单元控制方法,通过对铺网单元机械手爪进行基于单位四元数的姿态建模,设计了扩张状态观测器完成自抗扰控制,并对所设计的控制系统进行了仿真验证。结果表明,该方法使网片运输和安装到目标位置的过程实现了自动化,并在遭受扰动时能很快回归稳态,为实现井下锚护过程自动化打下坚实的基础。Aiming at the problems of manual operation, high labor cost, high risk coefficient and low operation efficiency in the existing mesh laying process, a unit control method for anchor drill rig mesh-laying based on unit quaternion has been proposed. This method models the attitude based on the quaternion of the mesh-laying unit, designs the expansion state observer to complete the self-immunity control, and simulates the designed control system. The results show that the proposed method automates the process of mesh transport and installation to the target location, and can quickly return to homeostasis when disturbed, laying a solid foundation for the automation of the downhole anchoring process.

关 键 词：姿态模型 单位四元数 扩张状态观测器 自抗扰控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]