煤矿井下液压锚杆钻机钻臂定位控制方法  

Positioning Control Method for the Drilling Arm of Hydraulic Anchor Rod Drilling Rig in Coal Mine Underground

作　　者：陈伟 陈志良 侯强 CHEN Wei;CHEN Zhiliang;HOU Qiang(CHN Energy Shendong Coal Group Co.,Ltd.,Ordos 017209,China;CCTEG Coal Mining Research Institute,Beijing 100013,China;Tiandi Science&Technology Co.,Ltd.,Beijing 100013,China)

机构地区：[1]国能神东煤炭集团有限责任公司,鄂尔多斯017209 [2]中煤科工开采研究院有限公司,北京100013 [3]天地科技股份有限公司,北京100013

出　　处：《自动化与仪表》2024年第8期29-33,39,共6页Automation & Instrumentation

基　　金：国家重点研发计划资助项目(2023YFC2907600);国家自然科学基金项目(52304140);天地科技股份有限公司科技创新创业资金专项项目(2023-TD-ZD011-003,2023-TD-ZD011-004);中煤科工开采研究院有限公司科技创新基金项目(KCYJY-2023-MS-08)。

摘　　要：由于煤矿井下的恶劣工作环境和钻臂动力学特性的复杂性,传统的固定参数控制方法难以确保稳定且精确的控制。特别是在控制信号传输过程中,抖振现象的出现不仅影响控制精度,还可能导致系统的不稳定。为此,提出一种煤矿井下液压锚杆钻机钻臂定位控制方法。通过建立液压锚杆钻机钻臂位移系统模型,设计死区预补偿器减少控制信号抖振,并结合自适应滑模控制器与金豺优化算法优化控制参数,实现液压锚杆钻机钻臂的定位控制。实验验证,该方法显著提升了钻臂定位精度,特别是在水平和转角控制上,即使在干扰环境下也能保持低稳态误差。Due to the harsh working environment in coal mines and the complexity of drilling arm dynamics,traditional fixed parameter control methods are difficult to ensure stable and accurate control.Especially during the transmission of control signals,the occurrence of chattering not only affects control accuracy,but may also lead to system instability.Therefore,a positioning control method for the drilling arm of a hydraulic anchor rod drilling rig in coal mines is proposed.By establishing a displacement system model for the hydraulic anchor rod drilling arm,designing a dead zone pre compensator to reduce control signal chattering,and combining adaptive sliding film controller and golden jackal optimization algorithm to optimize control parameters,the positioning control of the hydraulic anchor rod drilling arm is achieved.Experimental verification shows that this method significantly improves the positioning accuracy of the drilling arm,especially in horizontal and angular control,and can maintain low steady-state errors even in interference environments.

关 键 词：液压锚杆 钻机钻臂 输入信号抖动 死区预补偿器 滑模控制器 金豺优化算法 定位控制 

分 类 号：TH115[机械工程—机械设计及理论]