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文章编号： 1672-6987（2023）01-0119-08； DOI： 10.16351/j.1672-6987.2023.01.016
熊治敏, 林娜, 池荣虎*(青岛科技大学 自动化与电子工程学院, 山东 青岛 266061)
摘要： 大多数液压锚杆钻机转速控制主要依赖于工程技术人员的现场经验,在人工钻进不同岩层时,多采用固定转速,导致作业效率低、设备故障率高。本研究提出了钻机转速的无模型自适应控制算法。该算法仅利用系统的I/O数据,而不需要系统的精确机理模型信息,其可适应钻孔过程中岩层的变化以及快速性的要求。文中分别对无外界干扰和存在外部扰动两种情况进行仿真验证,结果表明:本研究所提出的无模型自适应控制方法能够实现对期望转速的快速跟踪,相比于PID控制,具有更好的控制性能和较强的鲁棒性。
关键词： 锚杆钻机; 动态线性化; 无模型自适应控制
中图分类号： TP 273文献标志码： A
引用格式： 熊治敏, 林娜, 池荣虎. 液压锚杆钻机转速的无模型自适应控制［J］. 青岛科技大学学报(自然科学版), 2023, 44(1): 119-126.
XIONG Zhimin, LIN Na, CHI Ronghu. Model-free adaptive control of rotation speed of hydraulic anchor drilling machine［J］. Journal of Qingdao University of Science and Technology（Natural Science Edition), 2023， 44（1）： 119-126.
Model-Free Adaptive Control of Rotation Speed of Hydraulic
Anchor-Bolter Drilling Machine
XIONG Zhimin, LIN Na, CHI Ronghu
(College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, China)
Abstract: At present, the speed control of hydraulic anchor-bolter drill mainly depends on the field experience of engineers and technicians. It is often to use a fixed speed when drilling into different strata manually, which results in a low operation efficiency and high failure rate of the equipment. In this work, we present a model-free adaptive control method for drill speed is presented. This method only uses the I/O data of the system, rather than requiring the exact mechanism model of the system. It can adapt to the change of strata and the requirement of rapidity during drilling since an adaptive mechanism is included. The simulation verification is carried out under the conditions of no external disturbance and external disturbance, the results show that the model-free adaptive control method proposed in this paper not only can achieve a fast tracking of the desired speed but also has a better control performance with stronger robustness than the traditional PID control.
Key words: anchor-bolter driller; dynamic linearization; model-free adaptive control
收稿日期： 2022-01-27
基金项目： 国家自然科学基金项目(61374102, 61873139).
作者简介： 熊治敏(1995—),男,硕士研究生.*通信联系人.
