潜孔钻机推进回转自适应系统模糊控制研究
|
摘要
推进回转自适应模糊控制系统的设计能有效提高潜孔钻机钻孔效率,起到节能作用。国内现有潜孔钻机的推进回转液压系统几乎没有根据负载的变化情况进行自动调控。本文针对潜孔钻机的工况需求,提出潜孔钻机钻孔作业时推进回转系统自适应方案,建立仿真模型并进行实验验证。
本文首先阐述了国内外潜孔钻机的发展状况。其次分析了潜孔钻机液压系统原理并提出推进回转系统自适应方案,即将回转马达进口处的压力信号通过控制器实时调控推进回路上电液比例减压阀出口压力从而控制推进力的大小。接着针对新方案的提出,使用功率键合图法建立了潜孔钻机推进回转液压系统模型并在simulink中进行仿真分析。最后利用电液比例技术和模糊控制理论,通过实验验证钻孔作业时推进回转系统自适应方案的正确性与可行性。
本文建立的潜孔钻机推进回转液压系统,能根据负载自动调节推进力的大小,改善了因推进力过小造成钻孔效率降低和因推进力过大加剧钻头磨损的不足,对潜孔钻机的系统改进和性能提高具有现实重要的意义。
Feeding and rotating self-adaptive system is designed to improve drilling efficiency and save energy. Feeding and rotating system of down-the-hole drill existing in China haven't no changes on the feeding force with the load variances. According to working condition requirements of down-the-hole drill, this paper proposes down-the-hole drill feeding and rotating system self-adaptive plan during drilling, establishes a simulation model and do an experiment verification.
Firstly, this paper describes developments of down-the-hole drill home and abroad. Then hydraulic systems of down-the-hole drill are analyzed, and feeding and rotating system self-adaptive plan is presented. This plan is that pressure signal of rotating motor's inlet controls pressure of electro-hydraulic proportional reducing valve's outlet by controller. According to the new proposed plan, the model of feeding and rotating hydraulic system is established and simulated. Finally, based on the electro-hydraulic proportional technology and fuzzy controlling theory, the feeding and rotating system self-adaptive plan is verified accurate and feasible by experiment.
In this paper, feeding and rotating hydraulic system is analyzed by power bond graph, and the simulation is finished in simulink. The experiment is finished by appropriate modification on Sunward's down-the-hole drill and simulating external load with clamping device. That variance trend of the test curve is consistent with the simulation results furter validates feasibility of the plan. Thus, this paper has an important significance of improving drilling performance of down-the-hole drill.
本文首先阐述了国内外潜孔钻机的发展状况。其次分析了潜孔钻机液压系统原理并提出推进回转系统自适应方案,即将回转马达进口处的压力信号通过控制器实时调控推进回路上电液比例减压阀出口压力从而控制推进力的大小。接着针对新方案的提出,使用功率键合图法建立了潜孔钻机推进回转液压系统模型并在simulink中进行仿真分析。最后利用电液比例技术和模糊控制理论,通过实验验证钻孔作业时推进回转系统自适应方案的正确性与可行性。
本文建立的潜孔钻机推进回转液压系统,能根据负载自动调节推进力的大小,改善了因推进力过小造成钻孔效率降低和因推进力过大加剧钻头磨损的不足,对潜孔钻机的系统改进和性能提高具有现实重要的意义。
Feeding and rotating self-adaptive system is designed to improve drilling efficiency and save energy. Feeding and rotating system of down-the-hole drill existing in China haven't no changes on the feeding force with the load variances. According to working condition requirements of down-the-hole drill, this paper proposes down-the-hole drill feeding and rotating system self-adaptive plan during drilling, establishes a simulation model and do an experiment verification.
Firstly, this paper describes developments of down-the-hole drill home and abroad. Then hydraulic systems of down-the-hole drill are analyzed, and feeding and rotating system self-adaptive plan is presented. This plan is that pressure signal of rotating motor's inlet controls pressure of electro-hydraulic proportional reducing valve's outlet by controller. According to the new proposed plan, the model of feeding and rotating hydraulic system is established and simulated. Finally, based on the electro-hydraulic proportional technology and fuzzy controlling theory, the feeding and rotating system self-adaptive plan is verified accurate and feasible by experiment.
In this paper, feeding and rotating hydraulic system is analyzed by power bond graph, and the simulation is finished in simulink. The experiment is finished by appropriate modification on Sunward's down-the-hole drill and simulating external load with clamping device. That variance trend of the test curve is consistent with the simulation results furter validates feasibility of the plan. Thus, this paper has an important significance of improving drilling performance of down-the-hole drill.
引文
[1]陈玉凡.矿山机械(钻孔机械部分).北京：冶金工业出版社,1981：157-247
[2]王运敏.中国采矿设备手册.北京：科学出版社,2007,(9)：57-99
[3]罗瑾珩.我国地下大孔径穿孔技术的应用与发展.矿业研究与开发,1999,(19)：22-24
[4]《露天潜孔钻机》编写组.露天潜孔钻机.北京：冶金工业出版社,1974
[5]郭孝先.国外液压凿岩设备.北京：地质出版社,1993
[6]赵宏强,林宏武,陈欠根等.国内外液压潜孔钻机发展概况.工程机械与维修,2006,(4)：72-73
[7]Chile. Mining by large diameter blastholes at the El Soldado mine. Mining Magazine,1985, (3):85～86
[8]Kurt Stromback.Drilling straight holes. Mining and constraction,2004, (8): 12-13
[9]Irvine. Status of down-the-hole drills in underground mining. Transactions of the Society of Mining Engineers of AIME,1977, (11):36～37
[10]Anon. Down-the-hole drilling undergrounding. Mining Magazine,1975, (6): 65-68
[11]Pathal, Jayant. Microprocessor-controlled down-the-holl drill for enhancing productivity and accuracy in underground hardrock bulk mining methods. Transactions on Industry Applications,1987
[12]L.E.Chiang, DA, Elias. Modeling impact in down-the-hole rock drilling. International Journal of Rock Mechanics and Mining Sciences,2006, (6)
[13]Atlas Copco's ROC712HC-01 hydraulic crawler drill. International Construction,1986,(4)
[14]The Technical description for CD-90/CD-360 Down-the-hole drill. Atlas Copco.1985,(6)
[15]The Technical description for ROC360 Down-the-hole drill. Atlas Copco. 1981,(3)
[16]Lendberd, B.Influnce of geonetrical design on the efficency of a simple down-the-hole percussive drill. Rock Mechanics and Mining Sciences&Geomechanics,1986
[17]The Technical description for Simba-261 Down-the-hole drill. Atlas Copco. 1990,(1)
[18]Tuunanen, Ari. Automation of hard rock drilling machines. Ari Pit&Quarry, 1994,(1)
[19]W. Hustrulid and C. Fairhurst, Theoretical and experimental study of percussive drilling of rock. Int. J. Rock Mech. Min. Sci.& Geom.1971, (8): 311～333
[20]甘海仁,杨永顺,李永星.我国凿岩机械现状.矿山机械,2006,6(34)：28-34
[21]赵宏强,林宏武,何清华.一体化液压潜孔钻机在水泥矿山的应用.中国水泥,2005,(7)：88-90
[22]杨光照,郭石宇,赵洪岩.凿岩机械发展现状与趋势.矿业工程,2009,6(3)：46-47
[23]郭勇,周振华.潜孔钻机的应用现状和发展趋势.矿业快报,2008,4(4)：13-15
[24]恭明玺.地下金属采矿技术及潜孔钻机的进展与趋势.湖南有色金属,1998,14(3)：5-8
[25]吴万荣.地下大直径潜孔钻机液压控制系统及凿岩技术研究：[博士学位论文].长沙：中南大学,1999
[26]殷新胜,田宏亮,姚克,凡东,孙保山.负载敏感技术在全液压动力头式坑道钻机上的应用.煤炭科学技术,2008,1(1)：75-77
[27]孔晓武.带长管道的负载敏感系统研究：[博士论文].杭州：浙江大学,2003
[28]董光源.负荷传感控制液压系统.工程机械,1995,(1)：20-38
[29]赵宏强,何清华,陈欠根.SWDB型一体化液压潜孔钻机.工程机械,2005,(10)：15-17
[30]柳波,鲁湖斌,何清华等.变量泵功率匹配控制系统的动态仿真研究.机械科学与技术,2007,(1)：104-107
[31]姜继海.功率匹配控制泵的研究.工程机械,1998,(5)：28-29
[32]杨成银,李志力.变量泵与定量马达容积调速系统负载特性分析.现代机械,1999,(2)：22-24
[33]程晓东,张作龙.恒功率恒压变量泵的特性及前景.设计与研究,2006,(11)：17-21
[34]A10V Variable Pump. CSIC Chongqing Hydromantic Mechanism Electricity Corporation Limited
[35]Bosch Rexroth变量泵A10V0中文手册(RC92707/11.95)
[36]吴晓光,韩晓娟.几种A10VO-恒压恒流量变量泵的实用控制系统.液压与气动,2000,(5)：40-41
[37]莫波,雷明,曹泛.恒功率恒压泵变量机构的调节原理.液压与气动,2002,6)：5-6
[38]高斌.潜孔钻机回转液压系统动态特性研究：[硕士论文].长沙：中南大学,2008
[39]谢武装.潜孔钻机行走驱动系统参数匹配研究：[硕士论文].长沙：中南大学,2009
[40]许益民.电液比例控制系统分析与设计.北京：机械工业出版社,2005,(10)：81-114
[41]吴根茂,邱敏秀,王庆丰.实用电液比例技术.杭州：浙江大学出版社,1993
[42]黎启柏.电液比例控制与数字控制系统.北京：机械工业出版社,1997
[43]宋海涛.履带钻机负载敏感液压系统的研究：[硕士学位论文].武汉：中国地质大学,2008
[44]赵宏强,高斌,李美香等.SWD165全液压潜孔钻机推进与回转液压系统分析.工程机械,2008,(1)：34-36
[45]刘忠,刘卫萍.液压凿岩机推进系统建模与控制及仿真研究.湖南科技大学学报(自然科学版)2008,(12)：23-26
[46]寇伟光,周惠群,杨静.液压系统建模方法研究.机械与电子,2010,(5)：24-27
[47]李永堂,雷步芳,高雨茁.液压系统建模与仿真.北京：冶金工业出版社,2003,(2)：198-241
[48]P德兰斯菲尔德.液压控制系统的设计.北京：科学出版社,1987
[49]任锦堂.键图理论及应用.上海：上海交通大学出版社,1992：102-114
[50]Dc卡诺普,Rc.罗森堡.系统动力学一应用键合图方法.北京：机械工业出版社,1985
[51]潘亚东.键合图概论：一种系统动力学方法.重庆：重庆大学出版社,1990
[52]张尚才.工程系统的键图模拟和仿真.北京：机械工业出版社,1993
[53]诸静.模糊控制理论与系统原理.北京：机械工业出版社,2005,(8)
[54]张国良,曾静.模糊控制及其MATLAB应用.西安：西安交通大学出版 社,2002,(11)：6-24
[55]闻新,周露,李东江等MATLAB模糊逻辑工具箱的分析与应用.北京：科学出版社,2001,(4)
[56]W.A.Kwong and K.M.Passino. Dynamically focused fuzzy learning control. IEEE Trans.on Systems,Man,and Cybernetics,1996,26(1):53～74
[57]E.G.Laukonen and K.M.Passino. Training fuzzy systems to perform estimation and identification. Engineering Applications of Artificial Intelligence,1995, 8(5):499～514,
[58]S.K.Sin and R.J.P.Defigueiredo. Fuzzy system design through fuzzy clustering and optimal predefuzzification.In proc.of the 2nd IEEE conf. on Fuzzy Systems,1993,3:190～195
[59]J.M.Mendel.Fuzzy logic systems for engineering:A tutorial.Proc.of the IEEE, Special Issue on Fuzzy Logic in Engineering Applications,1995,83(3):345～ 377
[60]W.Kickert and H.Van Nauta Lemake. Application of a fuzzy controller in a warm water plant.Automatica,1976,12(4):301～308
[61]黄忠霖.控制系统MATLAB计算及仿真.北京：国防工业出版社,2004
[62]陈杰.MATLAB宝典.北京：电子工业出版社,2010
[63]Gardner. SimulationsofMachinesUsingMATLABandSimulink. Thomson Learning,2000
[64]姚俊,马松辉.simulink建模与仿真.西安：西安电子科技大学出版社,2003
[65]张亮,郭仕剑,王宝顺,贺兴华.MATLAB7.X系统建模与仿真.北京：人民邮电出版社,2006
[66]华德液压技术样本.2006,(9)
[2]王运敏.中国采矿设备手册.北京：科学出版社,2007,(9)：57-99
[3]罗瑾珩.我国地下大孔径穿孔技术的应用与发展.矿业研究与开发,1999,(19)：22-24
[4]《露天潜孔钻机》编写组.露天潜孔钻机.北京：冶金工业出版社,1974
[5]郭孝先.国外液压凿岩设备.北京：地质出版社,1993
[6]赵宏强,林宏武,陈欠根等.国内外液压潜孔钻机发展概况.工程机械与维修,2006,(4)：72-73
[7]Chile. Mining by large diameter blastholes at the El Soldado mine. Mining Magazine,1985, (3):85～86
[8]Kurt Stromback.Drilling straight holes. Mining and constraction,2004, (8): 12-13
[9]Irvine. Status of down-the-hole drills in underground mining. Transactions of the Society of Mining Engineers of AIME,1977, (11):36～37
[10]Anon. Down-the-hole drilling undergrounding. Mining Magazine,1975, (6): 65-68
[11]Pathal, Jayant. Microprocessor-controlled down-the-holl drill for enhancing productivity and accuracy in underground hardrock bulk mining methods. Transactions on Industry Applications,1987
[12]L.E.Chiang, DA, Elias. Modeling impact in down-the-hole rock drilling. International Journal of Rock Mechanics and Mining Sciences,2006, (6)
[13]Atlas Copco's ROC712HC-01 hydraulic crawler drill. International Construction,1986,(4)
[14]The Technical description for CD-90/CD-360 Down-the-hole drill. Atlas Copco.1985,(6)
[15]The Technical description for ROC360 Down-the-hole drill. Atlas Copco. 1981,(3)
[16]Lendberd, B.Influnce of geonetrical design on the efficency of a simple down-the-hole percussive drill. Rock Mechanics and Mining Sciences&Geomechanics,1986
[17]The Technical description for Simba-261 Down-the-hole drill. Atlas Copco. 1990,(1)
[18]Tuunanen, Ari. Automation of hard rock drilling machines. Ari Pit&Quarry, 1994,(1)
[19]W. Hustrulid and C. Fairhurst, Theoretical and experimental study of percussive drilling of rock. Int. J. Rock Mech. Min. Sci.& Geom.1971, (8): 311～333
[20]甘海仁,杨永顺,李永星.我国凿岩机械现状.矿山机械,2006,6(34)：28-34
[21]赵宏强,林宏武,何清华.一体化液压潜孔钻机在水泥矿山的应用.中国水泥,2005,(7)：88-90
[22]杨光照,郭石宇,赵洪岩.凿岩机械发展现状与趋势.矿业工程,2009,6(3)：46-47
[23]郭勇,周振华.潜孔钻机的应用现状和发展趋势.矿业快报,2008,4(4)：13-15
[24]恭明玺.地下金属采矿技术及潜孔钻机的进展与趋势.湖南有色金属,1998,14(3)：5-8
[25]吴万荣.地下大直径潜孔钻机液压控制系统及凿岩技术研究：[博士学位论文].长沙：中南大学,1999
[26]殷新胜,田宏亮,姚克,凡东,孙保山.负载敏感技术在全液压动力头式坑道钻机上的应用.煤炭科学技术,2008,1(1)：75-77
[27]孔晓武.带长管道的负载敏感系统研究：[博士论文].杭州：浙江大学,2003
[28]董光源.负荷传感控制液压系统.工程机械,1995,(1)：20-38
[29]赵宏强,何清华,陈欠根.SWDB型一体化液压潜孔钻机.工程机械,2005,(10)：15-17
[30]柳波,鲁湖斌,何清华等.变量泵功率匹配控制系统的动态仿真研究.机械科学与技术,2007,(1)：104-107
[31]姜继海.功率匹配控制泵的研究.工程机械,1998,(5)：28-29
[32]杨成银,李志力.变量泵与定量马达容积调速系统负载特性分析.现代机械,1999,(2)：22-24
[33]程晓东,张作龙.恒功率恒压变量泵的特性及前景.设计与研究,2006,(11)：17-21
[34]A10V Variable Pump. CSIC Chongqing Hydromantic Mechanism Electricity Corporation Limited
[35]Bosch Rexroth变量泵A10V0中文手册(RC92707/11.95)
[36]吴晓光,韩晓娟.几种A10VO-恒压恒流量变量泵的实用控制系统.液压与气动,2000,(5)：40-41
[37]莫波,雷明,曹泛.恒功率恒压泵变量机构的调节原理.液压与气动,2002,6)：5-6
[38]高斌.潜孔钻机回转液压系统动态特性研究：[硕士论文].长沙：中南大学,2008
[39]谢武装.潜孔钻机行走驱动系统参数匹配研究：[硕士论文].长沙：中南大学,2009
[40]许益民.电液比例控制系统分析与设计.北京：机械工业出版社,2005,(10)：81-114
[41]吴根茂,邱敏秀,王庆丰.实用电液比例技术.杭州：浙江大学出版社,1993
[42]黎启柏.电液比例控制与数字控制系统.北京：机械工业出版社,1997
[43]宋海涛.履带钻机负载敏感液压系统的研究：[硕士学位论文].武汉：中国地质大学,2008
[44]赵宏强,高斌,李美香等.SWD165全液压潜孔钻机推进与回转液压系统分析.工程机械,2008,(1)：34-36
[45]刘忠,刘卫萍.液压凿岩机推进系统建模与控制及仿真研究.湖南科技大学学报(自然科学版)2008,(12)：23-26
[46]寇伟光,周惠群,杨静.液压系统建模方法研究.机械与电子,2010,(5)：24-27
[47]李永堂,雷步芳,高雨茁.液压系统建模与仿真.北京：冶金工业出版社,2003,(2)：198-241
[48]P德兰斯菲尔德.液压控制系统的设计.北京：科学出版社,1987
[49]任锦堂.键图理论及应用.上海：上海交通大学出版社,1992：102-114
[50]Dc卡诺普,Rc.罗森堡.系统动力学一应用键合图方法.北京：机械工业出版社,1985
[51]潘亚东.键合图概论：一种系统动力学方法.重庆：重庆大学出版社,1990
[52]张尚才.工程系统的键图模拟和仿真.北京：机械工业出版社,1993
[53]诸静.模糊控制理论与系统原理.北京：机械工业出版社,2005,(8)
[54]张国良,曾静.模糊控制及其MATLAB应用.西安：西安交通大学出版 社,2002,(11)：6-24
[55]闻新,周露,李东江等MATLAB模糊逻辑工具箱的分析与应用.北京：科学出版社,2001,(4)
[56]W.A.Kwong and K.M.Passino. Dynamically focused fuzzy learning control. IEEE Trans.on Systems,Man,and Cybernetics,1996,26(1):53～74
[57]E.G.Laukonen and K.M.Passino. Training fuzzy systems to perform estimation and identification. Engineering Applications of Artificial Intelligence,1995, 8(5):499～514,
[58]S.K.Sin and R.J.P.Defigueiredo. Fuzzy system design through fuzzy clustering and optimal predefuzzification.In proc.of the 2nd IEEE conf. on Fuzzy Systems,1993,3:190～195
[59]J.M.Mendel.Fuzzy logic systems for engineering:A tutorial.Proc.of the IEEE, Special Issue on Fuzzy Logic in Engineering Applications,1995,83(3):345～ 377
[60]W.Kickert and H.Van Nauta Lemake. Application of a fuzzy controller in a warm water plant.Automatica,1976,12(4):301～308
[61]黄忠霖.控制系统MATLAB计算及仿真.北京：国防工业出版社,2004
[62]陈杰.MATLAB宝典.北京：电子工业出版社,2010
[63]Gardner. SimulationsofMachinesUsingMATLABandSimulink. Thomson Learning,2000
[64]姚俊,马松辉.simulink建模与仿真.西安：西安电子科技大学出版社,2003
[65]张亮,郭仕剑,王宝顺,贺兴华.MATLAB7.X系统建模与仿真.北京：人民邮电出版社,2006
[66]华德液压技术样本.2006,(9)