Research On Motion Trajectory Control Of Drilling Arm Of Rock Drilling Robot

As a kind of highly automated construction equipment,rock drilling robot can greatly improve work efficiency,improve drilling accuracy and significantly improve the working environment of construction personnel,which has been widely used in drilling and blasting tunnel excavation and mining and other engineering construction.Double triangle drill arm is a kind of direct positioning of mechanical drill arm,can directly move the brazing head to the face set position,in improving the positioning efficiency at the same time,its ease of operation has also been improved.Taking the rock drilling robot with double triangle structure drilling arm as the research object,this paper studies the motion control of drill arm,and its main research contents are as follows: the discrimination of interference in drilling arm movement,the relationship between drill arm execution endpoint and each hydraulic cylinder,and the improvement research of generalized predictive control.It is a prerequisite for the normal movement of the whole drilling arm to ensure that the drill arm does not interfere after automatic operation.To avoid interference,it is actually to avoid the minimum distance between the various parts of the drill arm and itself and the environment is greater than 0.By simplifying the drilling arm itself into a model composed of rods,the minimum distance between the rod and the rod,the rod and the obstacle can be used to determine whether interference occurs.The motion of drilling arm of rock drilling robot depends on the joint action of multiple hydraulic cylinders,especially with the left and right arm hydraulic cylinder,the running state of the left and right pitch hydraulic cylinder and the large arm hydraulic cylinder has the greatest influence on the trajectory and final positioning of the drilling arm.Because the left and right arm hydraulic cylinder and pitch hydraulic cylinder in the oil road design itself takes into account the coordination and synchronization between the arm hydraulic cylinder and the pitch hydraulic cylinder,to ensure that the drill arm trajectory can operate according to the predetermined trajectory of the key is to deduce the left and right arm hydraulic cylinder and the operation of the large arm hydraulic cylinder coordination relationship.Aiming at the above problems,by introducing the virtual pivot method,the operation of the left and right arm hydraulic cylinder is transformed into a trajectory problem under the action of a single hydraulic cylinder,which ensures the accuracy of the actual running track while avoiding a large number of calculations.Generalized predictive control(GPC)is an adaptive control that can predict the output of multi-step models in the future on the basis of generalized minimum variance control by introducing the idea of multi-step prediction.Because of the rolling optimization and feedback correction,it has a strong ability to overcome the time-delay nonlinearity and parameter perturbation,so the control of the two-arm cylinder of the double triangle drill arm in the drilling arm control of the tunnel rock drilling robot is also used in this method.Aiming at the poor control effect of the initial stage of generalized predictive control and the possible computational pathological problems caused by the inversion in the calculation,a dual-mode control method is proposed,which makes the controller switch between the generalized predictive control mode and the PID mode by limiting the fluctuation range of the adaptive parameters.The above method can effectively eliminate the phenomenon of poor control effect in the initial stage of GPC and control,and ensure the normal control of the calculation when the pathology occurs,and the actual control effect on the whole is also improved.