Research On Automatic Drilling Rig Feeding System Driven By Wheel Hub Type

When drilling,it is important to choose the equipment and method of drilling.Nowadays,the characteristics of the auxiliary motor in the automatic drilling system can not meet the "low speed and high torque" to a large extent,and the ability of the system to complete the motor speed regulation and constant pressure drilling needs to be improved.In this paper,we design a hub motor-driven drilling rig automatic drilling system to better meet the requirements of "low speed and high torque" of the auxiliary motor and to control the speed and pressure of the drilling system.In this paper,we firstly designed a hub motor-driven drilling rig automatic drill feed solution and selected a permanent magnet synchronous hub motor that could better meet the characteristics of "low speed and high torque".Secondly,the whole automatic drilling system is modeled,the overall operation of the system is analyzed,and the speed regulator and drilling pressure regulating system are modeled respectively.Finally,classical PID control is applied to the tacho regulator in Simulink to complete the tacho control,and adaptive fuzzy PID control and variable domain fuzzy PID control are applied to the drill pressure regulator to complete the drill pressure control.At the same time,this paper designs a method for the tacho regulation system and the drilling pressure regulation system to operate in cooperation with each other when sending the drill,and a logical judgment principle for the over-limit signal during the operation of the four regulation systems to ensure the safety of the system when regulating parameters;and a Smith predictor is used to eliminate the "time lag" of the system.Classical PID control applied to speed regulation makes the speed stabilization time of 1.2 min smaller than the traditional PID control of 1.4 min,which can stabilize the motor speed in a shorter time and the system response is better.Adaptive fuzzy PID and variable domain fuzzy PID control make the time to reach a stable drilling pressure of 20 MPa is 1min less than the traditional PID control of1.4min,and the time to reach a constant drilling pressure is greatly reduced,so that the drilling pressure can be better controlled.The range of 19.6～21.1MPa,the strongest anti-interference ability.In summary,the wheel motor can better meet the characteristics of "low speed and large torque",and the classical PID control method can better regulate the motor speed,while the adaptive fuzzy PID control method and variable fuzzy PID control method can better regulate the drilling pressure.