Research On Model Identification And Control Of The Electro-hydraulic Drive System For Rock Drilling Rig Manipulator

The rock drilling rig is a heavy-duty mechanical equipment used for excavating tunnels in coal mines,which can greatly improve the tunneling speed of tunnels and reduce the labor intensity of workers.After decades of research and development,my country has realized the independent research and development and production of rock drilling rigs.However,the automation degree of domestic rock drilling rigs is relatively low,especially compared with foreign advanced rock drilling equipment.Most of the rock drilling rigs on the market still require manual control of the boom to drill the blasthole.Therefore,this paper takes the electro-hydraulic drive system of the drill boom of a rock drilling rig as the research object,and the purpose is to develop a set of automatic control system for the drill boom of a rock drilling rig.Aiming at this goal,the control of the electro-hydraulic drive system of the drill boom of the rock drilling rig is deeply studied.The research contents include the modeling of the electro-hydraulic drive system,the model identification of the system and the design of the nonlinear controller.The simulation model of the drill boom electro-hydraulic system is established.After analyzing the basic structure of the drill boom of the drilling rig,the dynamic equation of the drill boom is established by using the Lagrangian method.Then the basic composition and working principle of the drill boom electro-hydraulic system are introduced,and the system identification method is determined to establish the simulation model of the system.Design experiments on rock drilling rig equipment to obtain system identification data,and select the transfer function model as the model to be identified,and the identification algorithm adopts the least squares method.After analyzing and comparing the identification results,the fifth-order transfer function model is used as the simulation object model of the electro-hydraulic drive system,and the dynamic model of the drill boom is used as the controlled object in the simulation of the drill boom electro-hydraulic drive system.The control model of the system is established by the method of mechanism modeling,and the controller is designed by backstepping method based on the model.Aiming at the modeling unknown items in the model,the RBF neural network is introduced for approximation.The design principle of the neural network update law is based on the Lyapunov stability principle.For the feedback in the system where the state cannot be measured directly,a third-order tracking differentiator is used to estimate the state.The control simulation of the drilling arm electro-hydraulic drive system is carried out on the simulation platform.The results show that the designed neural network backstepping controller has a faster response speed and a smaller steady-state error.Compared with the traditional PID control,the output of the controller The amount of control is also relatively small and smooth.This subject develops a set of automatic control system of the drill boom on the drilling rig,and conducts the control experiment of the drill boom on this system.The control system consists of two parts: hardware and software.The hardware part includes electro-hydraulic proportional valve,sensor,PLC controller,computer and other components,and the software part includes the control program of the lower computer and the operation interface of the upper computer.This paper selects the forearm oil cylinder and the rear arm oil cylinder to carry out the position control experiment.After debugging and optimization,the control algorithm can realize the accurate tracking of the predetermined trajectory of the oil cylinder.At the same time,compared with the commonly used PID control algorithm in the industry,the control algorithm designed in this paper Has better dynamic and steady-state performance.