| In underground engineering construction,raise boring machine is a special mechanical equipment that combines surface equipment with drilling tools in the hole.In the process of rock breaking,the raise boring machine faces many environmental risks.Due to the failure to timely control the rotation speed of its mechanical executive part-power head,the drilling tool is subject to varying degrees of wear and vibration in contact with rock strata of different geological conditions,resulting in high failure rate of drilling tool,reduced work efficiency,and even in drilling operation,accidents often occur,so it is significance to profoundly study the accurate control law of power head in the operation process of raise boring machine to improve the working efficiency.Aiming at the problem that the speed control of the power head is not timely,this dissertation intends to simplify the control logic based on the formal method.The main research points are arranged as follows: propose 16 control strategies,the optimal PID and FOPID controller are obtained through comparative analysis,and the simulation research of the speed control of the power head is completed in Simulink-AMESim.(1)Establishment of mathematical model.Through the analysis of the electro-hydraulic system and control principle of the power head of the raise boring machine,under the working background,the types of hydraulic components in the composition of the electro-hydraulic drive system of the power head of the raise boring machine are determined,and the main hydraulic components are calculated and selected.Based on this,its physical model and the electro-hydraulic coupling mathematical model of the power head of the raise boring machine are established.In order to be closer to the reality,The least square method is used to transform it into a fractional order model through model identification.(2)Analysis and research of control strategy.Aiming at the research object,the formal structure and concept are used to simplify the control logic of raise boring machine.Combined with theoretical analysis,intelligent optimization algorithm and fractional order control technology,it is proposed to regulate the arguments of PID and FOPID controller based on swarm intelligent optimization algorithm(genetic algorithm(GA),whale algorithm(WOA),particle swarm optimization(PSO),etc.),so as to control different forms of controlled objects.Through the dynamic index analysis,the control effects of 16 combined control strategies on the power head electro-hydraulic system are compared,and two optimal controllers are summarized and analyzed;The results proved that the FOPID control policy is far better than the PID control policy in terms of stability time and dynamic response effect.The step response of WOA-FOPID control strategy is also better than GA-FOPID,PSO-FOPID and other control strategies.The system reaches a stable state in 0.04 s,and the overshoot is only 2.52%.(3)System simulation.Based on Simulink-AMESim,it is analyzed from four aspects: the response analysis of hydraulic pump,the following performance of control,the constant speed control of pilot hole drilling and the analysis of reaming drilling.The results show that FOPID control has timely response and following performance in the speed control of power head compared with PID controller,and only reaches the specified speed smoothly in 0.41 s,it is almost the same as that under the modeling control in the theoretical state,and the difference of stability time is 0.37s;The above research contents can effectively improve the adaptability of the power head to the complex environment.The research in this dissertation not only provides theoretical guidance for the control strategy of the electro-hydraulic drive system of the power head of the raise boring machine,but also provides the design basis for the control methods of other drilling machine control systems,and promotes the development process of intelligent equipment in coal mines. |
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