| Rockburst is one of the most serious dynamic disasters in deep coal mining in China.At present,pressure relief operations mainly rely on manual operation by staff entering the dangerous area,which is easy to induce the rockburst during pressure relief and then cause large personnel injury accidents.As a key equipment for unmanned drilling and pressure relief in coal mine tunnel,drilling robot for rockburst prevention needs to walk quickly to the drilling area of pressure relief according to the planned path before drilling autonomously,and then position itself precisely to the target hole location at low speed.So the walking control of drilling robot for rockburst prevention is a prerequisite for the autonomous operation of drilling robot for rockburst prevention.In this thesis,the walking longitudinal control algorithm based on the improved particle swarm optimization fuzzy PID parameters and the walking lateral control algorithm based on LQR were designed,which is based on the analysis of the working principle and kinematic model of the walking part of drilling robot for rockburst prevention.The experimental platform for the walking control of drilling robot for rockburst prevention was built.The walking control software of drilling robot for rockburst prevention was developed and experimentally verified.The main research contents and results of this thesis are as follows:(1)Working principle and operating conditions of the walking part of drilling robot for rockburst prevention were analyzed.The electro-hydraulic system circuit of the walking part of drilling robot for rockburst prevention was analyzed.The walking kinematics model and the valve-controlled motor proportional speed model of drilling robot for rockburst prevention were established.The overall design of the walking control system of drilling robot for rockburst prevention was completed.(2)Fuzzy PID controller based on valve-controlled motor speed control model is designed.The optimal parameters of the valve-controlled motor fuzzy PID controller are obtained by the improved particle swarm optimization algorithm based on cosine factor and fitness value to optimize the inertia weights.The simulation experiments under step and acceleration signals are carried out.The results show that the rotational speed reaches the steady state in 0～0.48 s and the steady state error tends to zero.The simulation verifies that the walking longitudinal control method with particle swarm optimized fuzzy PID can meet the requirements of walking longitudinal control of drilling robot for rockburst prevention.(3)Walking lateral correction based on linear quadratic optimal control model is designed.The fuzzy neural network optimization model for nonlinear walking lateral deviation compensation is established and walking lateral deviation control algorithm is designed.The simulation experiments of straight and curved path tracking are carried out.The results show that the position adjustment is adjusted from 0 to 5s.The maximum X,Y axial deviation and heading angle deviation in path tracking are 0.06 m,0.067 m and 0.064 rad respectively.The simulation verifies that the lateral control method of this thesis can meet the lateral deviation correction requirements of drilling robot for rockburst prevention.(4)Experimental platform for walking control of drilling robot for rockburst prevention was built and the remote walking control system based on Snap7 was designed.The on-board PLC control software and remote monitoring software of the walking part of drilling robot for rockburst prevention were developed.And carried out experiments related to walking control.The experimental results show that the maximum steady-state error of motor speed was 0.16r/min and the maximum lateral deviation was 0.058 m in the straightness maintenance experiment.In the walking steering deviation control experiment,the average speed difference between the inner drive wheel is 0.19r/min and the outer drive wheels is 0.12r/min.The relative error of steering radius is 3.11%.In the straight-line plus circular trajectory tracking experiment,The maximum deviation of X and Y axis direction is 0.147 m and-0.126 m.The tracking error of the circular path does not exceed 0.1m.which meets the requirements of the walking control accuracy of drilling robot for rockburst prevention in coal mine tunnel.There are 76 figures,23 tables and 98 references in this thesis. |
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