基于负载敏感的全液压钻机防卡钻控制系统研究.pdf

中图分类号TD41学校代码10424 UDC621密级公开 山东科技大学 工程硕士学位论文 基基于于负负载载敏敏感感的的全全液液压压钻钻机机防防卡卡钻钻控控制制系系统统研研究究 Study onAnti-jamming Drilling Control System of Full Hydraulic Drilling Rig Based on Load Sensitivity 作者商孟全入学时间2017 年 09 月 导师李东民职称副教授 副 导 师王忠勇职称高级工程师 申请学位工程硕士所在学院 机械电子工程学院 学科（类别） 工程硕士方向（领域）机械工程 答辩日期2020.06提交日期2020.06 学位论文使用授权声明学位论文使用授权声明 本人完全了解山东科技大学有关保留、使用学位论文的规定，同意本人所撰写的学位 论文的使用授权按照学校的管理规定处理。 作为申请学位的条件之一，学校有权保留学位论文并向国家有关部门或其指定机构送 交论文的电子版和纸质版；有权将学位论文的全部或部分内容编入有关数据库发表，并可 以以电子、网络及其他数字媒体形式公开出版；允许学校档案馆和图书馆保留学位论文的 纸质版和电子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；为教学和 科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书馆等场所 或在校园网上供校内师生阅读、浏览。 （保密的学位论文在解密后适用本授权） 作者签名导师签名 日期年月日日期年月日 学位论文原创性声明学位论文原创性声明 本人呈交给山东科技大学的学位论文，除所列参考文献和世所公认的文献外，全部是 本人攻读学位期间在导师指导下的研究成果。除文中已经标明引用的内容外，本论文不包 含任何其他个人或集体已经发表或撰写过的研究成果。对本文的研究做出贡献的个人和集 体，均已在文中以明确方式标明。本人完全意识到本声明的法律结果由本人承担。 若有不实之处，本人愿意承担相关法律责任。 学位论文作者签名 年月日 学位论文审查认定书学位论文审查认定书 研究生在规定的学习年限内，按照培养方案及个人培养计划，完成了课 程学习，成绩合格，修满规定学分；在我的指导下完成本学位论文，论文中的观点、数据、 表述和结构为我所认同，论文撰写格式符合学校的相关规定，同意将本论文作为申请学位 论文。 导师签名 日期 摘要摘要 冲击地压、瓦斯突出一直是煤矿井下作业的重大安全事故，目前普遍采用钻机在煤壁 的特定位置钻孔以卸压、排瓦斯，由于钻机在钻进打孔作业时卡钻事故时有发生，为解决 以上问题，本文设计了一种防卡钻电液控制系统。 针对 ZDY3200S 型矿用全液压坑道钻机，分析其卡钻机理，得到卡钻类型包括裂隙卡 钻和沉渣卡钻。综合应用液压负载敏感技术与电液控制技术，采集回转马达的工作压力并 作为反馈信号，当该压力超过某一阈值时，自动控制钻机回退，实现钻机自动防卡。根据 所设计的防卡钻液压系统，采用 AMESim 软件建立钻机防卡钻液压系统模型，并通过仿真 得到卡钻压力、流量、位移及速度曲线。 防卡钻控制系统主要是采用电液比例控制技术对给进油缸进行控制，而油缸的运动过 程是一个非线性且复杂多变的的过程，受外部环境影响较大，而模糊滑模控制对于非线性 系统具有较好地控制效果，可以对给进油缸的速度进行快速调节，使钻机在发生卡钻时快 速响应，提高钻机的防卡钻性能。为了验证控制效果，通过 AMESim 和 Matlab/Simulink 两个软件进行联合仿真，仿真结果表明模糊滑模控制对于改善系统控制性能具有较大的作 用。 最后通过实验验证了所设计的防卡钻控制系统的让钻机的钻进效率提高了 18.6，并 可以对全液压钻机钻进过程中常出现的卡钻问题进行预防和处理。 关键词关键词全液压钻机；防卡钻；负载敏感；模糊滑模控制；Matlab/Simulink Abstract Percussive ground pressure and gas outburst have always been major safety accidents in underground coal mine operation. At present, drilling rig are generally used to bore holes in specific positions of coal walls to relieve pressure and drain gas. Due to the frequent occurrence of stuck drilling accidents during drilling and drilling operations, this paper designs an electro-hydraulic control system to prevent stuck drilling. According to the ZDY3200S type full hydraulic drilling rig, the mechanism of sticking is analyzed, and the types of sticking include cracking sticking and sediment sticking. Using hydraulic load sensitive technology and electro-hydraulic control technology comprehensively, the working pressure of rotary motor is collected and used as feedback signal. When the pressure exceeds a certain threshold, the drilling rig is automatically controlled to go back and realize automatic anti-jamming. According to the designed anti-jamming hydraulic system, AMESim software was used to establish the model of anti-jamming hydraulic system of drilling rig, and the pressure, flow, displacement and velocity curves of the anti-jamming hydraulic system were obtained through simulation. Sticking prevention control system mainly use the electro-hydraulic proportional control technology to control for the oil cylinder, and the oil cylinder movement process is a process of nonlinear and complex and changeable, are greatly influenced by the external environment, and the fuzzy sliding mode control for nonlinear system has better control effect, can quickly adjust to the speed of the oil cylinder, the drill in the case of sticking fast response, improve the anti sticking perance of drilling rig. In order to verify the control effect, AMESim and Matlab/Simulink were used for joint simulation. The simulation results show that fuzzy sliding mode control plays a significant role in improving the control perance of the system. Finally, the experiment verifies that the designed anti-jamming control system improves the drilling efficiency of the drill by 18.6, and can prevent and deal with the sticking problems that often occur in the drilling process of full hydraulic drill rig. Keywords Full hydraulic drilling rig; Anti-jamming; Load sensitive; Fuzzy sliding mode control; Matlab/Simulink 目录目录 图清单.............................................................................................................................................I 表清单.............................................................................................................................................V 变量注释表...................................................................................................................................VI 1绪 论.........................................................................................................................................1 1.1研究目的及意义............................................................................................................1 1.2防卡钻技术国内外研究现状........................................................................................1 1.3负载敏感控制技术研究现状........................................................................................4 1.4课题研究内容................................................................................................................4 2全液压钻机防卡钻控制系统设计...........................................................................................5 2.1ZDY3200S 全液压钻机基本结构.................................................................................5 2.2全液压钻机防卡钻研究................................................................................................6 2.3全液压钻机防卡钻控制系统设计................................................................................9 2.4本章小结......................................................................................................................14 3全液压钻机防卡钻液压系统仿真.........................................................................................15 3.1液压仿真技术及软件..................................................................................................15 3.2负载敏感系统建模......................................................................................................16 3.3液压系统仿真模型建立及结果分析..........................................................................25 3.4防卡钻液压系统仿真..................................................................................................30 3.5本章小结......................................................................................................................36 4基于模糊滑模控制的防卡钻控制系统研究.........................................................................37 4.1滑模变结构控制..........................................................................................................37 4.2滑模控制器设计..........................................................................................................38 4.3模糊控制......................................................................................................................43 4.4模糊滑模控制器..........................................................................................................47 4.5本章小结......................................................................................................................50 5基于 AMESim/Simulink 联合仿真平台的防卡钻控制系统仿真.........................................51 5.1联合仿真平台概述......................................................................................................51 5.2联合仿真模型的建立..................................................................................................51 5.3模糊滑模控制与滑模控制仿真对比分析..................................................................54 5.4仿真结果分析..............................................................................................................55 5.5本章小结......................................................................................................................58 6防卡钻控制系统实验研究.....................................................................................................59 6.1实验方案......................................................................................................................59 6.2实验结果分析..............................................................................................................60 6.3本章小结......................................................................................................................62 7总结与展望.............................................................................................................................64 7.1全文总结......................................................................................................................64 7.2工作展望......................................................................................................................64 参考文献 作者简历 致谢 学位论文数据集 Contents List of Figures.................................................................................................................................I List of Tables.................................................................................................................................V List of Variables...........................................................................................................................VI 1Introduction..............................................................................................................................1 1.1Research purpose and significance.................................................................................1 1.2Research status of anti-jamming drilling at home and abroad....................................... 1 1.3Research status of load sensitive control technology.....................................................4 1.4Subject research content.................................................................................................4 2Design of anti-jamming drilling control system of full hydraulic drilling rig....................5 2.1Basic structure of ZDY3200S full hydraulic drilling rig................................................5 2.2Study on anti-jamming drilling of full hydraulic drilling rig......................................... 6 2.3Design of anti-jamming drilling control system for full hydraulic drilling rig..............9 2.4Summary.......................................................................................................................14 3Simulation of hydraulic system of anti-jamming drilling for full hydraulic drilling rig15 3.1Hydraulic simulation technology and software............................................................15 3.2Modeling of load sensitive system............................................................................... 16 3.3Establishment of hydraulic system simulation model and analysis of result...............25 3.4Simulation of anti-jamming hydraulic system..............................................................30 3.5Summary.......................................................................................................................36 4Study on the control system of anti-jamming drilling based on fuzzy sliding mode control...................................................................................................................................37 4.1Structure control of sliding mode.................................................................................37 4.2Design of sliding mode controller................................................................................38 4.3Fuzzy control................................................................................................................43 4.4Fuzzy sliding mode controller......................................................................................47 4.5Summary.......................................................................................................................50 5Combinedsimulationofanti-jammingdrillingcontrolsystembasedon AMESim/Simulink...............................................................................................................51 5.1Overview of joint simulation plat.........................................................................51 5.2Establishment of joint simulation model......................................................................51 5.3Comparative analysis of fuzzy sliding mode and sliding mode control simulation.....54 5.4Analysis of simulation results.......................................................................................55 5.5Summary.......................................................................................................................58 6Experimental study on anti-jamming drilling control system...........................................59 6.1Experimental program..................................................................................................59 6.2Analysis of experimental results...................................................................................60 6.3Summary.......................................................................................................................62 7Summary and prospect......................................................................................................... 64 7.1Summary.......................................................................................................................64 7.2Prospect........................................................................................................................ 64 References Author’s Resume Acknowledgements Thesis Data Collection I 图清单图清单 图序号图名称页码 图 1.1给进回路设置液控换向阀2 Fig.1.1Hydraulic controlled direction valve in feed circuit2 图 1.2回转回路设置压力继电器3 Fig.1.2Pressure relay in rotary circuit3 图 1.3给进回路设置液控换向阀3 Fig.1.3Hydraulic controlled direction valve in feed circuit3 图 2.1钻机整体结构图5 Fig.2.3Overall structure of drilling rig5 图 2.2裂隙卡钻8 Fig.2.2Crack sticking8 图 2.3沉渣卡钻8 Fig.2.3Sediment sticking8 图 2.4负载敏感泵控制系统原理图10 Fig.2.4Schematic diagram of load sensitive pump control system10 图 2.5防卡钻液压系统原理图11 Fig.2.5 Schematic diagram of hydraulic system of anti-jamming drilling hydraulic system 11 图 2.6防卡钻控制系统原理图12 Fig.2.6Schematic diagram of anti-jamming drilling control system12 图 3.1负载敏感阀的原理图16 Fig.3.1Principle diagram of load sensing valve16 图 3.2负载敏感阀的 AMESim 模型16 Fig.3.2AMESim model of Load Sensing Valve16 图 3.3负载敏感阀的模型仿真18 Fig.3.3Model simulation of load sensing valve18 图 3.4三个压力源的压力变化曲线18 Fig.3.4Pressure curves of three pressure sources18 图 3.5模型中 1 口的流量变化曲线19 Fig.3.5Flow curve of port 1 in the model19 图 3.6模型中 3 口的流量变化曲线19 Fig.3.6Flow curve of port 3 in the model19 图 3.7限压阀的原理图20 Fig.3.7Principle diagramof pressure limiting valve20 图 3.8限压阀的 AMESim 模型20 Fig.3.8AMESim model of pressure limiting valve20 图 3.9限压阀的 AMESim 仿真模型22 Fig.3.9AMESim simulation model of pressure limiting valve22 II 图 3.10两个压力源的压力变化曲线22 Fig.3.10Pressure curves of two pressure sources22 图 3.11模型中 1 口的流量变化曲线22 Fig.3.11Flow curve of port 1 in the model22 图 3.12模型中 3 口的流量变化曲线23 Fig.3.12Flow curve of port 3 in the model23 图 3.13变量泵及变量机构的原理图23 Fig.3.13Principle diagram of variable pump and variable mechanism23 图 3.14变量泵及变量机构仿真模型24 Fig.3.14Simulation model of variable pump and variable mechanism24 图 3.15回转回路仿真模型25 Fig.3.15Simulation model of rotar