Study on the Control System of Full Hydraulic Auto-drillin g
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摘要: 本文结合全液压动力头式地面煤层气钻机的结构特点,根据给进机构数学模型及钻压控制经验公式,建立钻压控制模型,设计模糊PID控制器并进行了仿真分析。通过改变门限钻压值和岩石可钻性系数值大小,模拟钻进过程中地层变化和被控对象参数变化对系统的影响,经过仿真分析得出系统的响应速度快,超调量小,具有较好的适应能力和抗干扰能力。因此,用模糊控制来实现恒钻压控制是可行的,对实现钻机的自动化、智能化控制具有一定的指导意义。Abstract: The drilling pressure control model was established based on the structural characters of full hydraulic driving head ground coalbed gas drilling rig, feed mechanism mathematical models and drilling pressure control experience formulae;the fuzzy PID controller was designed and simulation analysis was carried out.By adjusting the coefficients value of threshold pressure value and rock drillability value, the influence of the different strata and the parameters of controlled objects in drill-ing courses on auto-drilling system were simulated and the simulation analysis indicates that this system has good adaptability and anti-interference ability with high response speed and small overshoot.Therefore, it is feasible to realize constant drilling pressure by fuzzy control, which has guiding value for automation and intelligent control of drilling machine.
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Key words:
- drilling rig /
- auto-drilling /
- fuzzy control
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