液压与气动2025，Vol.49Issue(6)：34-44,11.DOI:10.11832/j.issn.1000-4858.2025.06.005
煤矿防冲钻孔机器人防卡钻电液控制研究
Research on Electro-hydraulic Control of Anti-sticking for Coal Mine Anti-impact Drilling Robot
摘要
Abstract
Sticking may occur in drilling different coal rocks for a coal mine anti-impact drilling robot,and it may lead to drilling failure,which seriously affects the safety of drilling pressure relief operations,the quality and efficiency of anti-impact pressure relief hole formation.To this end,an anti-sticking electro-hydraulic control strategy is proposed for coal rock drilling system.The mechanism of sticking is analyzed based on the variation of drilling parameters during drilling,and the drilling state is judged by combining support vector machines.The electro-hydraulic control strategy of anti-sticking based on sliding mode variable structure is designed.A joint simulation model of AMESim and MATLAB/Simulink is established,and the control characteristics of the anti-sticking is analyzed.The designed anti-sticking electro-hydraulic control experimental platform is executed for verification.The results indicate that the proposed anti-sticking electro-hydraulic control strategy can effectively identify the drilling status and reduce the risk of sticking,and can improve drilling efficiency and safety under different coal rock conditions.关键词
钻进系统/防卡钻控制/AMESim/电液控制Key words
drilling system/anti-sticking control/AMESim/electro-hydraulic control分类
机械工程引用本文复制引用
顾进恒,薛晓林,冯可楠,韦祎,王忠宾,谭超..煤矿防冲钻孔机器人防卡钻电液控制研究[J].液压与气动,2025,49(6):34-44,11.基金项目
国家自然科学基金(52304184) （52304184）
