摘要
【背景】车载钻机是地面钻孔救援的关键设备,通过竖直钻孔将地面与地下灾区的直接连通,为被困人员提供救援通道。其中,钻进速度是评价地面救援钻孔作业效果的重要指标,但是受传感器限制无法直接获取。【方法】因此,设计了一种基于新型混合微分器的钻进速度估计方法,利用可测量的位移信号计算钻进速度。构建了连续型切换函数,结合其导数分析了新函数的收敛特性,设计了一种兼具线性和非线性特征的新型混合微分器,并利用李亚普诺夫函数证明了其全局渐近稳定特性。在Matlab软件中设计了3种对比控制器,分别开展正弦型信号和三角波型信号下的钻进速度仿真分析。【结果和结论】仿真结果表明,所设计新型混合微分器在正弦型位移信号下的速度平均估计误差约为0.1 m/s,最大估计误差约为1.02 m/s,标准差约为0.09 m/s;在三角波形位移信号下的速度平均估计误差约为0.29 m/s,最大估计误差约为2.07 m/s,标准差约为0.47 m/s。在徐工XSL1500车载救援钻机上开展连续性和间歇性提放实验,发现所设计的新型混合微分器在两种工况下具有良好的响应速度和降噪能力,更适用于不确定环境下钻进速度的获取。本研究提出了一种基于新型连续切换函数的混合微分器设计方法,设计了联合混合微分器和位移传感器的钻机钻进速度估计方法,为车载钻机钻进速度的获取提供了理论支撑和实践经验。
[Background]Vehicle-mounted drilling rigs(VMDRs),key devices in surface drilling for mine rescue,directly connect the ground and underground disaster-hit areas through vertical drilling,thereby creating rescue channels for trapped people.In this case,the drilling speed of VMDRs serves as an important indicator for evaluating surface drilling operations.However,directly determining the drilling speed is challenging due to the limitations of position sensors.[Methods]This study developed an estimation method based on a new hybrid differentiator(NHD),allowing the drilling speed to be calculated using measurable displacement signals.First,a continuous switching function was devised,and its convergence characteristics were analyzed in combination with its derivative.Based on this function,this study designed a NHD that integrated linear and nonlinear characteristics.Then,the global asymptotic stability of the NHD was evidenced using the Lyapunov function.By designing three differentiators for comparison using the Matlab software,this study conducted simulations and analysis of the drilling speed under sinusoidal and triangular signals.[Results and Conclusions]The simulation results indicate that under the sinusoidal signals,the proposed NHD yielded average,maximum,and standard errors of the drilling speed approximately 0.1 m/s,approximately 1.02 m/s,and approximately 0.09 m/s,respectively.In contrast,under the triangular wave signals,these errors were determined approximately 0.29 m/s,approximately 2.07 m/s,and approximately 0.47 m/s,respectively.Continuous and intermittent lifting and lowering experiments were conducted on an XSL1500 rescue VMDR manufactured by XCMG.The experiment results reveal that the NHD exhibited high response speeds and denoising capacity under the two operating conditions.This indicates that the NHD is suitable for determining the drilling speed in uncertain environments.This study proposed a NHD design method based on a novel continuous switching function and developed a method that combines the NHD and position sensors to estimate the drilling speed of a drilling rig.The results of this study provide theoretical support and practical experience for determining the drilling speeds of VMDRs.
作者
王云飞
赵继云
胡永杰
张宗阳
潘晓晨
WANG Yunfei;ZHAO Jiyun;HU Yongjie;ZHANG Zongyang;PAN Xiaochen(School of Safety Engineering,China University of Mining and Technology,Xuzhou 221116,China;National Key Laboratory of Coal Mine Disaster Prevention and Control,Xuzhou 221116,China;State Key Laboratory of Intelligent Manufacturing of Advanced Construction Machinery,Xuzhou Construction Machinery Group,Xuzhou 221132,China;School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou 221116,China;Foundation Construction Machinery Co.,Ltd.,Xuzhou Construction Machinery Group,Xuzhou 220011,China)
出处
《煤田地质与勘探》
北大核心
2025年第8期238-246,共9页
Coal Geology & Exploration
基金
国家重点研发计划课题(2022YFC3005902)
中央高校基本科研业务费项目(2025-KJJC-B04)。
关键词
地面钻孔救援
车载钻机
混合微分器
连续切换函数
钻进速度估计
surface drilling for mine rescue
vehicle-mounted drilling rig(VMDR)
hybrid differentiator
continuous switching function
drilling speed estimation
