Research on Drilling Positioning Motion Control of Hydraulic Rock Drilling Robot
Aiming at the problems of low drilling efficiency and over and under drilling caused by the low positioning accuracy of drilling hole when hydraulic drilling robot is driving in roadway,the electro-hydraulic position servo control system of the hydraulic drilling robot was established,and the feedback linearized sliding mode control algorithm was designed to control the rock drilling robot to achieve accurate positioning of the borehole.The rock drilling robot was analyzed,and the hydraulic system mathematical model of the hydraulic drilling robot was established.Based on this,a feedback linearized sliding mode controller was designed to improve the control accuracy of the hydraulic system,and the controller model was established by Simulink.Finally,in order to verify the effectiveness of the designed hydraulic system and controller,taking a drilling case as an example,ADAMS,AMESim and Simulink were used to simulate the drilling positioning process of the hydraulic drilling robot.The results show that the maximum tracking errors of the rock drilling ro-bot each joint are 2.18 mm,4.51 mm,6.05 mm,0.25 rad and 8.64 mm,respectively,and the positioning errors in the X and Y directions are 13.68 mm and 10.05 mm,respectively.The errors are within the allowable range of the construction,which can ensure the accurate positioning of the drilling hole,thus verifying the effectiveness of the designed control model.
drilling robotelectro-hydraulic position servo systemfeedback linear sliding mode controlelectromechanical hydrau-lic co-simulation
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