Research on the drilling state intelligent sensing and adaptive optimization control of the fast drilling robot

Abstract

The fast drilling robot is the most intelligent mining drilling equipment at present. The drilling state intelligent sensing and adaptive control technology are developed to solve the problem of the intelligent control of the drilling process. According to the engineering practice, with drilling efficiency as the control target, the characteristics of the working process of the fast drilling robot and the influence of boundary conditions such as sticking probability, slag-discharge smoothness, and anchorage stability on the drilling process are analyzed. Corresponding mathematical formulas are derived, and the mathematical model of the drilling state intelligent sensing and adaptive control is constructed. The adaptive control technology based on the differential evolution algorithm is developed to realize the automatic optimization of control parameters. The ground drilling tests prove that intelligent sensing and adaptive control technology can adjust the control parameters quickly when the drilling rock changes so that the drilling robot can maintain an efficient and stable drilling state.