钻具自动装卸系统的变结构鲁棒控制策略

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-04-08 DOI:10.1016/j.conengprac.2025.106340

Miao Chen , Lei Si , Jialiang Dai , Yang Liu , Zhongbin Wang , Dong Wei , Xin Li

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引用次数: 0

摘要

钻床的钻具装卸是一项劳动密集型的工作。钻机的自动装卸功能可以显著减轻工人的劳动强度，是实现井下钻井设备全自动化的关键条件。钻具装卸系统（DTLUS）承受较大的载荷，导致液压系统的压力和流量出现波动。鉴于此，提出了一种基于滑模控制器的鲁棒控制策略。针对滑模控制器（SMC）运行过程中对抖振的抑制要求，设计了一种基于变结构控制框架的模糊神经网络（FNN）参数调整方法，旨在提高系统的稳定性和控制精度，从而更好地应对DTLUS的复杂工况，保证其高效稳定运行。实验结果表明，所设计的控制器可以减小机械冲击，提高钻具装卸效率。

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A variable structure robust control strategy for automatic drilling tools loading and unloading system

Drilling tools loading and unloading for drilling machine is a labor-intensive task. The automatic loading and unloading function of the drilling machine can prominently lessen the labor intensity borne by workers and serves as a key requisite for the full automation of underground drilling equipment. The drilling tools loading and unloading system (DTLUS) is subject to a relatively large load, leading to fluctuations in the hydraulic system’s pressure and flow rate. In view of this, a robust control strategy based on the sliding mode controller is proposed. Aiming at the requirement of suppressing chattering during the operation of the sliding mode controller (SMC), a fuzzy neural network (FNN) parameter adjustment method based on the variable structure control framework is designed, which is intended to enhance the stability and control accuracy of the system, so as to better cope with the complex working conditions of the DTLUS and ensure its efficient and stable operation. The experimental results indicate that the designed controller can reduce mechanical impact and enhance the efficiency of drilling tools loading and unloading.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.