【摘要】 以岩土钻机调桅纠偏控制为研究对象,提出一种双检测钻桅纠偏自动控制方法。通过对钻桅进行实时的纠偏自动控制,减小了钻孔时的角度误差,采用双检测输入信号,使得钻桅姿态可以唯一确定。建立了双检测钻桅纠偏控制数学模型,给出了控制流程方案,最终以实验加以验证;并结合最优二次型控制算法,使钻桅纠偏控制具有较好的鲁棒性。更多还原

【Abstract】 As the research object in rectification control for the drill mast of geotechnical drill,a dual-detection rectification automatic control method that focuses on the vertical mast mechanism of drill is proposed. The angle error is reduced by a real-time automatic rectification control in the drilling,and the position of the mast is determined solely for the input signal of dual-detection. The mathematical model is established for the dual-detection rectification control system,and the control process scheme is given. The control method is validated by experiment. With the quadratic optimal control algorithm,the robustness of the mast rectifying control is increased in drilling.更多还原