【摘要】 煤矿防冲钻孔机器人在钻进不同煤岩时会出现因卡钻导致的钻进失效问题，严重影响钻孔卸压作业安全及防冲卸压成孔质量与效率。为此，提出一种适用于煤岩钻进系统的防卡钻电液控制策略，据钻进过程中随钻参数的变化分析卡钻机理，结合支持向量机对钻进状态进行判定。建立AMESim与MATLAB/Simulink联合仿真模型，对钻进系统防卡钻电液控制特性进行分析，基于搭建的防卡钻电液控制实验平台进行验证。结果表明：提出的防卡钻电液控制策略可以有效识别钻进状态并降低卡钻风险，提高了不同煤岩条件下的钻进效率和安全性。更多还原

【Abstract】 Sticking may occur in drilling different coal rocks for a coal mine anti-impact drilling robot, and it may lead to drilling failure, which seriously affects the safety of drilling pressure relief operations, the quality and efficiency of anti-impact pressure relief hole formation. To this end, an anti-sticking electro-hydraulic control strategy is proposed for coal rock drilling system. The mechanism of sticking is analyzed based on the variation of drilling parameters during drilling, and the drilling state is judged by combining support vector machines. The electro-hydraulic control strategy of anti-sticking based on sliding mode variable structure is designed. A joint simulation model of AMESim and MATLAB/Simulink is established, and the control characteristics of the anti-sticking is analyzed. The designed anti-sticking electro-hydraulic control experimental platform is executed for verification. The results indicate that the proposed anti-sticking electro-hydraulic control strategy can effectively identify the drilling status and reduce the risk of sticking, and can improve drilling efficiency and safety under different coal rock conditions.更多还原