煤矿用自动钻机旋扣系统同步控制策略

煤矿用自动钻机在接、卸扣工况旋扣时存在因给进速度与动力头旋转速度不匹配，钻杆螺纹接头出现咬扣、撕扣及磨损过快等问题，迫切需要一种速度同步控制性能较好且适合运用于工程实际的控制方法。通过理论分析对比与试验，提出了基于非线性前馈补偿的复合同步控制策略，建立了该复合同步控制策略的数学模型，运用AMESim和Simulink对控制系统进行联合仿真验证，确认了该控制策略的可行性。以某型自动钻机为例，采用所提出的控制策略进行了钻杆重复接、卸扣试验。结果表明：旋扣时,给进系统与动力头旋转系统的同步性能良好，能很好的补偿系统负载非线性变化对同步特性的不利影响，同步性能满足接扣系统需求。研究有望为相关煤矿用自动钻机的设计提供参考。

Investigation on the synchronization control strategy of mine-automatic-rig buckle system

Because of the speed mismatch between the hydraulic propulsion system and the power motor rotation system in the buckle condition of mine automatic rig,there are some problems of excessive occlusion,tearing and abrasion of the screw thread joints of drill rods.It is urgently needed a control method with a fine speed-synchronization performance and a practical engineering application.With the theoretical derivation,the mathematic simulation and the experimental verification,a kind of composite synchronization control strategy based on nonlinear feedforward compensation was put forward.The mathematic model of this control strategy was established.The co-simulation of AMESim and Simulink on this control system was used to validate its feasibility.At last,a repeating test of the drill-rod buckle on a certain automatic rig with the proposed control strategy was conducted.The study demonstrated that during the buckle,the synchronization control performance between the propulsion system and the power motor rotation system was fine to compensate the unfavorable effect of the load nonlinear changes,meeting the synchronous requirement for the buckle system.This study provides a reference for the related design of mine automatic rig.