CN-122008193-A - Control method for mechanical arm of raise boring machine based on Hermite interpolation algorithm

CN122008193ACN 122008193 ACN122008193 ACN 122008193ACN-122008193-A

Abstract

The invention discloses a control method of a balance beam of a raise boring machine based on a balance beam interpolation algorithm, which comprises the steps of constructing a balance beam interpolation polynomial of a balance beam hydraulic cylinder displacement of the raise boring machine according to a preset key track point of the balance beam, determining a control period according to response characteristics of a hydraulic control system of the balance beam of the raise boring machine, calculating track sections to which the current moment belongs, solving normalized relative time of the current moment relative to the track sections, substituting the relative time into the balance beam interpolation polynomial of the corresponding track sections to obtain a hydraulic cylinder target displacement of the current period, checking speed and acceleration corresponding to the hydraulic cylinder target displacement of the current period, cutting off the hydraulic cylinder target displacement of the current period into the hydraulic cylinder physical limit value if the speed and acceleration exceed the hydraulic cylinder physical limit value, taking the hydraulic cylinder target displacement of the current period as a target value of a PID controller, and combining the hydraulic cylinder actual displacement acquired by a displacement sensor to realize PID closed-loop control.

Inventors

LV ZHIBIN
LI SIMIN
CHEN LIANG
DANG QIQIAN
WEI LONG
ZHAO CHAOYANG
WANG WEI

Assignees

郑机所(郑州)传动科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260122

Claims (4)

1. The control method of the mechanical arm of the raise boring machine based on the Hermite interpolation algorithm is characterized by comprising the following steps: S1, constructing a Hermite interpolation polynomial of the displacement of a hydraulic cylinder of a mechanical arm of the raise boring machine according to a preset key track point of the mechanical arm of the raise boring machine; S2, determining a control period according to response characteristics of the hydraulic control system of the mechanical arm of the raise boring machine, calculating a track section to which the current moment belongs, and solving normalized relative time of the current moment relative to the track section to which the current moment belongs; s3, substituting relative time into Hermite interpolation polynomials of the corresponding track segments to obtain the target displacement of the hydraulic cylinder in the current period; s4, checking the speed and the acceleration corresponding to the target displacement of the hydraulic cylinder in the current period, and if the speed and the acceleration exceed the physical limit value of the hydraulic cylinder, cutting off the target displacement of the hydraulic cylinder in the current period into the physical limit value of the hydraulic cylinder; And S5, taking the target displacement of the hydraulic cylinder in the current period as a target value of the PID controller, and combining the actual displacement of the hydraulic cylinder acquired by the displacement sensor to realize PID closed-loop control.
2. The method for controlling the mechanical arm of the raise boring machine based on the Hermite interpolation algorithm of claim 1, wherein the Hermite interpolation polynomial is the sum of the position values of the mechanical arm of the raise boring machine for each key track point multiplied by the displacement basis function corresponding to the key track point and the velocity values of each key track point multiplied by the velocity basis function corresponding to the key track point.
3. The method for controlling the mechanical arm of the raise boring machine based on the Hermite interpolation algorithm as set forth in claim 2, wherein the displacement basis function of the track points is as follows The velocity basis function of the track points is Wherein, the method comprises the steps of, Wherein t is the current interpolation time; Time for key track point i; for the time of other trace points, n is the total number of key trace points.
4. The control method of the raise boring machine mechanical arm based on the Hermite interpolation algorithm of claim 1 is characterized by correcting the speed of key track points by actually measuring the motion characteristics of the raise boring machine mechanical arm when in no-load or full-load, ensuring the starting point/end point acceleration in the Hermite interpolation polynomial to be continuous and reducing the start-stop impact.

Description

Control method for mechanical arm of raise boring machine based on Hermite interpolation algorithm Technical Field The invention relates to the technical field of mechanical arm control of drilling rigs, in particular to a control method of a raise boring machine mechanical arm based on a Hermite interpolation algorithm. Background The raise boring machine is one kind of shaft excavating mechanical equipment capable of utilizing rotary drilling to break rock and form hole and back reaming. At present, the raise boring machine is widely applied to the water pumping and energy storage project in China. The mechanical arm is used as a core component for conveying the drill rod of the raise boring machine, so that the conveying speed is high, and higher positioning precision is required to be ensured. However, the mechanical arm of the conventional raise boring machine is mainly manually operated through a control rod, the operation speed of a driving hydraulic cylinder is constant, and impacts are often generated in the starting and stopping stages, so that the conveying precision of the mechanical arm is reduced after long-time operation, and a limit bolt needs to be frequently adjusted to maintain the precision. Therefore, the method for improving the operation speed of the mechanical arm of the raise boring machine, reducing the start-stop impact and improving the positioning accuracy of the mechanical arm of the raise boring machine has become a key subject to be solved urgently. Disclosure of Invention The invention aims to provide a control method of a mechanical arm of a raise boring machine based on a Hermite interpolation algorithm, which is used for solving the problem of insufficient positioning precision of the mechanical arm of the raise boring machine. In order to achieve the purpose, the control method of the mechanical arm of the raise boring machine based on the Hermite interpolation algorithm comprises the following steps: S1, constructing a Hermite interpolation polynomial of the displacement of a hydraulic cylinder of a mechanical arm of the raise boring machine according to a preset key track point of the mechanical arm of the raise boring machine; S2, determining a control period according to response characteristics of the hydraulic control system of the mechanical arm of the raise boring machine, calculating a track section to which the current moment belongs, and solving normalized relative time of the current moment relative to the track section to which the current moment belongs; s3, substituting the relative time into a corresponding track subsection Hermite interpolation polynomial to obtain the target displacement of the hydraulic cylinder in the current period; s4, checking the speed and the acceleration corresponding to the target displacement of the hydraulic cylinder in the current period, and if the speed and the acceleration exceed the physical limit value of the hydraulic cylinder, cutting off the target displacement of the hydraulic cylinder in the current period into the physical limit value of the hydraulic cylinder; And S5, taking the target displacement of the hydraulic cylinder in the current period as a target value of the PID controller, and combining the actual displacement of the hydraulic cylinder acquired by the displacement sensor to realize PID closed-loop control. Further, the Hermite interpolation polynomial is obtained by multiplying the displacement and the speed of the key track points of the mechanical arm of the raise boring machine with corresponding basis functions and then summing the multiplied values. Further, wherein the displacement basis function of the track point isThe velocity basis function of the track points isWherein, the method comprises the steps of,Wherein t is the current interpolation time; Time for key track point i; for the time of other trace points, n is the total number of key trace points. Further, the speed of the key track point is corrected by actually measuring the motion characteristic of the mechanical arm of the raise boring machine in no-load/full-load, the starting point/end point acceleration continuity in the Hermite interpolation polynomial is ensured, and the start-stop impact is reduced. The invention has the advantages that the closed-loop control system based on the Hermite interpolation algorithm is adopted, so that the start-stop impact can be reduced, the mechanical arm can be controlled to transport the drill rod more rapidly and accurately, and the automation is realized. Drawings Fig. 1 is a flow chart of the method of the present invention. Detailed Description The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of