Research on Synchronous Displacement Precision Control of Drill Drive System in the Shaft

In order to solve the problem of low drilling positioning accuracy when installing I-beams in coal mine shafts, For vertical drive mechanism of shaft drilling rigs, a double hydraulic cylinder drive system is proposed. First of all, In the plane force system, a mathematical model of double hydraulic cylinder load under non-uniform load is established. Furthermore, The vertical drilling rig dynamics model and hydraulic model were established in ADAMS and AMESim, respectively. And established its liquid-solid interaction model in Simulink. At last, Aiming at the load change law and displacement synchronization accuracy requirements of double hydraulic cylinders, an adaptive fuzzy PID control (AFC-PID) is proposed. The results showed that: Dual hydraulic cylinder drive system under AFC-PID. Approx. 52.7% reduction in displacement deviation between the two hydraulic cylinders. The shaking deviation of the bolt drilling rig under the leftmost and rightmost positions was reduced by about 43.1% and 57.2%, respectively. The dual cylinder drive system based on AFC-PID has better dynamic response, higher synchronization and better robustness.