高频时变负载下大规模离散系统的双层滑模控制研究

doi:10.3969/j.issn.1004-132X.2025.05.003

中国机械工程 ›› 2025, Vol. 36 ›› Issue (05): 911-922.DOI: 10.3969/j.issn.1004-132X.2025.05.003

高频时变负载下大规模离散系统的双层滑模控制研究

贾存德^1,2,3;孔祥东^1,2,3 ;李韶光^1,2,3;李俊飞⁴;张钧勇^1,2,3;冯俊学⁵;艾超^1,2,3*;姜文光^1,2,3

1.燕山大学起重机械关键技术全国重点实验室，秦皇岛，066004
2.燕山大学机械工程学院，秦皇岛，066004
3.燕山大学河北省重型机械流体动力传输与控制实验室，秦皇岛，066004
4.北京三一智造科技有限公司，北京，100005
5.北京机械工业自动化研究所有限公司，北京，100120

出版日期:2025-05-25 发布日期:2025-06-24
作者简介:贾存德，男，1994年生，博士研究生。研究方向为流体传动与控制、工程机械数字孪生与智能控制。E-mail：ysu-jia@qq.com。
基金资助:
国家自然科学基金（52175065）；国家自然科学基金-区域创新发展联合基金（U22A20178）

Research on Double Layer Sliding Mode Control of Large Scale Discrete Systems under High Frequency Time Varying Loads

JIA Cunde^1,2,3;KONG Xiangdong^1,2,3;LI Shaoguang^1,2,3;LI Junfei⁴;ZHANG Junyong^1,2,3;FENG Junxue⁵;AI Chao^1,2,3*;JIANG Wenguang^1,2,3

1.State Key Laboratory of Crane Technology,Yanshan University,Qinhuangdao,Hebei,066004
2.School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei,066004
3.Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,
Yanshan University,Qinhuangdao,Hebei,066004
4.Beijing Sany Intelligent Manufacturing Technology Co.,Ltd.,Beijing,100005
5.Beijing Machinery Industry Automation Research Institute Co.,Ltd.,Beijing,100120

Online:2025-05-25 Published:2025-06-24

摘要/Abstract

摘要： 针对负载高频突变下旋挖钻机钻进过程中大规模离散高阶系统控制的鲁棒性不足，采用分布控制思想提出了一种双层滑模耦合控制（DLSMC）策略。对于加压力的控制，与传统PID、自适应控制相比，所提滑模控制方案响应速度更快，误差更小。在整机试验中选取地质条件类似的相邻两桩孔，对比研究主机在有无控制器时的钻进情况，结果表明，无控制器介入的主机在钻进期间出现约15次动力头转速降为0的情况，扭矩出现10次幅度约为100 kN·m的波动，出现3次卡钻现象，而有控制器介入的主机动力头转速、扭矩相对平稳，无卡钻现象出现，验证了防卡钻控制策略的有效性，为整机智能化奠定了基础。

关键词: 旋挖钻机, 钻进稳定控制, 自适应滑模, 输入输出反馈线性化

Abstract: To address the insufficient robustness in controlling large-scale discrete high-order systems during the drilling processes of rotary drilling machine under high-frequency load mutations, a double-layer sliding mode control(DLSMC) strategy was proposed based on distributed control principles. For pressure control applications, the proposed sliding mode control scheme demonstrated faster response speed and smaller errors compared to traditional PID and adaptive control methods. A controlled comparative analysis was implemented through paired borehole testing in geologically homogeneous formations, systematically evaluating drilling dynamics under controller-active and controller-absent configurations. The results show that the uncontrolled system experiences approximately 15 instances of power head rotational speed dropping to 0, 10 torque fluctuations with amplitudes around 100 kN·m, and 3 jamming incidents during drilling. In contrast, the controlled system maintains stable power head rotational speed and torque without any jamming occurrences. These findings validate the effectivenesses of the anti-jamming control strategy and provide a foundation for intelligentization of complete drilling systems.

Key words: rotary drilling machine, drilling stability control, adaptive sliding mode, input-output feedback linearization

中图分类号:

TU67

贾存德1, 2, 3, 孔祥东1, 2, 3 , 李韶光1, 2, 3, 李俊飞4, 张钧勇1, 2, 3, 冯俊学5, 艾超1, 2, 3, 姜文光1, 2, 3. 高频时变负载下大规模离散系统的双层滑模控制研究[J]. 中国机械工程, 2025, 36(05): 911-922.

JIA Cunde1, 2, 3, KONG Xiangdong1, 2, 3, LI Shaoguang1, 2, 3, LI Junfei4, ZHANG Junyong1, 2, 3, FENG Junxue5, AI Chao1, 2, 3, JIANG Wenguang1, 2, 3. Research on Double Layer Sliding Mode Control of Large Scale Discrete Systems under High Frequency Time Varying Loads[J]. China Mechanical Engineering, 2025, 36(05): 911-922.

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高频时变负载下大规模离散系统的双层滑模控制研究

Research on Double Layer Sliding Mode Control of Large Scale Discrete Systems under High Frequency Time Varying Loads

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