Rotary speed control of a hydraulic tunnel drilling rig via equivalent input disturbance compensation for load uncertainty

Le résumé fourni par la source

In coal mine tunnel drilling, the hydraulic rotary system of the drilling rig is often subjected to severe and rapidly varying load disturbances, posing significant challenges to system stability. To address this problem, this study develops a hydraulic rotary speed control system for tunnel drilling rigs based on the equivalent input disturbance (EID) method. First, a second-order dynamic model of the hydraulic rotary system is established, in which external load disturbances are uniformly modelled as a lumped disturbance. Then, an EID estimator is designed to provide real-time estimation of the total disturbance. To optimise controller performance, a hybrid bat algorithm is introduced to tune the adjustable parameters within the linear quadratic regulator and linear matrix inequality frameworks during gain synthesis. The effectiveness of the developed control system is evaluated through simulations, and the results demonstrate that the EID-based control system significantly enhances both transient response and steady-state performance under complex disturbance conditions. Furthermore, field application at a coal mining site validates the practicality and effectiveness of the developed control system.

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