摘要
定向钻机液压系统实际工作中,驱动力和阻尼力不同,容易出现倾斜角误差,导致定向钻机液压系统运动学参数校准过程较为困难,参数标定精度较差,为此,设计一种市政工程用定向钻机液压系统运动学参数标定技术。通过模态分析与静力学分析,构建定向钻机液压系统的动力学模型;建立并变换定向钻机液压系统坐标系,进行定向钻机液压过程的测量位形优选与倾斜角校准误差补偿,估计状态向量最优值,实现定向钻机液压系统运动学参数标定。实验结果表明,该技术在钻杆旋转速度、最大回拖参数与最大回推力、最大输出扭矩4个指标的参数标定上均获得较高的标定精度。
In the actual work of the hydraulic system of the directional drilling machine,the driving force and the damping force are different,which will easily cause tilt angle error,resulting in difficulties in the calibration process of the kinematic parameters of the hydraulic system.Therefore,a set of kinematic parameter calibration technology for the hydraulic system of the directional drilling machine used in municipal engineering is designed.Through modal analysis and statics analysis,the dynamic model of the hydraulic system is established.The coordinate system of the hydraulic system is established and transformed,the measurement configuration optimization and the inclination calibration error compensation of the hydraulic process are carried out,the optimal value of the state vector is estimated,and the kinematic parameters of the hydraulic system are calibrated.The experimental results show that the technology has achieved high accuracy in the calibration of the four parameters,i.e.,drill pipe rotation speed,maximum drag parameters,maximum thrust and maximum output torque.
出处
《现代机械》
2022年第4期63-67,共5页
Modern Machinery
关键词
定向钻机液压系统
运动学参数
模态分析
位姿描述
hydraulic system of directional drilling machine
kinematic parameters
modal analysis
pose description
作者简介
林集体(1966-),男,汉族,河北省河间市人,本科,高级工程师,1987年毕业于石家庄铁道学院工程机械专业,研究方向:机械自动化。
