基于模型参考自适应控制的加压力补偿控制研究

doi:10.3901/JME.2025.24.295

机械工程学报 ›› 2025, Vol. 61 ›› Issue (24): 295-310.doi: 10.3901/JME.2025.24.295

• 交叉与前沿 • 上一篇

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基于模型参考自适应控制的加压力补偿控制研究

冯俊学^1,2,3,4, 贾存德^1,2,3, 孔祥东^1,2,3, 李博文^1,2,3, 赵喆伟^1,2,3, 丁北辰⁵, 姜文光^1,2,3, 艾超^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. 北自(北京)检测科技发展有限公司北京 100120;
5. 中山大学先进制造学院深圳 518107

收稿日期:2025-01-26 修回日期:2025-07-11 发布日期:2026-01-26
作者简介:冯俊学，男，1987年出生，博士研究生。主要研究方向为流体传动与控制、液压阀高性能控制、工程机械数字孪生与智能控制。E-mail：fengjunxue@126.com
艾超(通信作者)，男，1982年出生，博士，教授，博士研究生导师。主要研究方向为电液伺服控制系统、流体振动与抑制、智能液压风电、液压元件优化设计。E-mail：aichao@ysu.edu.cn
基金资助:
国家自然科学基金(52175065, U22A20178)资助项目。

Research on Pressure Compensation Control Based on Model Reference Adaptive Control

FENG Junxue^1,2,3,4, JIA Cunde^1,2,3, KONG Xiangdong^1,2,3, LI Bowen^1,2,3, ZHAO Zhewei^1,2,3, DING Beichen⁵, JIANG Wenguang^1,2,3, AI Chao^1,2,3

1. State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao 066004;
2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
3. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University, Qinhuangdao 066004;
4. Beizi (Beijing) Testing Technology Development Co. Ltd. Beijing 100120;
5. School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen 518107

Received:2025-01-26 Revised:2025-07-11 Published:2026-01-26

摘要/Abstract

摘要： 旋挖钻机作为基础建设施工中应用最广泛的成孔设备，其钻进效率是装备的核心竞争力。然而主机长时间服役后加压系统不可避免会产生性能退化，严重影响加压力控制，甚至出现加压无力现象，从而影响施工效率与施工质量。首先采用带遗忘因子的递推最小二乘法建立参数辨识模型，通过辨识其退化参数判断加压系统的健康状态。其次基于模型参考自适应理论设计加压力自适应补偿控制器，进而对已发生退化的加压系统进行补偿控制。基于以上提出一种加压系统健康监测与补偿控制耦合的性能退化补偿方法。仿真与试验结果表明，该控制器能有效提高故障主机的加压力输出，进而提高施工效率，在相同试验条件下，与原主机相比，采用自适应控制后的被测主机加压力输出提高了17.8%，钻进效率提高了8.8%，验证了控制器的有效性与可行性。

关键词: 旋挖钻机, 加压系统, 健康监测, 最小二乘算法, 模型参考自适应控制

Abstract: The rotary drilling rig, as the most widely used equipment in foundation construction, relies on its drilling efficiency as the core competitive strength. However, after long-term service, the pressurization system inevitably experiences performance degradation, which seriously affects pressure control and even lead to a loss of pressure, thereby impacting both construction efficiency and quality. First, a parameter identification model is established using the recursive least squares method with a forgetting factor, which is used to identify the degraded parameters and determine the health status of the pressurization system. Then, based on model reference adaptive control theory, an adaptive compensation controller for pressurization is designed to compensate for the degraded pressurization system. A performance degradation compensation method, coupling health monitoring and compensation control for the pressurization system, is proposed. Simulation and experimental results show that the controller can effectively improve the pressure output of the faulty rig, thus enhancing construction efficiency. Under the same experimental conditions, compared to the original rig, the pressure output of the measured rig increased by 17.8%, and drilling efficiency improved by 8.8%, verifying the effectiveness and feasibility of the controller.

Key words: rotary drilling rig, pressure system, health monitoring, least squares algorithm, model reference adaptive control

中图分类号:

TU67

冯俊学, 贾存德, 孔祥东, 李博文, 赵喆伟, 丁北辰, 姜文光, 艾超. 基于模型参考自适应控制的加压力补偿控制研究[J]. 机械工程学报, 2025, 61(24): 295-310.

FENG Junxue, JIA Cunde, KONG Xiangdong, LI Bowen, ZHAO Zhewei, DING Beichen, JIANG Wenguang, AI Chao. Research on Pressure Compensation Control Based on Model Reference Adaptive Control[J]. Journal of Mechanical Engineering, 2025, 61(24): 295-310.

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基于模型参考自适应控制的加压力补偿控制研究

Research on Pressure Compensation Control Based on Model Reference Adaptive Control

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