Anti-interference Control of Rotary Drilling Rig Running System Based on External Time-varying Load

doi:10.3901/JME.2025.08.413

Abstract

Abstract: A disturbance resistant composite control strategy based on load disturbance observation and linear quadratic regulator (LQR) is proposed to address the issues of driving stability and overturning risk caused by time-varying loads on the left and right tracks of rotary drilling rigs during the driving phase on uneven road surfaces. Taking the walking system of a certain type of rotary drilling rig as the research object, the load variation of the walking motor under bumpy road conditions is analyzed. Established a mathematical model of hydraulic system, by using a load disturbance observer to estimate the load torque online, and designing a walking acceleration controller based on LQR, the load estimation and system state variables are feedforward to the system input, forming an anti-interference composite control strategy for the rotary drilling rig walking system that compensates for the valve core displacement through feedforward. The simulation and experimental results show that the designed controller can effectively suppress the impact of load disturbance on driving stability, compared with the original equipment, the equipment with anti-interference control reduces the peak speed fluctuation by 84.7%, the peak acceleration fluctuation by 81.3%, and the maximum mast sway by 52.5% under the same road conditions.

Key words: hydraulic walking system, stability, load disturbance observer, anti-interference composite control

CLC Number:

TU67

JIA Cunde, ZHAO Zhewei, KONG Xiangdong, ZHANG Zhennian, XU Hongyu, AI Chao. Anti-interference Control of Rotary Drilling Rig Running System Based on External Time-varying Load[J]. Journal of Mechanical Engineering, 2025, 61(8): 413-422.

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