Investigation on the synchronization control strategy of mine-automatic-rig buckle system

Because of the speed mismatch between the hydraulic propulsion system and the power motor rotation system in the buckle condition of mine automatic rig,there are some problems of excessive occlusion,tearing and abrasion of the screw thread joints of drill rods. It is urgently needed a control method with a fine speed-synchronization performance and a practical engineering application. With the theoretical derivation,the mathematic simulation and the experimental verification,a kind of composite synchronization control strategy based on nonlinear feedforward compensation was put forward. The mathematic model of this control strategy was established. The co-simulation of AMESim and Simulink on this control system was used to validate its feasibility. At last,a repeating test of the drill-rod buckle on a certain automatic rig with the proposed control strategy was conducted. The study demonstrated that during the buckle, the synchronization control performance between the propulsion system and the power motor rotation system was fine to compensate the unfavorable effect of the load nonlinear changes,meeting the synchronous requirement for the buckle system. This study provides a reference for the related design of mine automatic rig.