PID and compliance control-based anti-sticking of drill rod in underground mining
Robotic Intelligence and Automation
ISSN: 2754-6969
Article publication date: 25 August 2023
Issue publication date: 13 October 2023
Abstract
Purpose
During drilling in coal mines, sticking of drill rod (referred to as SDR in this work) is a potential threat to underground safety. However, no practical measures to deter SDR have been developed yet. The purpose of this study is to develop an anti-SDR strategy using proportional-integral-derivative (PID) and compliance control (PIDC). The proposed strategy is compatible with the drilling process currently used in underground coal mines using drill rigs. Therefore, this study aims to contribute to the PIDC strategy for solving SDR.
Design/methodology/approach
A hydraulic circuit to reduce SDR was built based on a load-independent flow distribution system, a PID controller was designed to control the inlet hydraulic pressure of the rotation motor and a typical compliance control approach was adopted to control the feed force and displacement. Moreover, the weight and optimal combination of the alternative admittance control parameters for the feed cylinder were obtained by adopting the orthogonal experiment approach. Furthermore, a fuzzy admittance control approach was proposed to control the feed displacement. Experiments were conducted to test the effectiveness of the proposed method.
Findings
The experimental results indicated that the PIDC strategy was appropriate and effective for controlling the rotation motor and feed cylinder; thus, the proposed method significantly reduces the SDR during drilling operations in underground coal mines.
Research limitations/implications
As the PIDC strategy solves the SDR problem in underground coal mines, it greatly improves the safety of coal mine operation and decreases the power cost. Consequently, it brings the considerable benefits of coal mine production and vast application prospects in other corresponding fields. Actual drilling conditions are difficult to accurately simulate in a laboratory; thus, for future work, drilling experiments can be conducted in actual underground coal mines.
Originality/value
The PIDC-based anti-SDR strategy proposed in this study satisfactorily controls the rotation motor and feed cylinder and facilitates the feed and rotation movements. Furthermore, the tangible novelty of this study results is that it improves the frequency response of the entire drilling system. The drilling process with PIDC decreased the occurrence of SDR by 50%; therefore, the anti-SDR strategy can significantly improve the safety and efficiency of underground coal mining.
Keywords
Acknowledgements
The authors would like to acknowledge the Project of Shandong Province Higher Educational Science and Technology Program (No. J18KB020), Project of Natural Science Foundation of Shandong Province (No. ZR2020MF101, ZR2021MF120) and Tai’an City Science and Technology Development Program (No. 2021GX052), P. R. China. In addition, the authors would like to thank Editage (www.editage.com) for English language editing.
The authors declared no potential conflicts of interest with respect to the research, authorship and/or publication of this article.
All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards.
Citation
Li, D., Zhu, S., Xia, S., Zhong, P., Fang, J. and Dai, P. (2023), "PID and compliance control-based anti-sticking of drill rod in underground mining", Robotic Intelligence and Automation, Vol. 43 No. 5, pp. 567-579. https://doi.org/10.1108/RIA-02-2023-0019
Publisher
:Emerald Publishing Limited
Copyright © 2023, Emerald Publishing Limited