吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (3): 820-830.doi: 10.13229/j.cnki.jdxbgxb20200130

• 车辆工程·机械工程 • 上一篇    下一篇

钻具输送装置非线性动力学分析及稳定性控制

于萍(),穆特,朱黎辉,周子业,宋杰   

  1. 吉林大学 机械与航空航天工程学院，长春 130022
  • 收稿日期:2020-03-05 出版日期:2021-05-01 发布日期:2021-05-07
  • 作者简介:于萍（1963-），女，教授，博士.研究方向：钻探机械，流体传动与控制.E-mail:yp@jlu.edu.cn
  • 基金资助:
    国家深部探测技术与实验研究专项项目(sinoprobe-09);吉林省科技发展计划项目(20170101204JC)

Nonlinear dynamic analysis and stability control of drilling tool conveying mechanism

Ping YU(),Te MU,Li-hui ZHU,Zi-ye ZHOU,Jie SONG   

  1. College of Mechanical and Aerospace Engineering，Jilin University，Changchun 130022，China
  • Received:2020-03-05 Online:2021-05-01 Published:2021-05-07

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摘要：

钻具输送装置为刚柔耦合多体系统，工作时由于系统参数和外部扰动的不确定，使其工作稳定性下降。针对这一问题，利用多体系统传递矩阵法建立了钻具输送装置非线性动力学模型，依据工作要求设定了轨迹函数。将钻具输送装置的工作稳定性控制分为工作位姿跟踪控制和装置内柔性体非线性振动抑制两部分。提出了基于BP神经网络的PID控制算法，对整机位姿进行动态跟踪控制；对于柔性体的振动，采用将压电材料粘贴于柔性构件表面形成智能复合材料，并利用基于模糊RBF神经网络的滑模控制算法进行抑制。仿真结果显示，整机的工作位置精度得到了显著提高，柔性体振动得到了有效抑制。

关键词: 机械电子工程, 非线性动力学, 强迫振动, 稳定性控制

Abstract:

The drilling tool conveying mechanism is a rigid-flexible coupling multibody system. Due to the uncertainty of system parameters and external disturbances during operation， its working stability is reduced. To solve this problem， a nonlinear dynamic model of the drilling tool conveying mechanism was established using the multibody system transfer matrix method， and a trajectory function was set according to the work requirements. The working stability control of the drilling tool conveying mechanism is divided into two parts： working position and attitude tracking control and nonlinear vibration suppression of the flexible body in the mechanism. A PID control algorithm based on BP neural network is proposed to dynamically track the posture of the whole mechanism. For the vibration of the flexible body， a piezoelectric material is pasted on the surface of the flexible member to form an intelligent composite material， and the sliding mode control algorithm based on fuzzy RBF neural network is used for suppression. The simulation results show that the working position accuracy of the whole mechanism is significantly improved， and the vibration of the flexible body is effectively suppressed.

Key words: mechatronic engineering, nonlinear dynamics, forced vibration, stability control

中图分类号: 

  • TE928

图1

四川宏华钻具输送装置"

图2

钻具输送装置简化示意图"

图3

BP-PID位姿跟踪控制框图"

图4

BP神经网络拓扑结构"

图5

撑杆压电材料振动检测/控制示意图"

图6

sgn函数曲线"

图7

T-S函数曲线(β1<β2<β3)"

图8

基于模糊神经网络的滑模控制系统框图"

图9

模糊RBF神经网络拓扑结构"

图10

各构件轨迹曲线"

图11

Adams-Simulink联合仿真的BP-PID控制系统"

表1

BP神经网络初始权值"

输入层至隐含层初始权值w1,1=0.25w1,2=-0.13w1,3=-0.02w1,4=-0.12
w1,5=-0.43w1,6=0.05w1,7 = 0.64w1,8=-0.04
w2,1=-0.23w2,2=0.33w2,3=-0.05w2,4=0.43
w2,5=0.18w2,6=0.00w2,7=-0.02w2,8=-0.75
w3,1=0.46w3,2=0.71w3,3=-0.17w3,4=-0.03
w3,5=0.83w3,6=0.25w3,7=0.00w3,8=0.64
w4,1=0.22w4,2=0.79w4,3=-0.06w4,4=0.10
w4,5=-0.20w4,6=0.20w4,7=-0.01w4,8=0.46
隐含层至输出层初始权值w1,1=0.49w1,2=-0.07w1,3=-0.14w2,1=0.13
w2,2=0.00w2,3=-0.10w3,1=0.63w3,2=0.40
w3,3=0.71w4,1=-0.77w4,2=0.80w4,3=0.04
w5,1=0.35w5,2=-0.24w5,3 = 0.02w6,1=-0.12
w6,2=0.00w6,3=0.72w7,1=-0.09w7,2=0.20
w7,3=-0.30w8,1=0.60w8,2=-0.01w8,3=0.02

图12

各构件受控轨迹曲线"

表2

模糊RBF神经网络初始权值"

w1,1=0.54w1,2=-0.07w2,1=-0.26w2,2=0.13
w3,1=0.22w3,2=-0.01w4,1=-0.30w4,2=0.29
w5,1=0.81w5,2=-0.15w6,1=0.03w6,2=0.10
w7,1=-0.23w7,2=0.09w8,1=0.11w8,2=0.34
w9,1=-0.20w9,2=0.20w10,1=-0.01w10,2=0.46
w11,1=0.17w11,2=0.23w12,1=-0.64w12,2=-0.52
w13,1=0.55w13,2=-0.43w14,1=-0.23w14,2=-0.31
w15,1=0.15w15,2=-0.26w16,1=-0.08w16,2=0.37
w17,1=0.28w17,2=0.04w18,1=0.12w18,2=-0.47
w19,1=0.00w19,2=0.72w20,1=-0.09w20,2=0.20
w21,1=0.80w21,2=0.46w22,1=-0.22w22,2=-0.32
w23,1=-0.08w23,2=0.23w24,1=-0.06w24,2=0.33
w25,1=-0.18w25,2=0.37w26,1=-0.14w26,2=0.02
w27,1=-0.33w27,2=-0.21w28,1=0.84w28,2=0.74
w29,1=0.12w29,2=-0.27w30,1=-0.35w30,2=0.53
w31,1=-0.28w31,2=0.11w32,1=-0.07w32,2=0.00
w33,1=0.26w33,2=-0.45w34,1=-0.31w34,2=0.01
w35,1=-0.25w35,2=0.17w36,1=0.20w36,2=0.39
w37,1=0.13w37,2=-0.38w38,1=0.26w38,2=0.00
w39,1=0.41w39,2=0.67w40,1=-0.05w40,2=0.71
w41,1=0.03w41,2=0.22w42,1=-0.17w42,2=0.64
w43,1=-0.08w43,2=0.23w44,1=0.73w44,2=-0.59
w45,1=0.81w45,2=-0.47w46,1=0.61w46,2=-0.09
w47,1=0.00w47,2=-0.19w48,1=0.43w48,2=0.74
w49,1=-0.09w49,2=0.38

图13

撑杆质心横向变形时间历程"

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