月面钻进故障工况模拟及辨识方法研究
发布时间：2018-08-28 19:20
【摘要】：我国探月工程三期任务的目标是以无人钻取采集的方式，获取深度为2m的月壤样本返回地球。在月面钻探取心的过程中，钻进对象的随机性可能影响钻取采样的可靠性。因此准确的实时状态评估是钻取采用任务成功的关键。故本文以高效智能钻进为目标，开展基于月面钻进故障工况的在线辨识试验研究。基于模式识别理论，采用时频分析方法，研究钻进故障工况的在线辨识特征。在建立钻杆与月壤相互作用力学模型的基础上，结合离散元仿真，获得合适的钻进故障工况排除规程。 基于土力学以及螺旋输送相关理论，在考虑钻杆构型参数、钻杆工作模式以及钻机实际月面钻进过程中可能遇到的排土不畅工况、钻进月岩工况及堵钻故障三种故障工况类型的基础上，建立钻杆排屑的受力模型以及速度模型。以钻杆排屑角作为切入点，研究钻杆在不同回转转速模式下的排屑驱动力。结合EDEM离散元仿真分析，，开展钻进故障工况模拟及排除方法理论研究，获得钻机在相应故障工况下的故障排除方法。 开展排土不畅工况、钻进月岩工况以及堵钻故障三种钻进故障工况的模拟试验研究。获得钻进故障工况在模拟过程中的试验数据，为在线辨识提供数据库。对钻进故障工况数据进行相关的时域特征指标分析，提取能够有效表征钻进故障工况的时域信号特征。基于扭矩频谱、功率谱、解调谱的信号分析，结合钻取采样测试平台的机械本体结构，揭示扭矩频谱上部分峰值点的物理规律，获得能够有效表征钻进故障的时频信号特征参数。 根据月面钻进故障工况分析与仿真成果，结合信号特征提取研究结论，搭建基于支持向量机理论的在线辨识控制系统。通过针对单一钻进故障工况的在线辨识试验，验证钻进故障工况排除方法的合理性，以及辨识方法的灵敏性和鲁棒性。开展钻取采样机构的钻进故障工况整机试验研究，验证随机故障工况条件下，系统对于故障工况辨识的准确性以及故障排除方法的可靠性。
[Abstract]:The goal of the third phase of China's lunar exploration project is to return the lunar soil sample with a depth of 2 m to the earth by means of unmanned drilling and acquisition.In the process of lunar drilling and coring, the randomness of the drilling object may affect the reliability of the sampling.Therefore, accurate real-time state evaluation is the key to the success of the task. To achieve the goal of effective intelligent drilling, an on-line identification experiment based on lunar drilling fault condition is carried out. Based on pattern recognition theory and time-frequency analysis method, the on-line identification characteristics of drilling fault condition are studied. Exclusion rules.
Based on the theory of soil mechanics and screw conveying, the force model and velocity model of drill pipe debris removal are established on the basis of considering the drill pipe configuration parameters, drill pipe working mode and the possible working conditions of the drilling rig during the actual lunar drilling, the working conditions of drilling lunar rock and the fault types of plugging. The chip angle is taken as the cut-in point to study the chip removal driving force of drill pipe under different rotating speed modes. Combining with EDEM discrete element simulation analysis, the simulation and removal methods of drilling fault conditions are studied, and the troubleshooting methods of drill rig under corresponding fault conditions are obtained.
The simulation tests of three drilling failure modes are carried out. The test data of drilling failure modes in the simulation process are obtained, and the database is provided for on-line identification. Based on the analysis of torque spectrum, power spectrum and demodulation spectrum, combined with the mechanical structure of drilling sampling and testing platform, the physical laws of some peak points in torque spectrum are revealed, and the characteristic parameters of time-frequency signals which can effectively characterize drilling fault are obtained.
Based on the analysis and simulation results of lunar drilling fault conditions and the research conclusion of signal feature extraction, an on-line identification control system based on support vector machine theory is established. The whole machine test of drilling fault condition of drilling sampling mechanism is carried out to verify the accuracy of system identification for fault condition and the reliability of fault removal method under random fault condition.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：P634;P184.5
本文编号：2210364
[Abstract]:The goal of the third phase of China's lunar exploration project is to return the lunar soil sample with a depth of 2 m to the earth by means of unmanned drilling and acquisition.In the process of lunar drilling and coring, the randomness of the drilling object may affect the reliability of the sampling.Therefore, accurate real-time state evaluation is the key to the success of the task. To achieve the goal of effective intelligent drilling, an on-line identification experiment based on lunar drilling fault condition is carried out. Based on pattern recognition theory and time-frequency analysis method, the on-line identification characteristics of drilling fault condition are studied. Exclusion rules.
Based on the theory of soil mechanics and screw conveying, the force model and velocity model of drill pipe debris removal are established on the basis of considering the drill pipe configuration parameters, drill pipe working mode and the possible working conditions of the drilling rig during the actual lunar drilling, the working conditions of drilling lunar rock and the fault types of plugging. The chip angle is taken as the cut-in point to study the chip removal driving force of drill pipe under different rotating speed modes. Combining with EDEM discrete element simulation analysis, the simulation and removal methods of drilling fault conditions are studied, and the troubleshooting methods of drill rig under corresponding fault conditions are obtained.
The simulation tests of three drilling failure modes are carried out. The test data of drilling failure modes in the simulation process are obtained, and the database is provided for on-line identification. Based on the analysis of torque spectrum, power spectrum and demodulation spectrum, combined with the mechanical structure of drilling sampling and testing platform, the physical laws of some peak points in torque spectrum are revealed, and the characteristic parameters of time-frequency signals which can effectively characterize drilling fault are obtained.
Based on the analysis and simulation results of lunar drilling fault conditions and the research conclusion of signal feature extraction, an on-line identification control system based on support vector machine theory is established. The whole machine test of drilling fault condition of drilling sampling mechanism is carried out to verify the accuracy of system identification for fault condition and the reliability of fault removal method under random fault condition.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：P634;P184.5
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本文编号：2210364
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