發(fā)布時間：2018-08-28 19:20

【摘要】：我國探月工程三期任務的目標是以無人鉆取采集的方式，獲取深度為2m的月壤樣本返回地球。在月面鉆探取心的過程中，鉆進對象的隨機性可能影響鉆取采樣的可靠性。因此準確的實時狀態(tài)評估是鉆取采用任務成功的關鍵。故本文以高效智能鉆進為目標，開展基于月面鉆進故障工況的在線辨識試驗研究�；谀Ｊ阶R別理論，采用時頻分析方法，研究鉆進故障工況的在線辨識特征。在建立鉆桿與月壤相互作用力學模型的基礎上，結(jié)合離散元仿真，獲得合適的鉆進故障工況排除規(guī)程。 基于土力學以及螺旋輸送相關理論，在考慮鉆桿構(gòu)型參數(shù)、鉆桿工作模式以及鉆機實際月面鉆進過程中可能遇到的排土不暢工況、鉆進月巖工況及堵鉆故障三種故障工況類型的基礎上，建立鉆桿排屑的受力模型以及速度模型。以鉆桿排屑角作為切入點，研究鉆桿在不同回轉(zhuǎn)轉(zhuǎn)速模式下的排屑驅(qū)動力。結(jié)合EDEM離散元仿真分析，，開展鉆進故障工況模擬及排除方法理論研究，獲得鉆機在相應故障工況下的故障排除方法。 開展排土不暢工況、鉆進月巖工況以及堵鉆故障三種鉆進故障工況的模擬試驗研究。獲得鉆進故障工況在模擬過程中的試驗數(shù)據(jù)，為在線辨識提供數(shù)據(jù)庫。對鉆進故障工況數(shù)據(jù)進行相關的時域特征指標分析，提取能夠有效表征鉆進故障工況的時域信號特征�；谂ぞ仡l譜、功率譜、解調(diào)譜的信號分析，結(jié)合鉆取采樣測試平臺的機械本體結(jié)構(gòu)，揭示扭矩頻譜上部分峰值點的物理規(guī)律，獲得能夠有效表征鉆進故障的時頻信號特征參數(shù)。 根據(jù)月面鉆進故障工況分析與仿真成果，結(jié)合信號特征提取研究結(jié)論，搭建基于支持向量機理論的在線辨識控制系統(tǒng)。通過針對單一鉆進故障工況的在線辨識試驗，驗證鉆進故障工況排除方法的合理性，以及辨識方法的靈敏性和魯棒性。開展鉆取采樣機構(gòu)的鉆進故障工況整機試驗研究，驗證隨機故障工況條件下，系統(tǒng)對于故障工況辨識的準確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.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：P634;P184.5

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