A Drilling Speed Tracking Approach of Anti-Impact Drilling Robot Based on Sliding Mode Control

The drilling system is the core mechanism of the Anti-Impact Drilling Robot (AIDR), and it is very crucial to control the drilling speed effectively because an inappropriate drilling speed will reduce the drilling efficiency on the one hand and may lead to drilling rod jamming accident on the other hand. However, the drilling system is characterized by a significant time lag and delay, and it will be interfered with by the drilling load, which affects the tracking precision of the feeding speed. To deal with this issue, a sliding mode control (SMC) method is proposed. Firstly, a model of the AIDR feeding system is established. Then the virtual control volume of each subsystem is designed, and finally, the slide mode controller is designed to control the feed rate of the cylinder. The experimental results on the actual drilling system show that the method has good dynamic and steady-state tracking performance and can accurately control the AIDR feeding system.