Parameter self-tuning ADRC-SMC drilling control and its application in anti-burst drilling robots

The drilling control of anti-burst drilling robots is a key technical method for achieving pressure relief and preventing rock burst hazards. Currently, the regulation of the drilling system primarily relies on manual operation, which leads to poor control performance and high safety risks. Therefore, based on the drilling workflow and the operating characteristics of various actuators, and addressing the highly variable hardness of coal and rock formations during the drilling process, this study proposes a method for determining optimal drilling parameters based on the Protodyakonov coefficient. An adaptive control strategy for the drilling system is designed, combining an active disturbance rejection controller (ADRC) for the rotational speed regulation of the hydraulic motor and a sliding mode controller (SMC) for the thrust speed regulation of the hydraulic cylinder. Additionally, co-simulation analysis and intelligent simulation test bench experiments under drilling conditions were conducted. The experimental results indicate that during speed regulation in abruptly changing coal and rock formations, the steady-state average errors of the rotational and thrust speeds under the proposed strategy were 2.15 r/min and 0.35 mm/s, respectively, with maximum dynamic errors of 3.74 r/min and 0.81 mm/s. Compared to traditional PID and Fuzzy-PID control strategies, the proposed approach demonstrates a faster dynamic response and superior steady-state tracking accuracy, effectively meeting the requirements of complex drilling operations.