Nonlinear dynamics of a hydraulic rock drill model based on dry friction rock theory

In response to the instability issues occurring during the drilling operation of rock drilling machines, this paper studies the principle of hydraulic rock drilling machines, considering the impact of the buffer system on the shock characteristics, and establishes a four-degree-of-freedom physical model. The viscous and non-viscous modes are analyzed, and the periodic trajectories of the non-smooth dynamical system's mathematical model are segmented. Using the pseudo-arclength continuation method and Floquet theory, the buffer pressure is treated as a control parameter to study the dynamic characteristics of multi-attractor coexistence in the buffer systemf. Multistable attractors cause the rock drill to switch between multiple steady states, and external disturbances allow the system to jump from one steady state to another. Simulation shows that in order for the rock drill to operate on a period-1 trajectory,d1should be selected between 0.2 and 0.225. The correctness of the drilling dynamics model is validated through laser testing.