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在分析自适应最优控制现状及其对液压凿岩品质影响的基础上，提出了液压凿岩机输出的四个参数全面自动适应岩石性质变化而达到最优匹配的全参数自适应最优控制方案。
Based on the analysis of the status quo of adaptive optimal control and its influence on the hydraulic rock drilling quality, an all-parameter adaptive optimal control scheme of four parameters output by hydraulic rock drill is fully adaptively adapted to the change of rock properties to achieve the optimal matching.