CN104555741A - Main winch control system of rotary drilling rig and rotary drilling rig - Google Patents
Main winch control system of rotary drilling rig and rotary drilling rig Download PDFInfo
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- CN104555741A CN104555741A CN201410852158.1A CN201410852158A CN104555741A CN 104555741 A CN104555741 A CN 104555741A CN 201410852158 A CN201410852158 A CN 201410852158A CN 104555741 A CN104555741 A CN 104555741A
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- 238000005553 drilling Methods 0.000 title claims abstract description 40
- 238000005381 potential energy Methods 0.000 claims abstract description 23
- 238000011084 recovery Methods 0.000 claims abstract description 11
- 239000003921 oil Substances 0.000 claims description 124
- 238000006073 displacement reaction Methods 0.000 claims description 38
- 239000010720 hydraulic oil Substances 0.000 claims description 17
- 238000005265 energy consumption Methods 0.000 abstract description 10
- 238000004891 communication Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 239000012530 fluid Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the technical field of engineering vehicles, and discloses a rotary drilling rig main winch control system and a rotary drilling rig, wherein the rotary drilling rig main winch control system comprises: the main winch drives the hydraulic circuit, the potential energy recovery system, the rotating speed sensor and the control device; the potential energy recovery system comprises a variable motor and a flywheel, the control device enables the flywheel to store energy below the drill rod by controlling the communication direction between the driving motor and the variable motor, and the flywheel does work when the drill rod rises. According to the technical scheme, the potential energy stored by the flywheel is released when the drill rod ascends, so that the energy consumption of the rotary drilling rig is reduced, and the energy is saved.
Description
Technical Field
The invention relates to the technical field of engineering vehicles, in particular to a rotary drilling rig main winch control system and a rotary drilling rig.
Background
In recent years, with the trend of increasing the shortage of energy and the price, energy-saving and consumption-reducing plans are launched by various countries, and engineering machinery is taken as a big energy-consuming household for the first time. Aiming at the rotary excavating machine in the engineering machinery, when the rotary excavating machine is used, a drill rod needs to be put down for work, after the work is finished, the drill rod needs to be lifted up, and due to the fact that the weight of the drill rod is large, in the whole process of putting down and lifting, large energy needs to be consumed for control.
Disclosure of Invention
The invention provides a main winch control system of a rotary drilling rig, which is used for reducing the energy consumption of the rotary drilling rig and further saving energy.
The invention provides a rotary drilling rig main winch control system, which comprises: the main winch drives the hydraulic circuit, the potential energy recovery system and the control device; wherein,
the main hoist driving hydraulic circuit includes: the driving motor is used for driving the main winch to lift or lower;
the potential energy recovery system comprises: the flywheel is connected with a rotating shaft of the variable motor; the variable motor is communicated with the driving motor through a hydraulic oil circuit with a second reversing valve, when the drill rod is lowered, the second control valve is located at a first working position, and the driving motor drives the variable motor to rotate; when the drill rod is lowered to the lowest position, the second reversing valve is in a second working position, and the driving motor is disconnected with the variable motor; when the drill rod rises, the reversing valve is in a third working position, and the variable motor drives the driving motor to rotate under the driving of the flywheel to drive the drill rod to rise;
when the drill rod is lowered, the control device controls the second reversing valve to be in a first working position; when the drill rod reaches the lowest position, controlling the second reversing valve to be in a second working position; and when the drill rod ascends, controlling the second reversing valve to be in a third working position.
According to the technical scheme, the flywheel energy storage equipment is connected with the hydraulic control system of the rotary drilling machine by adopting the hydraulic oil way and the reversing valve, the potential energy generated by descending of the drill rod is stored by adopting the flywheel, and the potential energy stored by the flywheel is released when the drill rod ascends, so that the energy consumption of the rotary drilling machine is reduced, and the energy is saved.
Preferably, the method further comprises the following steps,
a rotation speed sensor for detecting a rotation speed of the flywheel;
the high-pressure oil path and the low-pressure oil path are selectively communicated with the two oil ports of the driving motor through a first reversing valve;
when the drill rod ascends, the control device is further used for controlling the second reversing valve to be in a first working position when the received flywheel rotating speed is smaller than a set rotating speed, controlling the first reversing valve to communicate the high-pressure oil path and the low-pressure oil path with the driving motor and enabling the driving motor to drive the drill rod to ascend.
Preferably, the control device comprises a rotating speed observer, a PID controller and a disturbance compensator; wherein,
the rotating speed observer is used for calculating the actual rotating speed of the driving motor according to the detected rotating speed of the flywheel and the relation that the flow rates of the variable motor and the driving motor are equal;
and the PID controller is used for controlling the disturbance compensator to adjust the displacement of the variable displacement motor according to the difference value between the obtained actual rotating speed of the driving motor and the set target rotating speed of the driving motor.
Preferably, the potential energy recovery system further comprises:
two pressure sensors for respectively detecting oil pressures of two oil ports of the variable motor;
and the disturbance compensator is also used for calculating and adjusting the displacement of the variable motor according to the difference value of the pressures detected by the two pressure sensors and the relation that the product of the rotation speed of the driving motor and the time change rate and the rotational inertia of the connection of the variable motor and the flywheel is equal to the product of the pressure difference of the two oil ports of the variable motor and the displacement of the variable motor.
Preferably, the two oil ports of the variable displacement motor are respectively communicated with the oil tank through one-way conduction valves. The stability of the whole device is improved.
Preferably, an overflow oil path is further provided on a hydraulic oil path between the variable displacement motor and the second directional control valve. The stability of the whole device is improved.
Preferably, the first reversing valve is an O-shaped three-position four-way solenoid valve, a first oil port and a second oil port of the O-shaped three-position four-way solenoid valve are respectively communicated with two oil ports of the driving motor, and a third oil port and a fourth oil port are respectively communicated with the high-pressure oil path and the low-pressure oil path;
the second reversing valve is an M-shaped three-position four-way electromagnetic change valve, a first oil port and a second oil port of the M-shaped three-position four-way electromagnetic valve are respectively communicated with two oil ports of the variable motor, a third oil port and a fourth oil port are respectively communicated with two oil ports of the driving motor, and when the M-shaped three-position four-way electromagnetic valve is located at a middle position, the first oil port and the second oil port are communicated inside the M-shaped three-position four-way valve.
Preferably, the rotating shaft of the variable displacement motor is connected with the flywheel through a clutch. The energy consumption of the flywheel is reduced.
Preferably, the control device is in signal connection with the clutch, and controls the clutch to disconnect the connection between the flywheel and the rotating shaft when the second control valve disconnects the connection between the variable displacement motor and the driving motor. The energy consumption of the flywheel is reduced.
The invention also provides a rotary drilling rig which comprises any one of the rotary drilling rig main winch control systems. According to the technical scheme, the potential energy stored by the flywheel is released when the drill rod ascends, so that the energy consumption of the rotary drilling rig is reduced, and the energy is saved.
Drawings
Fig. 1 is a system diagram of a main winch control system of a rotary drilling rig according to an embodiment of the present invention;
fig. 2 is a control flow chart of a main winch control system of a rotary drilling rig according to an embodiment of the present invention;
FIG. 3 is a diagram of the mutual conversion between potential energy of the drill pipe and the drilling tool and kinetic energy of the flywheel;
fig. 4 is a system diagram of another rotary drilling rig main winch control system according to an embodiment of the present invention;
fig. 5 is a control flow chart of another rotary drilling rig main winch control system according to an embodiment of the present invention.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, fig. 1 is a system diagram of a main winch control system of a rotary drilling rig according to an embodiment of the present invention.
The embodiment of the invention provides a main winch control system of a rotary drilling rig, which comprises: a main winch driving hydraulic circuit, a potential energy recovery system and a control device 10; wherein,
the main hoist driving hydraulic circuit includes: a driving motor 2 for driving the main winch to lift or lower;
the potential energy recovery system includes: a variable motor 7 and a flywheel 9 connected with a rotating shaft of the variable motor 7; the variable motor 7 is communicated with the driving motor 2 through a hydraulic oil way with a second reversing valve 3, when the drill rod is lowered, the second control valve is located at a first working position, and the driving motor 2 drives the variable motor 7 to rotate; when the drill rod is placed to the lowest position, the second reversing valve 3 is located at the second working position, the connection between the driving motor 2 and the variable motor 7 is disconnected, and an oil path connected with the variable motor 7 forms a loop through the second reversing valve 3; when the drill rod rises, the reversing valve is in a third working position, and the variable motor 7 is driven by the flywheel 9 to drive the driving motor 2 to rotate so as to drive the drill rod to rise;
when the drill rod is lowered, the control device 10 controls the second reversing valve 3 to be in the first working position; when the drill rod reaches the lowest position, controlling the second reversing valve 3 to be at a second working position; and when the drill rod rises and the rotating speed of the flywheel 9 detected by the rotating speed sensor 8 received by the control device 10 is greater than the set rotating speed, controlling the second reversing valve 3 to be in the third working position.
In the embodiment, the flywheel 9 is used for storing the potential energy of the descending drill rod, and when the drill rod ascends, the potential energy stored in the flywheel 9 is released, so that the energy consumption of the rotary drilling rig is reduced, and the energy is saved. When the drill rod is lifted, the control device 10 controls the second reversing valve 3 to communicate the hydraulic oil circuit between the variable motor 7 and the driving motor 2, and the hydraulic variable motor 7 is driven by the flywheel 9 to serve as a pump to drive the driving motor 2 to rotate, so that the drill rod is lifted.
In addition, in order to avoid that the drill rod cannot return to the initial position after the flywheel energy is consumed when the drill rod is lifted, the system preferably further comprises:
a rotation speed sensor 8, wherein the rotation speed sensor 8 is used for detecting the rotation speed of the flywheel 9;
a high-pressure oil path and a low-pressure oil path which are selectively communicated through two oil ports of the first reversing valve 1 and the driving motor 2;
when the drill rod ascends, the control device 10 is further used for controlling the second reversing valve 3 to be in the first working position when the received rotating speed of the flywheel 9 is smaller than the set rotating speed, and controlling the first reversing valve 1 to communicate the high-pressure oil path and the low-pressure oil path with the driving motor 2 and enable the driving motor 2 to drive the drill rod to ascend.
The control device 10 is used for controlling the transformation of the whole hydraulic oil circuit, so that the variable displacement motor 7 and the driving motor 2 are respectively used as a pump or a motor, and the stored energy of the flywheel 9 is stored and released out for working.
In addition, in order to avoid the situation that the oil path connected with the variable motor 7 is over-pressurized when changing. Two oil ports of the variable motor 7 are respectively communicated with the oil tank through one-way conduction valves, and an overflow oil path is further arranged on a hydraulic oil path between one of the oil ports of the variable motor 7 and the second reversing valve 3. Referring to fig. 1 together, in fig. 1, it can be seen that the flow direction of the check valve 6 is from the oil tank to the hydraulic oil circuit, so that the hydraulic oil circuit can obtain the oil supplemented in the oil tank, thereby preventing the change of the oil pressure in the hydraulic oil circuit from influencing the rotation of the variable displacement motor 7, and in addition, when the oil pressure of the hydraulic oil circuit is too large, the unloading can be performed through an overflow oil circuit, which includes an unloading oil circuit provided with an overflow valve 4. Therefore, the oil pressure can be unloaded, and the overhigh oil pressure in the hydraulic oil circuit is avoided.
In the above embodiment, the energy storage and stored energy of the flywheel 9 are used for changing directions of the variable motor 7 and the driving motor 2, specifically, the communication direction between the variable motor 7 and the driving motor 2 is controlled by the second directional valve 3, and the control of the driving motor 2 and the high-pressure oil path and the low-pressure oil path is controlled by the first directional valve 1, wherein the high-pressure oil path and the low-pressure oil path are used for providing subsequent power for the driving motor 2 after the energy stored in the flywheel 9 is released, so that the drill rod can be lifted to the initial position by enough power when the drill rod is lifted.
When the device is specifically arranged, the first reversing valve 1 is an O-shaped three-position four-way electromagnetic valve, a first oil port and a second oil port of the O-shaped three-position four-way electromagnetic valve are respectively communicated with two oil ports of the driving motor 2, and a third oil port and a fourth oil port are respectively communicated with a high-pressure oil path and a low-pressure oil path; the left position of the O-shaped three-position four-way valve is that a first oil port is communicated with a third oil port, a second oil port is communicated with a fourth oil port, the middle position is that the first oil port is disconnected with the third oil port, the second oil port is disconnected with the fourth oil port, the right position is that the first oil port is communicated with the fourth oil port, and the second oil port is communicated with the third oil port. And the communication mode of the high-pressure oil way and the low-pressure oil way with the driving motor 2 can be changed according to actual needs, so that the high-pressure oil way can drive the driving motor 2 to rotate and drive the drill rod to ascend. The high-pressure oil way can be communicated with an oil way of the pump, and the low-pressure oil way can be communicated with an oil tank. When the variable motor 7 is used for machining a drill rod, the first reversing valve 1 is located at the middle position, so that the influence of a high-pressure oil path and a low-pressure oil path on the machining of the flywheel 9 is avoided.
The second reversing valve 3 is an M-type three-position four-way electromagnetic valve, a first oil port and a second oil port of the M-type three-position four-way electromagnetic valve are respectively communicated with two oil ports of the variable motor 7, a third oil port and a fourth oil port are respectively communicated with two oil ports of the driving motor 2, and the first oil port and the second oil port are communicated inside the M-type three-position four-way valve when the M-type three-position four-way electromagnetic valve is located at a middle position. The left position of the M-shaped three-position four-way electromagnetic valve is that a first oil port is communicated with a third oil port, and a second oil port is communicated with a fourth oil port; the middle position is that the first hydraulic fluid port communicates with second hydraulic fluid port, and the right position is that the first hydraulic fluid port communicates with fourth hydraulic fluid port, and the second hydraulic fluid port communicates with the third hydraulic fluid port. In specific use, when the variable motor 7 is driven by the driving motor 2 to work and when the variable motor 7 drives the driving motor 2 to work, the communication direction of the second reversing valve 3 is changed, namely when the variable motor 7 is driven by the driving motor 2, if the second reversing valve 3 is positioned at the right position, when the driving motor 2 is driven by the variable motor 7, the second reversing valve 3 is positioned at the left position; when the variable displacement motor 7 is driven by the drive motor 2, if the second direction changing valve 3 is positioned at the left position, the second direction changing valve 3 is positioned at the right position when the drive motor 2 is driven by the variable displacement motor 7. The specific communication mode can be selected according to different situations. The only difference is that the direction of rotation of the flywheel 9 is changed.
In order to facilitate the control of the hydraulic oil circuit, and simultaneously, in order to ensure that the high-pressure oil circuit can continuously drive the drill rod to move after the stored energy of the flywheel 9 is consumed, the device realizes the control of the whole hydraulic system through the control device 10, and simultaneously realizes the detection of the drilling speed of the flywheel 9 through the rotating speed sensor 8. For the sake of facilitating an understanding of the overall solution, it is described in detail below with reference to fig. 2.
Referring to fig. 1 and 2 together, a control device 10 is connected to a pilot handle 11, and controls lowering and raising of the entire drill rod through the pilot handle 11. Specifically, the operator inputs a control signal through the pilot lever 11, and the control device 10 determines whether the information input from the pilot lever 11 is stopped, lowered, or raised, based on the control signal corresponding to the set position of the pilot lever 11. The control device 10 comprises a rotating speed observer, a PID controller in signal connection with the rotating speed observer and a disturbance compensator in signal connection with the PID controller; wherein, the rotating speed observer is in signal connection with a rotating speed sensor 8, and the disturbance compensator is in signal connection with a variable motor 7; the rotating speed observer calculates the actual rotating speed of the driving motor 2 according to the detected rotating speed of the flywheel 9 and the relation that the flow rates of the variable motor 7 and the driving motor 2 are equal; the PID controller controls the disturbance compensator to adjust the displacement of the variable motor 7 according to the difference value between the obtained actual rotating speed of the driving motor 2 and the set target rotating speed of the driving motor 2.
For the convenience of understanding the control system provided in the present embodiment, the whole movement process of the drill rod is taken as an example for detailed description.
1) First, the pilot handle 11 inputs a command to lower the drill rod. The control device 10 controls the first reversing valve 1 to be positioned at the middle position to drive the motor 2 and high pressureThe oil path and the low-pressure oil path are disconnected, the second reversing valve 3 is located at the left position (or the right position), at the moment, the driving motor 2 is driven to rotate under the condition that the gravitational potential energy of the drill rod works, the driving motor 2 drives the variable motor 7 to move through the hydraulic oil path, the variable motor 7 drives the flywheel 9 to rotate, and therefore the gravitational potential energy of the drill rod is converted into the rotational potential energy of the flywheel 9, and the energy is stored through the rotation of the flywheel 9. In the whole process, the rotating speed of the flywheel 9 is detected by the rotating speed sensor 8, and the rotating speed of the driving motor 2 is obtained by the rotating speed observer, specifically, the rotating speed observer stores a corresponding relationship between the flow rate of the variable motor 7 and the flow rate of the driving motor 2, and the relationship is specifically: d1n1＝D2n2(ii) a Wherein n is1Is the actual rotational speed of the drive motor 2; n is2Is the actual rotational speed of the variable displacement motor 7; d1To the displacement of the drive motor 2; d2Is the displacement of the variable displacement motor 7. The actual rotating speed of the driving motor 2 is judged according to the equal relation of the displacement of the variable motor 7 and the displacement of the driving motor 2, and the PID controller controls the displacement of the variable motor 7 through the disturbance compensator according to the comparison result of the acquired actual rotating speed of the driving motor 2 and the set rotating speed so as to ensure the rotating speed of the driving motor 2, namely control the descending rotating speed of the drill rod.
In addition, in order to ensure that the rotation speeds of the driving motor 2 are kept consistent and avoid that the drill rod is faster and faster in the descending process, the potential energy recovery system also comprises two pressure sensors 5 which respectively detect the oil pressures of two oil ports of the variable motor 7; the disturbance compensator is in signal connection with the two pressure sensors 5 and is further used for calculating and adjusting the displacement of the variable motor according to the difference value of the pressures detected by the two pressure sensors 5 and the relation that the product of the rotation speed of the driving motor 2 and the time change rate and the rotational inertia of the connection of the variable motor 7 and the flywheel 9 is equal to the product of the pressure difference of the two oil ports of the variable motor 7 and the displacement of the variable motor 7. Specifically, the set correspondence is:wherein n is2As an embodiment of the variable displacement motor 7The inter-rotation speed; d2Is the displacement of the variable displacement motor 7; Δ P is a difference between pressures detected by the two pressure sensors 5, and as shown in fig. 1, P1 and P2 are oil differences between two ports of the variable displacement motor 7 detected by the two pressure sensors 5, respectively; j. the design is a square2To connect the moment of inertia between the variable displacement motor 7 and the flywheel 9,is the rate of change of the rotational speed of the drive motor 2 with time t. Therefore, the stable rotating speed of the drill rod can be ensured when the drill rod descends.
2) When the drill rod descends to a set position, the control device 10 controls the second reversing valve 3 to be located at the middle position, and at the moment, the flywheel 9 and the variable motor 7 are a closed system, namely the flywheel 9 drives the variable motor 7 to rotate. The entire system is isolated from the drive motor 2.
3) When the drill rod starts to rise, this is the phase in which the flywheel 9 is working. In this stage, the second directional valve 3 is located at the right position (or left position), the variable motor 7 starts to work on the driving motor 2 by the left pump, and the control device 10 firstly judges whether the rotation speed of the flywheel 9 meets the requirement when controlling the whole hydraulic system, so as to ensure that the energy stored in the flywheel 9 can drive the drill rod to ascend. Specifically, when the rotating speed of the flywheel 9 is greater than the set rotating speed, the control device 10 controls the second reversing valve 3 to communicate the variable motor 7 with the driving motor 2, so that the variable motor 7 drives the driving motor 2 to drive the drill rod to ascend, when the drill rod continuously consumes the energy stored in the flywheel 9, the rotating speed of the flywheel 9 gradually decreases, when the rotating speed is lower than the set rotating speed, it is indicated that the energy stored in the flywheel 9 cannot meet the energy required by the drill rod to ascend, at this time, the control device 10 controls the second reversing valve 3 to be located at the middle position, and controls the first reversing valve 1 to be located at the left position or the right position (the specific position is determined according to actual conditions), so that the high-pressure oil path is ensured to continuously act as power for providing the drill rod to. The drill rod can be smoothly lifted to the initial position. In the above control process, when the rotation speed of the flywheel 9 meets the requirement, other control manners of the control device 10 are similar to the control manner of the variable motor 7 in step 1), and are not described in detail herein. As can be seen from fig. 3, when the drill rod ascends, the energy stored in the flywheel 9 is converted into the kinetic energy of the drill rod ascending, so that the energy consumed when the drill rod ascends is reduced, and the energy is saved.
Wherein the set rotating speed is 300 rec/min. For this speed, it should be set according to flywheels 9 of different diameters. The present embodiment is given only one specific rotational speed limitation, and other rotational speeds may be applied to the present embodiment.
In the above embodiment, the flywheel 9 needs to overcome its own friction and the energy required by the variable displacement motor 7 during rotation when storing energy, and thus, the energy is continuously consumed. Thereby reducing the energy saving effect of the device provided by the embodiment.
As a preferred embodiment, as shown in fig. 4, it is preferable that the rotating shaft of the variable motor 7 is connected to the flywheel 9 through a clutch 12. This embodiment allows the flywheel 9 to be separated from the variable motor 7 by the clutch 12 after the flywheel 9 stores energy, and allows the flywheel 9 to communicate with the variable motor 7 when the flywheel 9 is manufactured, thereby reducing the energy consumed by the flywheel 9 during idling.
Preferably, the control device 10 is in signal connection with the clutch 12, and controls the clutch 12 to disconnect the flywheel 9 from the rotating shaft when the second control valve disconnects the variable displacement motor 7 from the drive motor 2.
With reference also to fig. 5, fig. 5 shows a control flow diagram of the control system with clutch 12, which is similar to the flow diagram shown in fig. 2, with the only difference that the control device 10 separates the flywheel 9 from the variable displacement motor 7 when the second reversing valve 3 is in the neutral position, i.e. when the flywheel 9 starts to freewheel, thus reducing the energy consumption of the flywheel 9, further improving the utilization of the energy stored in the flywheel 9 and further reducing the energy consumption of the entire device.
The embodiment of the invention also provides a rotary drilling rig, which comprises any one of the rotary drilling rig main winch control systems.
In the embodiment, the flywheel 9 is used for storing the potential energy of the descending drill rod, and when the drill rod ascends, the potential energy stored in the flywheel 9 is released, so that the energy consumption of the rotary drilling rig is reduced, and the energy is saved. When the drill rod is lifted, the control device 10 controls the second reversing valve 3 to communicate the hydraulic oil circuit between the variable motor 7 and the driving motor 2, and the hydraulic variable motor 7 is driven by the flywheel 9 to serve as a pump to drive the driving motor 2 to rotate, so that the drill rod is lifted.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a dig rig owner hoist control system soon which characterized in that includes: the main winch drives the hydraulic circuit, the potential energy recovery system and the control device; wherein,
the main hoist driving hydraulic circuit includes: the driving motor is used for driving the main winch to lift or lower;
the potential energy recovery system comprises: the flywheel is connected with a rotating shaft of the variable motor; the variable motor is communicated with the driving motor through a hydraulic oil circuit with a second reversing valve, when the drill rod is lowered, the second control valve is located at a first working position, and the driving motor drives the variable motor to rotate; when the drill rod is lowered to the lowest position, the second reversing valve is in a second working position, and the driving motor is disconnected with the variable motor; when the drill rod rises, the reversing valve is in a third working position, and the variable motor drives the driving motor to rotate under the driving of the flywheel to drive the drill rod to rise;
when the drill rod is lowered, the control device controls the second reversing valve to be in a first working position; when the drill rod reaches the lowest position, controlling the second reversing valve to be in a second working position; and when the drill rod ascends, controlling the second reversing valve to be in a third working position.
2. The main hoisting control system of the rotary drilling rig according to claim 1, further comprising,
a rotation speed sensor for detecting a rotation speed of the flywheel;
the high-pressure oil path and the low-pressure oil path are selectively communicated with the two oil ports of the driving motor through a first reversing valve;
when the drill rod ascends, the control device is further used for controlling the second reversing valve to be in a first working position when the received flywheel rotating speed is smaller than a set rotating speed, controlling the first reversing valve to communicate the high-pressure oil path and the low-pressure oil path with the driving motor and enabling the driving motor to drive the drill rod to ascend.
3. The main winch control system of the rotary drilling rig according to claim 2, wherein the control device comprises a rotation speed observer, a PID controller and a disturbance compensator; wherein,
the rotating speed observer is used for calculating the actual rotating speed of the driving motor according to the detected rotating speed of the flywheel and the relation that the flow rates of the variable motor and the driving motor are equal;
and the PID controller is used for controlling the disturbance compensator to adjust the displacement of the variable displacement motor according to the difference value between the obtained actual rotating speed of the driving motor and the set target rotating speed of the driving motor.
4. The main winch control system of the rotary drilling rig according to claim 3, wherein the potential energy recovery system further comprises:
two pressure sensors for respectively detecting oil pressures of two oil ports of the variable motor;
the disturbance compensator is also used for adjusting the displacement of the variable motor according to the difference value of the pressures detected by the two pressure sensors and the relation that the product of the change rate of the rotating speed and the time of the driving motor and the rotational inertia of the connection of the variable motor and the flywheel is equal to the product of the pressure difference of the two oil ports of the variable motor and the displacement of the variable motor.
5. The main winch control system of the rotary drilling rig according to claim 1, wherein two oil ports of the variable displacement motor are respectively communicated with an oil tank through one-way conduction valves.
6. The main winch control system of the rotary drilling rig according to claim 4, wherein an overflow oil path is further arranged on a hydraulic oil path between the variable displacement motor and the second reversing valve.
7. The main winch control system of the rotary drilling rig according to claim 2, wherein the first directional control valve is an O-shaped three-position four-way solenoid valve, a first oil port and a second oil port of the O-shaped three-position four-way solenoid valve are respectively communicated with two oil ports of the driving motor, and a third oil port and a fourth oil port are respectively communicated with the high-pressure oil path and the low-pressure oil path;
the second reversing valve is an M-shaped three-position four-way electromagnetic change valve, a first oil port and a second oil port of the M-shaped three-position four-way electromagnetic valve are respectively communicated with two oil ports of the variable motor, a third oil port and a fourth oil port are respectively communicated with two oil ports of the driving motor, and when the M-shaped three-position four-way electromagnetic valve is located at a middle position, the first oil port and the second oil port are communicated inside the M-shaped three-position four-way valve.
8. The main winch control system of the rotary drilling rig according to any one of claims 1 to 7, wherein a rotating shaft of the variable displacement motor is connected with the flywheel through a clutch.
9. The main hoisting control system of the rotary drilling rig according to claim 8, wherein the control device controls the clutch to disconnect the flywheel from the rotating shaft when the second control valve disconnects the variable displacement motor from the driving motor.
10. A rotary drilling rig, characterized by comprising the main winch control system of the rotary drilling rig according to any one of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN105864228A (en) * | 2016-05-06 | 2016-08-17 | 广西大学 | Control system for mechanical electrical and hydraulic speed for operation vehicle |
| CN106481772A (en) * | 2015-09-02 | 2017-03-08 | 熵零股份有限公司 | Hydraulic mechanism and apply its device |
| CN106545534A (en) * | 2016-01-21 | 2017-03-29 | 徐工集团工程机械股份有限公司 | Potential energy recycle and reuse system and rotary drilling rig |
| CN112593916A (en) * | 2020-12-07 | 2021-04-02 | 北京三一智造科技有限公司 | Drilling regulation and control method and device and rotary drilling equipment |
| CN112593917A (en) * | 2020-12-07 | 2021-04-02 | 北京三一智造科技有限公司 | Rotary drilling rig control method and device, rotary drilling rig and readable storage medium |
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