CN105221278A - Based on the rotary drilling rig control system of global power coupling - Google Patents
Based on the rotary drilling rig control system of global power coupling Download PDFInfo
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Abstract
The invention belongs to engineering machinery field, disclose a kind of rotary drilling rig control system based on global power coupling.Comprise: drilling tool, the drilling rod be connected with drilling tool, the unit head be connected with drilling rod, the hydraulic driving system be connected with unit head, hydraulic driving system comprises the oil hydraulic motor be connected with unit head, the hydrovalve be connected with oil hydraulic motor, the oil hydraulic pump be connected with hydrovalve, and the motor to be connected with oil hydraulic pump, also comprise the pressure transducer be connected with oil hydraulic pump; The speed probe be connected with motor; The throttle position switch be connected with the throttle of motor; The throttle position controller be connected with throttle position switch, the rotational speed governor be connected respectively with motor, speed probe, pressure transducer and throttle position switch.
Description
Technical field
The present invention relates to engineering machinery field, specifically a kind of rotary drilling rig control system based on global power coupling.
Background technique
Rotary drilling rig can complete bore operation in the foundation construction of multiple building.It has, and output torque is large, penetration rate operates well soon, flexibly, hole quality is high, the convenient plurality of advantages such as multiple drilling tool of arranging in pairs or groups.No matter be clay soil or sandy soil, be artificial backfill or the operating environment containing cobble, rubble, it can both well mate.
But rotary drilling rig, when constructing, because geological condition is complicated, load torque change is frequent, therefore can causes the fuel efficiency of motor not high, also make hydraulic system can not make full use of the output power of motor.
The power match loss of the rotary drilling rig caused thus not only can waste energy, and also can reduce the working life of equipment.
Summary of the invention
For above-mentioned shortcoming, the object of the present invention is to provide a kind of rotary drilling rig control system based on global power coupling, motor-oil hydraulic pump-load is integrally controlled, set up the rotary drilling rig control system based on global power coupling.
For achieving the above object, the embodiment of the present invention adopts following technological scheme to be achieved.
Based on the rotary drilling rig control system of global power coupling, described rotary drilling rig control system comprises drilling tool, the drilling rod be connected with described drilling tool, the unit head be connected with described drilling rod, the hydraulic driving system be connected with described unit head, described hydraulic system comprises the oil hydraulic motor be connected with described unit head, the hydrovalve be connected with described oil hydraulic motor, the oil hydraulic pump be connected with described hydrovalve, and the motor be connected with described oil hydraulic pump.
Described rotary drilling rig control system also comprises the pressure transducer be connected with described oil hydraulic pump, for obtaining the outlet pressure of described oil hydraulic pump; The speed probe be connected with described motor, for obtaining the actual speed of described motor; The throttle position switch be connected with the throttle of described motor, for obtaining the throttle position of described motor; The throttle position controller be connected with described throttle position switch, for regulating the throttle position of described motor, the rotational speed governor be connected respectively with described motor, described speed probe, described pressure transducer and described throttle position switch, for regulating the actual speed of described motor, match to make the absorbed power of the output power of described motor and described oil hydraulic pump.
Feature of the present invention and being further improved to:
(1) described pressure transducer detects the outlet pressure of described oil hydraulic pump, and described outlet pressure is passed to described rotational speed governor, to make described rotational speed governor according to described outlet pressure, judges the mode of operation of described motor; The mode of operation of described motor comprises dynamic mode, economic model and idling mode, and the dynamic mode of described motor, economic model and idling mode have the excursion of corresponding rotating speed of target, accelerator open degree and described rotating speed of target respectively.
(2) described rotational speed governor regulates the accelerator open degree of described motor according to the rotation speed feedback control of the mode of operation of described motor and described motor, thus regulates the actual speed of described motor; And utilize the rotation speed feedback control of described oil hydraulic pump to regulate described hydraulic pressure pump delivery, thus the absorbed power of the output power of described motor and described oil hydraulic pump is matched.
(3) control procedure of described controller comprises the steps:
A (), according to the outlet pressure of described oil hydraulic pump, judges the mode of operation of described motor, thus determine the excursion of the rotating speed of target of described motor, accelerator open degree and described rotating speed of target;
B () reads the actual speed of described motor by speed probe, and contrast with the rotating speed of target of the motor preset, according to the difference of described actual speed and described rotating speed of target, regulated by the accelerator open degree of described throttle position controller to described motor, make the actual speed of described motor in the excursion of described rotating speed of target;
C () utilizes the rotation speed feedback control of oil hydraulic pump, regulate described hydraulic pressure pump delivery, and the absorbed power of described oil hydraulic pump is mated with the output power of described motor.
Further, according to the outlet pressure of described oil hydraulic pump, judge that the mode of operation of described motor specifically comprises:
When the outlet pressure of described oil hydraulic pump is greater than rated working pressure and is less than or equal to default pressure cut off value, and when the stand-by period is greater than the default power stand-by period, described engine operation is in dynamic mode; The described stand-by period is the endurance that the outlet pressure of described oil hydraulic pump belongs to corresponding pressure range;
Or when the outlet pressure of described oil hydraulic pump is greater than pressure cut off value and the stand-by period is less than the default pressure cut off stand-by period and is greater than the default power stand-by period, described engine operation is in dynamic mode;
When the outlet pressure of described oil hydraulic pump is greater than rated working pressure and is less than or equal to default pressure cut off value, and when the stand-by period is less than the described default power stand-by period, described engine operation is in economic model;
Or when the outlet pressure of described oil hydraulic pump is greater than default idling setting pressure and is less than rated working pressure, described engine operation is in economic model;
Or when the outlet pressure of described oil hydraulic pump is less than default idling setting pressure and the stand-by period is less than the default idling stand-by period, described engine operation is in economic model;
When the outlet pressure of described oil hydraulic pump is less than described default idling setting pressure, and when the described stand-by period is more than or equal to the described default idling stand-by period, described engine operation is in idling mode;
Or when the outlet pressure of described oil hydraulic pump is greater than described pressure cut off value, and when the described stand-by period is greater than the default pressure cut off stand-by period, described engine operation is in idling mode.
Motor-oil hydraulic pump-load integrally controls by technological scheme of the present invention, the control mode of main employing has: the rotation speed feedback control acting on engine governor, the rotation speed feedback control acting on oil hydraulic pump and load limiting control, and for different stratum, the operating mode of rotary drilling rig is distinguished.Above-mentioned control strategy is combined, sets up the power matching scheme based on the overall situation.When the load, the output power of motor and the absorbed power of oil hydraulic pump can change thereupon, reach transient equiliblium, both can not make motor and cause flame-out because of overload, can not cause again power dissipation, realize the object of energy-conserving and environment-protective because of load too low.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The FB(flow block) of the global power match control strategy that Fig. 1 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technological scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention provides a kind of rotary drilling rig control system based on global power coupling, described rotary drilling rig control system comprises drilling tool, described drilling tool acts on load, the drilling rod be connected with described drilling tool, the unit head be connected with described drilling rod, the hydraulic driving system be connected with described unit head, described hydraulic driving system comprises the oil hydraulic motor be connected with described unit head, the hydrovalve be connected with described oil hydraulic motor, and the oil hydraulic pump to be connected with described hydrovalve, described oil hydraulic pump is connected with described motor.
Described rotary drilling rig control system also comprises the pressure transducer be connected with described oil hydraulic pump, for obtaining the outlet pressure of described oil hydraulic pump; The speed probe be connected with described motor, for obtaining the actual speed of described motor; The throttle position switch be connected with the throttle of described motor, for obtaining the throttle position of described motor; The throttle position controller be connected with described throttle position switch, for regulating the throttle position of described motor, the rotational speed governor be connected respectively with described motor, described speed probe, described pressure transducer and described throttle position switch, for regulating by controlling the actual speed of accelerator open degree to described motor, match to make the absorbed power of the output power of described motor and described oil hydraulic pump, reach stabilized (steady-state) speed simultaneously, avoid stopping working, save the object of oil consumption.
Wherein, described oil hydraulic motor is connected by pipeline with described hydrovalve, and described oil hydraulic pump is connected by pipeline with described motor.
It should be noted that, oil hydraulic pump comprises variable displacement pump and metering pump, and the embodiment of the present invention is described for the technological scheme of variable displacement pump to invention.
When the operating mode of described rotary drilling rig is different, the load acting on described rotary drilling rig drilling tool is different, thus after described drilling tool and drilling rod act on hydraulic system by unit head, makes the outlet pressure of described oil hydraulic pump different; Described pressure transducer detects the outlet pressure of described oil hydraulic pump, and described outlet pressure is passed to described rotational speed governor, to make described rotational speed governor according to described outlet pressure, judge the mode of operation of described motor, thus determine rotating speed of target and the accelerator open degree of described motor; The mode of operation of described motor comprises dynamic mode, economic model and idling mode, and often kind of mode of operation of described motor has the excursion of corresponding rotating speed of target, accelerator open degree and rotating speed of target.
Rotational speed governor regulates the accelerator open degree of described motor according to the rotation speed feedback control of the mode of operation of described motor and described motor, thus regulates the actual speed of described motor.And utilize the rotation speed feedback control of variable displacement pump to regulate described variable pump delivery, thus the absorbed power of the output power of described motor and described oil hydraulic pump is matched.
It should be noted that, technical solution of the present invention also adopts the pressure cut off of the speed regulating control of described motor, described variable displacement pump to control and the power limitation control of described variable displacement pump, realizes the power match of described load, described variable displacement pump and described motor.
As shown in Figure 1, the signal wherein selecting pressure transducer to collect, as a loop, adopts the signal of speed probe acquisition as another loop to the global power match control strategy that the embodiment of the present invention proposes.
Exemplary, as shown in Figure 1, the concrete steps of the global power match control strategy that the embodiment of the present invention provides are:
(1) predetermined system pattern, can be set to manual mode or automatic mode.
If manual mode, then manually select the output mode of motor (mode of operation of namely starting), comprise: dynamic mode is (exemplary, rotating speed of target n=2100r/min), economic model is (exemplary, rotating speed of target n=1800r/min), idling mode (exemplary, rotating speed of target n=900r/min).
If automatic mode, then according to the outlet pressure of variable displacement pump, judge the mode of operation of described motor, seen from the above description, the rotating speed of target that the different mode of operation of described motor is corresponding different, the accelerator open degree that described different rotating speed of target is corresponding different.When system works, motor and variable displacement pump are rigidly connected, and therefore the rotating speed of motor is equal with the rotating speed of variable displacement pump.The outlet pressure of variable displacement pump is determined by load, by pressure transducer detected pressures signal, by pressure signal transmission to rotational speed governor, the output mode of motor is judged according to the pattern rules preset, thus determine rotating speed of target and the accelerator open degree of motor, make engine operation on best operating point.
Wherein, judge according to the outlet pressure of variable displacement pump that the specific rules of the mode of operation of motor is as follows:
When the outlet pressure of described oil hydraulic pump is greater than rated working pressure and is less than or equal to default pressure cut off value, and when the stand-by period is greater than the default power stand-by period, described engine operation is in dynamic mode; The described stand-by period is the endurance that the outlet pressure of described oil hydraulic pump belongs to corresponding pressure range;
Or when the outlet pressure of described oil hydraulic pump is greater than pressure cut off value and the stand-by period is less than the default pressure cut off stand-by period and is greater than the default power stand-by period, described engine operation is in dynamic mode;
When the outlet pressure of described oil hydraulic pump is greater than rated working pressure and is less than or equal to default pressure cut off value, and when the stand-by period is less than the described default power stand-by period, described engine operation is in economic model;
Or when the outlet pressure of described oil hydraulic pump is greater than default idling setting pressure and is less than rated working pressure, described engine operation is in economic model;
Or when the outlet pressure of described oil hydraulic pump is less than default idling setting pressure and the stand-by period is less than the default idling stand-by period, described engine operation is in economic model;
When the outlet pressure of described oil hydraulic pump is less than described default idling setting pressure, and when the described stand-by period is more than or equal to the described default idling stand-by period, described engine operation is in idling mode;
Or when the outlet pressure of described oil hydraulic pump is greater than described pressure cut off value, and when the described stand-by period is greater than the default pressure cut off stand-by period, described engine operation is in idling mode.
You need to add is that, judge that according to the inlet pressure ranges of variable displacement pump the rule of the mode of operation of motor can artificially set.
The power of system is provided by motor, motor is rigidly connected to variable displacement pump, the actual speed value of system Real-Time Monitoring motor, make it to compare with corresponding rotating speed of target value, obtain rotating speed difference DELTA n, rotational speed governor by difference signal controlling mechanism by electrical signal controlled variable pump after process, thus changes variable pump delivery, and the absorbed power of variable displacement pump is changed along with the change of engine output.Now, engine power still remains unchanged, and the rotating speed of motor equals the rotating speed at best operating point place, and the power curve by variable displacement pump pulls to the engine power curve (invariable power curve) of setting.
When load increases, the outlet pressure of variable displacement pump can raise, absorbed power will increase, the rotating speed of motor then declines because of the increase of moment of torsion, now systems axiol-ogy is to the change of engine speed, thus reduces variable pump delivery, reduces the absorbed power of variable displacement pump, the absorbed power of variable displacement pump and the output power of motor are matched, and vice versa.
Exemplary, as shown in Figure 1, by the actual speed reading motor that constantly circulates, calculate the difference △ n of actual speed and rotating speed of target, carry out real-time Moderator Variable pump delivery.
Concrete, obtain the rotating speed of target of motor and the difference DELTA n of actual speed, adopt variable displacement pump rotation speed feedback control Moderator Variable pump delivery, the absorbed power of variable displacement pump is changed along with the change of engine output.
When the rotating speed of target of motor and the difference DELTA n of actual speed are greater than or equal to ultimate load limit value, be 0 by load limiting control Moderator Variable pump delivery, finally enable the absorbed power of variable displacement pump change along with the change of engine output.
When the rotating speed of target of motor and the difference DELTA n of actual speed are greater than or equal to Speed sensing limit value, regulate accelerator open degree by speed regulator rotation speed feedback control, the absorbed power of variable displacement pump is changed along with the change of engine output.
(2) no matter be manual mode or automatic mode, outside controlling the divided working status of motor, other power match also must be taked to control.Wherein for the fluctuation of motor operationally rotating speed, take the rotation speed feedback control acting on engine governor, the actual speed value of motor is read by speed probe, and contrast with rotating speed of target value, the difference of actual speed value and rotating speed of target value determines accelerator open degree, and motor is always worked near rotating speed of target.
You need to add is that, the corresponding corresponding rotating speed of target of often kind of mode of operation of motor, there is relation between rotating speed of target and accelerator open degree, namely therefore determine engine working mode is the size determining engine throttle initial opening.And the rotation speed feedback control of motor is when the rotating speed of motor has fluctuation, engine throttle opening is finely tuned, such as accelerator open degree is divided into 1 ~ 20 different opening, it is 18 that the mode of operation that divided working status is selected determines accelerator open degree, rotation speed feedback control determines to carry out plus-minus one grade according to the change of load to accelerator open degree, downshift can be added continuously if desired, but be no more than limit value (namely 1 ~ 20).
(3) carry out on the basis of invariable power adjustment in prior art to variable displacement pump, add the rotation speed feedback control and load limiting control that act on variable displacement pump, the swash plate angle of release of Moderator Variable pump thus controlled variable pump delivery, enable the absorbed power of variable displacement pump mate the output power of motor.
Further, Engine-variable Pump System-load integrally controls by the embodiment of the present invention.The control mode of main employing has: the rotation speed feedback control acting on engine governor, the rotation speed feedback control acting on variable displacement pump and load limiting control, and for different stratum, the operating mode of rotary drilling rig is distinguished, motor is operated on best operating point all the time.
Above-mentioned control strategy is combined, sets up the control program based on global power coupling.When the load variations of rotary drilling rig, the output power of motor and the absorbed power of variable displacement pump can change thereupon, reach transient equiliblium, both can not make motor and cause flame-out because of overload, power dissipation can not be caused because of load too low again, thus achieve the object of energy-conserving and environment-protective.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (5)
1. based on the rotary drilling rig control system of global power coupling, described rotary drilling rig control system comprises drilling tool, the drilling rod be connected with described drilling tool, the unit head be connected with described drilling rod, the hydraulic driving system be connected with described unit head, described hydraulic driving system comprises the oil hydraulic motor be connected with described unit head, the hydrovalve be connected with described oil hydraulic motor, the oil hydraulic pump be connected with described hydrovalve, and the motor be connected with described oil hydraulic pump, it is characterized in that
Described rotary drilling rig control system also comprises the pressure transducer be connected with described oil hydraulic pump, for obtaining the outlet pressure of described oil hydraulic pump; The speed probe be connected with described motor, for obtaining the actual speed of described motor; The throttle position switch be connected with the throttle of described motor, for obtaining the throttle position of described motor; The throttle position controller be connected with described throttle position switch, for regulating the throttle position of described motor, the rotational speed governor be connected respectively with described motor, described speed probe, described pressure transducer and described throttle position switch, for regulating by controlling the actual speed of accelerator open degree to described motor, match to make the absorbed power of the output power of described motor and described oil hydraulic pump.
2. the rotary drilling rig control system based on global power coupling according to claim 1, is characterized in that,
Described pressure transducer detects the outlet pressure of described oil hydraulic pump, and described outlet pressure is passed to described rotational speed governor, to make described rotational speed governor according to described outlet pressure, judges the mode of operation of described motor; The mode of operation of described motor comprises dynamic mode, economic model and idling mode, and the dynamic mode of described motor, economic model and idling mode have the excursion of corresponding rotating speed of target, accelerator open degree and described rotating speed of target respectively.
3. the rotary drilling rig control system based on global power coupling according to claim 1 and 2, is characterized in that,
Described rotational speed governor regulates the accelerator open degree of described motor according to the rotation speed feedback control of the mode of operation of described motor and described motor, thus regulates the actual speed of described motor; And utilize the rotation speed feedback control of oil hydraulic pump to regulate described hydraulic pressure pump delivery, thus the absorbed power of the output power of described motor and described oil hydraulic pump is matched.
4. the rotary drilling rig control system based on global power coupling according to claim 3, it is characterized in that, the control procedure of described rotational speed governor comprises the steps:
(1) according to the outlet pressure of described oil hydraulic pump, judge the mode of operation of described motor, thus determine the excursion of the rotating speed of target of described motor, accelerator open degree and described rotating speed of target;
(2) actual speed of described motor is read by speed probe, and contrast with the rotating speed of target of the motor preset, according to the difference of described actual speed and described rotating speed of target, regulated by the accelerator open degree of described throttle position controller to described motor, make the actual speed of described motor in the excursion of described rotating speed of target;
(3) utilize rotation speed feedback control and the load limiting control of oil hydraulic pump, regulate described hydraulic pressure pump delivery, the absorbed power of described oil hydraulic pump is mated with the output power of described motor.
5. the rotary drilling rig control system based on global power coupling according to claim 4, is characterized in that, according to the outlet pressure of described oil hydraulic pump, judge that the mode of operation of described motor specifically comprises:
When the outlet pressure of described oil hydraulic pump is greater than rated working pressure and is less than or equal to default pressure cut off value, and when the stand-by period is greater than the default power stand-by period, described engine operation is in dynamic mode; The described stand-by period is the endurance that the outlet pressure of described oil hydraulic pump belongs to corresponding pressure range;
Or when the outlet pressure of described oil hydraulic pump is greater than pressure cut off value and the stand-by period is less than the default pressure cut off stand-by period and is greater than the default power stand-by period, described engine operation is in dynamic mode;
When the outlet pressure of described oil hydraulic pump is greater than rated working pressure and is less than or equal to default pressure cut off value, and when the stand-by period is less than the described default power stand-by period, described engine operation is in economic model;
Or when the outlet pressure of described oil hydraulic pump is greater than default idling setting pressure and is less than rated working pressure, described engine operation is in economic model;
Or when the outlet pressure of described oil hydraulic pump is less than default idling setting pressure and the stand-by period is less than the default idling stand-by period, described engine operation is in economic model;
When the outlet pressure of described oil hydraulic pump is less than described default idling setting pressure, and when the described stand-by period is more than or equal to the described default idling stand-by period, described engine operation is in idling mode;
Or when the outlet pressure of described oil hydraulic pump is greater than described pressure cut off value, and when the described stand-by period is greater than the default pressure cut off stand-by period, described engine operation is in idling mode.
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| CN201510697145.6A CN105221278A (en) | 2015-10-23 | 2015-10-23 | Based on the rotary drilling rig control system of global power coupling |
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