CN105402039A - Power matching method based on torque and rotation speed compound control for rotary drilling rig - Google Patents
Power matching method based on torque and rotation speed compound control for rotary drilling rig Download PDFInfo
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- CN105402039A CN105402039A CN201510962376.5A CN201510962376A CN105402039A CN 105402039 A CN105402039 A CN 105402039A CN 201510962376 A CN201510962376 A CN 201510962376A CN 105402039 A CN105402039 A CN 105402039A
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- value
- speed
- torque
- current
- main pump
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
- F02D2250/24—Control of the engine output torque by using an external load, e.g. a generator
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2700/00—Mechanical control of speed or power of a single cylinder piston engine
- F02D2700/07—Automatic control systems according to one of the preceding groups in combination with control of the mechanism receiving the engine power
Abstract
The invention discloses a power matching method based on torque and rotation speed compound control for a rotary drilling rig. The power matching method comprises the following steps: calculating target current according to pressure of a primary pump and a secondary pump and set target torque percentage; setting a speed drop value during interconversion of a rotation speed regulating module and a torque regulating module; when a real-time speed drop value of an engine is smaller than a set value, adopting the torque regulating module to carry out compensation regulation on target current; when the real-time speed drop value of the engine is greater than the set value, adopting the rotation speed regulating module to carry out compensation regulation on the target current; and outputting a final current value to an inverse proportion pressure-reducing valve to control a displacement regulator to change displacement of the primary pump, thereby controlling input power of the primary pump in real time. The power matching method is simple, reliable and high in practicability, has the characteristics of rotation speed control rapidity and torque control predictability, can effectively avoid severe speed drop of the engine, avoids a shut-down phenomenon, improves operation efficiency of the rotary drilling rig and guarantees operation stability of a control system.
Description
Technical field
The present invention relates to a kind of rotary drilling rig power matching method based on moment of torsion and rotating speed complex controll, the power match being applied to rotary drilling rig oil hydraulic pump and motor controls.
Background technique
Rotary drilling rig is the new high-tech product of piling machinery technical field, is the large foundation construction equipment of pore-forming operation in a kind of applicable building foundation engineering, is widely used in the foundation construction engineerings such as urban construction, highway bridge, tall building.Along with the development in market, the performance requirement of user to rotary drilling rig is more and more higher, not only requires that it can adapt to complex working condition, more should have energy conservation characteristic.But, improve the performance of rotary drilling rig, often ascribe the control characteristic improving control system to.The control system of rotary drilling rig mainly comprises the control system of electrical system, hydraulic system and motor.Rotary drilling rig relies on motor as power source, oil hydraulic pump is driven to rotate by coupling, oil hydraulic pump after over-rotation to hydraulic system output flow, flow is after different valve groups, to the final controlling element outputting power of each actuator, actuate actuators is moved, thus completes each mechanism action, as actions such as unit head rotation, rod boring, drilling rod pressurization, master file promote and transfer.Therefore, how to mate the relevant parameter of rotary drilling rig control system, make the performance of complete machine reach an optimum difficult problem often.
In the practice of construction process of rotary drilling rig, when running into the heavy load of big ups and downs, motor often occurs seriously falling speed, or even flame-out phenomenon.In order to head it off, the method adopted at present selects more powerful motor or the rotating speed of limit of utilization load control technique to motor to control.When selecting more powerful motor, the size of engine power needs to select according to the fluctuation situation of load.In order to safe and reliable, need the reserve capacity increasing considerably motor, thus force artificer to select the motor of relatively high power, but also bring more problem, as cost increase, power utilization is low, machine volume is huge and energy consumption is excessively high.Another kind method adopts ultimate load control technic, ultimate load control technic refers to that detecting motor in real time falls fast situation, and set a desired value, pawn after speed reaches this desired value, start to reduce hydraulic pressure pump delivery, thus reduce the absorbed power of hydraulic system, and then reduce the output power of motor, prevent engine overload.But, consider the fluctuation of speed characteristic that motor self is intrinsic, namely motor is in the normal process run, within the specific limits fall speed or speedup, all think engine work, therefore, when limits of application load control technique, what set desired value must be greater than that motor allows speed value, due to this specific restriction, in control procedure, create the hysteresis quality of control, thus the phenomenon that motor falls speed always can not get good control.
Summary of the invention
For above-mentioned prior art Problems existing, the object of this invention is to provide a kind of with low cost, simple to operate, motor effectively can be avoided seriously to fall speed and flame-out phenomenon, the rotary drilling rig power matching method based on moment of torsion and rotating speed complex controll of the operating efficiency of rotary drilling rig and the stability of control system can be improved.
For achieving the above object, the technical solution used in the present invention is: a kind of rotary drilling rig power matching method based on moment of torsion and rotating speed complex controll, comprises the following steps:
Step 1: system is carried out initialization, whether check system work is normal, if abnormal, do not perform downwards, and report to the police, if normally, continues downwards to perform;
Step 2: setting parameter: the target torque percentage of setting motor under each actual speed; Setting motor under each rotating speed of target allow speed value; Setting controller is to the initial output current value of inverse-proportion pressure reducing valve, and this current value is the dead band electric current of inverse-proportion pressure reducing valve;
Step 3: data capture: controller reads actual torque percentage and current actual speed by CAN from Engine ECU; Rotating speed of target is read by speed setting button; The pressure signal of main pump and auxiliary pump is read respectively by main pump pressure transducer, auxiliary pump pressure transducer;
Step 4: enter step 5.1; Simultaneously by the rotating speed of target that reads and actual speed poor, judge whether this difference exceedes and allow fast setting value under current goal rotating speed, if exceed setting value, enter step 5.2, if do not exceed setting value, then enter step 5.3;
Step 5.1: extract the target torque percentage under main pump pressure, auxiliary pump pressure and current actual speed, according to the relation of the target torque percentage under current actual speed and rotating speed-moment of torsion, obtain the theoretical output torque value under current actual speed, then according to formula:
T
tar＝ηT
the，
Calculate the target torque value T under current actual speed
tar, wherein, T
tarfor target torque value, T
thefor theoretical output torque value, η is the target torque percentage of setting;
According to the pressure-discharge capacity relation of auxiliary pump, draw auxiliary pump discharge capacity, then according to main pump pressure, auxiliary pump pressure, by formula
V
1＝(T
tar—KP
2V
2)/(KP
1)，
Calculate discharge of main pump V
1, wherein, V
1, V
2be respectively discharge of main pump, auxiliary pump discharge capacity, P
1, P
2be respectively main pump pressure, auxiliary pump pressure, K is conversion coefficient; Then, according to main pump delivery-control current curve relation, the output current value that target torque under the current actual speed of motor is corresponding can be obtained;
Step 5.2: enter rotational speed regulation module: extract rotating speed of target and actual speed, by poor for two values, and using this difference as feedback signal, carry out PID adjustment, output current signal, again judge that motor falls speed and whether exceedes permission setting value, if exceed setting value, then keep output current, if do not exceed setting value, then output current is reset;
Step 5.3: enter torque adjustment module: extract target torque percentage and actual torque percentage, by poor for two values, and using this difference as feedback signal, carry out PID adjustment, output current signal, again judge that motor falls speed and whether exceedes permission setting value, if exceed setting value, then output current is reset, if do not exceed setting value, then keep output current;
Step 6: the output current value of the output current value of step 5.1 and 5.2 or 5.3 is carried out superposition integration;
Step 7: the current signal after superposition is exported to inverse-proportion pressure reducing valve by controller, and then control discharge capacity regulator changes main pump delivery, thus control the input power of main pump in real time, return step 3 subsequently.
Method of the present invention is according to main pump, the pressure of auxiliary pump and the target torque percentage of setting, calculate target current, simultaneously, what setting speed adjustment module and torque adjustment module were changed mutually speed value, when motor fall in real time speed value be less than setting value time, torque adjustment module is adopted to compensate adjustment to target current, when motor fall in real time speed value be greater than setting value time, rotational speed regulation module is adopted to compensate adjustment to target current, final current value is exported to inverse-proportion pressure reducing valve, and then control discharge capacity regulator change discharge of main pump, thus control the input power of main pump in real time.The present invention is simple, reliable, practical, have the feature of the rapidity of rotating speed control and the predictability of moment of torsion control concurrently, that effectively can avoid motor seriously falls speed, avoids flame-out phenomenon, improve the operating efficiency of rotary drilling rig, ensure that the stable of control system.
Accompanying drawing explanation
Fig. 1 is hsrdware requirements structured flowchart of the present invention;
Fig. 2 is controlling party block diagram of the present invention;
Fig. 3 is schematic flow sheet of the present invention;
Fig. 4 is engine target torque setting schematic diagram of the present invention;
Fig. 5 is the main pump delivery of rotary drilling rig of the present invention-control current curve schematic diagram;
Fig. 6 is the pressure-discharge curve schematic diagram of rotary drilling rig auxiliary pump of the present invention.
In figure, 1. speed setting button, 2. controller, 3. Engine ECU, 4. inverse-proportion pressure reducing valve, 5. auxiliary pump pressure transducer, 6. discharge capacity regulator, 7. motor, 8. main pump, 9. auxiliary pump, 10. main pump pressure transducer, 11. hydraulic pilot handles, 12. multi-way valve, the hydraulic actuator of 13. each operation mechanisms.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1 be the hsrdware requirements structured flowchart of rotary drilling rig power matching method based on moment of torsion and rotating speed complex controll, hsrdware requirements comprise speed setting button 1, speed setting button 1 is connected with controller 2 by electric wire, described controller 2 is connected with Engine ECU 3 by CAN, described Engine ECU 3 is arranged on motor 7 as the controlling component of motor 7, motor 7 is by coupling and main pump 8, auxiliary pump 9 is connected, described main pump 8 and described auxiliary pump 9 are provided with main pump pressure transducer 10 and auxiliary pump pressure transducer 5, described main pump pressure transducer 10 is connected respectively by the input terminal of electric wire with controller 2 with described auxiliary pump pressure transducer 5, the Out let of described controller 2 is connected with the signal input of inverse-proportion pressure reducing valve 4, described inverse-proportion pressure reducing valve 4 is arranged on discharge capacity regulator 6, the discharge capacity that described discharge capacity regulator 6 is arranged on main pump 8 regulates on mouth, main pump 8 is connected with multi-way valve 12 respectively with the output oil port of auxiliary pump 9, the input hydraulic fluid port of described multi-way valve 12 connects hydraulic pressure pilot handle 11, the output oil port of described multi-way valve 12 is connected with the hydraulic actuator 13 of each operation mechanism respectively.
As shown in Figures 2 and 3, the concrete steps based on the rotary drilling rig power matching method of moment of torsion and rotating speed complex controll are as follows:
Step 1: system initialization: system is carried out initialization, whether check system work is normal, if abnormal, do not perform downwards, and report to the police, if normally, continues downwards to perform;
Step 2: setting parameter: the target torque percentage of setting motor 7 under each actual speed; Setting motor 7 under each rotating speed of target allow speed value; As shown in Figure 5, setting controller 2 is 200mA to the initial output current value of inverse-proportion pressure reducing valve 4, this current value is the dead band electric current of inverse-proportion pressure reducing valve 4, can obtain according to reality test, the reason adopting inverse-proportion pressure reducing valve 4 works as system malfunctions, when electric current cannot export, after inverse-proportion pressure reducing valve 4 is ineffective, still can ensure that the flow of main pump 8 exports, and not affect the action of associated actuator;
Step 3: data capture: controller 2 reads actual torque percentage and current actual speed by CAN from Engine ECU 3; Rotating speed of target is read by speed setting button 1; The pressure signal of main pump 8 and auxiliary pump 9 is read respectively by main pump pressure transducer 10, auxiliary pump pressure transducer 5;
Step 4: enter step 5.1; Simultaneously by the rotating speed of target that reads and actual speed poor, judge whether this difference exceedes and allow fast setting value under current goal rotating speed, if exceed setting value, enter step 5.2, if do not exceed setting value, then enter step 5.3;
Step 5.1: extract the target torque percentage under main pump pressure, auxiliary pump pressure and current actual speed, according to the target torque percentage under current actual speed and the rotating speed-torque relationship figure shown in Fig. 4, obtain the theoretical output torque value under current actual speed, then according to formula:
T
tar＝ηT
the，
Calculate the target torque value T under current actual speed
tar, wherein, T
tarfor target torque value, T
thefor theoretical output torque value, η is the target torque percentage of setting.
Pressure-discharge capacity the graph of a relation of the auxiliary pump 9 according to Fig. 6, draws auxiliary pump discharge capacity, then according to main pump pressure, auxiliary pump pressure, by formula:
V
1＝(T
tar—KP
2V
2)/(KP
1)，
Discharge of main pump V can be calculated
1, wherein, V
1, V
2be respectively discharge of main pump, auxiliary pump discharge capacity, P
1, P
2be respectively main pump pressure, auxiliary pump pressure, K is conversion coefficient; Then, the discharge capacity-control current curve relation of the main pump 8 according to Fig. 5, can obtain the output current that target torque under the current actual speed of motor 7 is corresponding;
Step 5.2: enter rotational speed regulation module: extract rotating speed of target and actual speed, by poor for two values, and using this difference as feedback signal, carry out PID adjustment, output current signal, again judge that motor falls speed and whether exceedes permission setting value, if exceed setting value, then keep output current, if do not exceed setting value, then output current is reset;
Step 5.3: enter torque adjustment module: extract target torque percentage and actual torque percentage, by poor for two values, and using this difference as feedback signal, carry out PID adjustment, output current signal, again judge that motor falls speed and whether exceedes permission setting value, if exceed setting value, then output current is reset, if do not exceed setting value, then keep output current;
Step 6: the output current value of the output current value of step 5.1 and 5.2 or 5.3 is superposed;
Step 7: export the current signal after superposition to inverse-proportion pressure reducing valve 4 by controller 2, and then the discharge capacity controlling that discharge capacity regulator 6 changes main pump 8, thus control the input power of main pump 8 in real time, return step 3 subsequently.
Claims (1)
1., based on a rotary drilling rig power matching method for moment of torsion and rotating speed complex controll, it is characterized in that, comprise the following steps:
Step 1: system is carried out initialization, whether check system work is normal, if abnormal, do not perform downwards, and report to the police, if normally, continues downwards to perform;
Step 2: setting parameter: setting motor (7) the target torque percentage under each actual speed; Setting motor (7) under each rotating speed of target allow speed value; Setting controller (2) is to the initial output current value of inverse-proportion pressure reducing valve (4), and this current value is the dead band electric current of inverse-proportion pressure reducing valve (4);
Step 3: data capture: controller (2) reads actual torque percentage and current actual speed by CAN from Engine ECU (3); Rotating speed of target is read by speed setting button (1); The pressure signal of main pump (8) and auxiliary pump (9) is read respectively by main pump pressure transducer (10), auxiliary pump pressure transducer (5);
Step 4: enter step 5.1; Simultaneously by the rotating speed of target that reads and actual speed poor, judge whether this difference exceedes and allow fast setting value under current goal rotating speed, if exceed setting value, enter step 5.2, if do not exceed setting value, then enter step 5.3;
Step 5.1: extract the target torque percentage under main pump pressure, auxiliary pump pressure and current actual speed, according to the relation of the target torque percentage under current actual speed and rotating speed-moment of torsion, obtain the theoretical output torque value under current actual speed, then according to formula:
T
tar＝ηT
the，
Calculate the target torque value T under current actual speed
tar, wherein, T
tarfor target torque value, T
thefor theoretical output torque value, η is the target torque percentage of setting;
According to the pressure-discharge capacity relation of auxiliary pump (9), draw auxiliary pump discharge capacity, then according to main pump pressure, auxiliary pump pressure, by formula
V
1＝(T
tar—KP
2V
2)/(KP
1)，
Calculate discharge of main pump V
1, wherein, V
1, V
2be respectively discharge of main pump, auxiliary pump discharge capacity, P
1, P
2be respectively main pump pressure, auxiliary pump pressure, K is conversion coefficient; Then, according to the discharge capacity-control current curve relation of main pump (8), the output current value that target torque under motor (7) current actual speed is corresponding can be obtained;
Step 5.2: enter rotational speed regulation module: extract rotating speed of target and actual speed, by poor for two values, and using this difference as feedback signal, carry out PID adjustment, output current signal, again judge that motor falls speed and whether exceedes permission setting value, if exceed setting value, then keep output current, if do not exceed setting value, then output current is reset;
Step 5.3: enter torque adjustment module: extract target torque percentage and actual torque percentage, by poor for two values, and using this difference as feedback signal, carry out PID adjustment, output current signal, again judge that motor falls speed and whether exceedes permission setting value, if exceed setting value, then output current is reset, if do not exceed setting value, then keep output current;
Step 6: the output current value of the output current value of step 5.1 and 5.2 or 5.3 is carried out superposition integration;
Step 7: the current signal after superposition is exported to inverse-proportion pressure reducing valve (4) by controller (2), and then control the discharge capacity that discharge capacity regulator (6) changes main pump (8), thus control the input power of main pump (8) in real time, return step 3 subsequently.
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| CN201510962376.5A CN105402039B (en) | 2015-12-21 | 2015-12-21 | A kind of rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll |
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| CN201510962376.5A CN105402039B (en) | 2015-12-21 | 2015-12-21 | A kind of rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll |
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| CN105402039A true CN105402039A (en) | 2016-03-16 |
| CN105402039B CN105402039B (en) | 2018-05-11 |
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| CN106194461A (en) * | 2016-07-07 | 2016-12-07 | 株洲中车时代电气股份有限公司 | The acquisition methods of engine speed modification method, system and corrected parameter, system |
| CN106468137A (en) * | 2016-03-29 | 2017-03-01 | 徐工集团工程机械股份有限公司 | A kind of control system improving rotary digging drill power head operating rate and method |
| CN106647837A (en) * | 2017-01-20 | 2017-05-10 | 中联重科股份有限公司 | Method and controller for controlling hydraulic system, and machine |
| CN107643716A (en) * | 2017-10-27 | 2018-01-30 | 南京农业大学 | A kind of tractor tilling depth automaton based on moment of torsion regulation |
| CN108678865A (en) * | 2018-04-19 | 2018-10-19 | 马鞍山唐拓凿岩机械有限公司 | A kind of control of engine speed circuit, the system and method for integral type all-hydraulic drill |
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| CN115584960A (en) * | 2022-10-13 | 2023-01-10 | 徐州徐工基础工程机械有限公司 | Control method and system for fixed-point automatic operation of rotary drilling rig |
| CN115584960B (en) * | 2022-10-13 | 2024-01-30 | 徐州徐工基础工程机械有限公司 | Control method and system for fixed-point automatic operation of rotary drilling rig |
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Effective date of registration: 20200611 Address after: 221000 the third industrial park, Xuzhou high tech Industrial Development Zone, Xuzhou City, Jiangsu Province Patentee after: Xuzhou Huili Machinery Manufacturing Co., Ltd Address before: 221000 21-6 hi tech building, Yang Shan Road, Xuzhou economic and Technological Development Zone, Xuzhou, Jiangsu Patentee before: XUZHOU YANDA TRANSMISSION AND CONTROL TECHNOLOGY Co.,Ltd. |