CN110965982B - Automatic control method and system for rotary drilling rig and rotary drilling rig equipment - Google Patents
Automatic control method and system for rotary drilling rig and rotary drilling rig equipment Download PDFInfo
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- CN110965982B CN110965982B CN201911420492.9A CN201911420492A CN110965982B CN 110965982 B CN110965982 B CN 110965982B CN 201911420492 A CN201911420492 A CN 201911420492A CN 110965982 B CN110965982 B CN 110965982B
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Classifications
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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
- 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
- E21B44/02—Automatic control of the tool feed
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- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides an automatic control method and system of a rotary drilling rig and rotary drilling rig equipment, wherein the automatic control method of the rotary drilling rig comprises the following steps: calculating an actual parameter change value from a preset first position to a second position in a movement preset time; and comparing the actual motion parameter variation value with the standard motion parameter variation value, and if the actual motion parameter variation value is not equal to the standard motion parameter variation value, increasing or reducing the magnitude value of the control current according to the adjustment relation between the speed of the motion parameter and the output control current. The invention provides an automatic control method and system of a rotary drilling rig and rotary drilling rig equipment, which can provide automatic control precision.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an automatic control method and system of a rotary drilling rig and rotary drilling rig equipment.
Background
The rotary drilling rig is a construction machine suitable for pore-forming operation in building foundation engineering. The rotary drilling rig mainly comprises a crawler-type chassis and a loading platform which is rotatably arranged on the chassis, wherein a drill rod is arranged on the loading platform. When the rotary drilling rig drills holes on the ground by using the drill rod, the drill rod needs to be moved out of the holes at intervals, the drill rod is driven to leave the drilling position by rotating the loading platform on the chassis, the rotation is stopped after the loading platform rotates to the unloading position, the excavated material is dropped off, and the loading platform is controlled to drive the drill rod to rotate to the drilling position.
The hydraulic handles are manually controlled to reach the positions of the drilled holes before, so that the labor intensity of workers is high, and the precision is low and the efficiency is low. For this reason, an automatic rotary positioning control system is adopted in the prior art, and the principle is as follows: the controller calculates relevant parameters (including direction and/or speed) of the current revolution according to the detected revolution information of the revolution motor, and controls the output current according to the relevant parameters of the current revolution to adjust the electric control regulating valve so as to adjust the relevant parameters of the revolution. Because the mass of the rotary drilling rig is larger and the inertia is larger, in the process of automatic rotation under the condition of larger rotation and larger rotation, the rotary drilling rig is difficult to stably stop when rotating to a zero position if the rotation speed is larger, and the time is consumed when the rotation speed is smaller, that is, the existing automatic rotation control method has the problem of low control precision, so that the ideal efficiency of automatic control cannot be achieved because the rotary drilling rig is difficult to stop at the zero position and does not consume much time.
Similarly, there is a problem that control accuracy is low in other control systems (such as depth control and inclination control) of a rotary drilling machine or the like.
Disclosure of Invention
The invention aims to provide an automatic control method and system of a rotary drilling rig, and the control precision is high.
Embodiments of the present invention are implemented as follows:
in one aspect of the embodiment of the invention, an automatic control method of a rotary drilling rig is provided, which comprises the following steps:
calculating an actual parameter change value from a preset first position to a second position in a movement preset time;
and comparing the actual motion parameter variation value with the standard motion parameter variation value, and if the actual motion parameter variation value is not equal to the standard motion parameter variation value, increasing or reducing the magnitude value of the control current according to the adjustment relation between the speed of the motion parameter and the output control current.
Preferably, the increasing or decreasing the magnitude of the control current according to the relation between the speed of the motion parameter and the output control current includes:
the magnitude of the control current is increased or decreased by a fixed value in accordance with the relation between the speed of the motion parameter and the output control current.
Preferably, the method further comprises:
judging whether the first position where the current position is located is in a first range, if so, starting automatic control movement, and moving for a preset time;
judging whether the second position after the movement is in a second range or not, if not, entering the step of comparing the actual movement parameter change value with the corresponding standard movement parameter change value, and repeatedly executing the automatic control method until the second position is in the second range; if so, the movement is complete.
Preferably, the method is applied in a rotary control motion, a depth control motion or a tilt control motion of a rotary drilling rig.
Preferably, if the actual motion parameter variation value is greater than the standard motion parameter variation value, the control current is reduced; and if the actual motion parameter variation value is smaller than the standard motion parameter variation value, increasing the control current.
As another aspect of the present invention, there is also provided an automatic control system of a rotary drilling rig, including a calculation module and a contrast adjustment module, wherein:
the calculation module is used for obtaining an actual parameter change value from a preset first position to a second position in a movement preset time;
the comparison and adjustment module is used for comparing the actual motion parameter change value with the standard motion parameter change value, and if the actual motion parameter change value is not equal to the standard motion parameter change value, the magnitude value of the control current is increased or decreased according to the adjustment relation between the speed of the motion parameter and the output control current.
Preferably, the contrast adjustment module is configured to increase or decrease the magnitude of the control current by a fixed value according to the adjustment relationship between the speed of the motion parameter and the output control current.
Preferably, the method further comprises:
the judging module is used for judging whether the first position where the current position is located is in a first range, if so, starting automatic control movement, and moving for a preset time; judging whether the second position after the movement is within a second range or not, if not, sending a starting signal to the comparison and adjustment module, and repeating the operation after the operation of the comparison and adjustment module is completed until the second position is within the second range; if the second position is judged to be in the second range, the current movement is completed.
Preferably, the system is applied in a swivel control motion, a depth control motion or a tilt control motion.
As another aspect of the present invention, the present invention also provides a rotary drilling rig apparatus, including a rotary drilling rig and the automatic control system of the rotary drilling rig provided by the present invention.
The beneficial effects of the embodiment of the invention include:
according to the automatic control method and system for the rotary drilling rig and the rotary drilling rig equipment, the actual parameter change value which moves from the preset first position to the second position for the preset time is calculated in the automatic control process; and if the actual motion parameter variation value is different from the standard motion parameter variation value, the magnitude value of the control current is increased or reduced according to the speed of the motion parameter and the adjustment relation of the output control current, and the adjustment process is increased in automatic control, so that the control precision of the automatic control is improved, and particularly, the problem that zero point instability is avoided and longer time is spent in the rotation process can be improved to a certain extent by setting a preset standard rotation angle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an automatic control method of a rotary drilling rig according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another automatic control method of the rotary drilling rig according to the embodiment of the invention;
FIG. 3 is a schematic block diagram of an automatic control system for a rotary drilling rig according to an embodiment of the present invention;
FIG. 4 is another schematic block diagram of an automatic control system for a rotary drilling rig according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of a rotary drilling rig apparatus according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Fig. 1 is a schematic flow chart of an automatic control method of a rotary drilling rig according to an embodiment of the present invention, referring to fig. 1, the automatic control method of the rotary drilling rig according to an embodiment of the present invention is applied to a controller including, but not limited to, a PID controller (Proportion Integration Differentiation, proportional-integral-derivative controller), and the automatic control method of the rotary drilling rig is applied to, but not limited to, a rotary control motion, a depth control motion or an inclination control motion of the rotary drilling rig.
The automatic control method of the rotary drilling rig comprises the following steps:
s1, calculating an actual parameter change value from a preset first position to a second position.
Specifically, if the motion is a swing control motion, the current actual parameter is a swing angle value; if the motion is depth control motion, the current actual parameter is a depth value; if the motion is the inclination angle control motion, the current actual parameter is an inclination angle value; of course, the movement may also be other control movements, which are not listed here.
More specifically, an actual parameter value corresponding to the first position or the second position is calculated from a pulse output from a rotation speed sensor mounted on the rotary motor, and an actual parameter variation value is calculated based on the actual parameter values of the first position and the second position. Hereinafter, a detailed description will be given by taking an example of application in the swing control motion.
Also specifically, the preset time may be set according to a specific exercise time parameter, for example, may be 2 seconds.
S2, comparing the actual motion parameter variation value with the standard motion parameter variation value, and if the actual motion parameter variation value is not equal to the standard motion parameter variation value, increasing or decreasing the magnitude value of the control current according to the adjustment relation between the motion parameter speed and the output control current.
Specifically, comparing the rotation angle from the first position to the second position with the corresponding standard motion parameter variation value, calculating the difference value of the rotation angle and the standard motion parameter variation value, taking an absolute value, and comparing the absolute value with the standard motion parameter variation value. In the slewing motion, the adjustment relation between the magnitude of the output control current and the slewing speed is a positive correlation relation, namely, the larger the control current is, the larger the slewing speed is, and the smaller the control current is, therefore, if the actual motion parameter change value is larger than the standard motion parameter change value, the magnitude of the control current is reduced, and if the actual motion parameter change value is smaller than the standard motion parameter change value, the magnitude of the control current is increased.
Preferably, the control current is increased or decreased by a fixed value in accordance with the adjustment relation of the speed of the motion parameter and the output control current. More preferably, the fixed value is 15 milliamps.
In summary, according to the automatic control method for the rotary drilling machine provided by the invention, the steps S1 and S2 are added in the automatic control process, and the adjustment process is added in the automatic control process, so that the control precision of the automatic control is improved, and particularly, the problems that zero point instability is avoided and time is not spent longer in the rotation process can be improved to a certain extent by setting the preset standard rotation angle.
Still preferably, as shown in fig. 2, the automatic control method of the rotary drilling machine includes the steps of:
s10, judging whether the first position where the current position is located is in a first range, if so, starting automatic control movement, and moving for a preset time;
s20, calculating an actual parameter change value from a preset first position to a second position in a movement preset time;
s30, judging whether the second position after the movement is in a second range or not, if not, entering a step S40, and then repeatedly executing the automatic control method until the second position is in the second range; if so, the movement is complete.
S40, comparing the actual motion parameter variation value with the corresponding standard motion parameter variation value, and if the actual motion parameter variation value is not equal to the standard motion parameter variation value, increasing or decreasing the magnitude value of the control current according to the adjustment relation between the speed of the motion parameter and the output control current.
It will be appreciated that the first range is defined as the range in which the parameters that start performing the automatic control movement are located, for example 0.5 deg. to 30 deg., 0.5 deg. -30 deg., which is the automatic control range; the second range is defined as the range in which the parameters that identify the completion of the movement, for example + -0.5 deg., are one of the parameters that affect the accuracy of the movement.
By means of the steps S10-S40, the rotation control is automatically carried out when the rotation angle is in the first range, and the rotation motion is considered to be completed when the rotation preset time reaches the second range; and if the preset time is still within the first range after the rotation, repeating the steps S10-S40 until the preset time is within the second range, and completing the rotation movement. In practical application, by reasonably setting the first range, the problems that the rotary drilling machine is difficult to smooth when rotating to a zero position when the rotating speed is high or the rotating speed is low and the cost is long due to the fact that the inertia of the rotary drilling machine is high can be further solved on the basis of the steps S1 and S2.
Example 2
Fig. 3 is a schematic block diagram of an automatic control system for a rotary drilling rig according to an embodiment of the present invention, and referring to fig. 3, the automatic control system for a rotary drilling rig according to an embodiment of the present invention is applied to, but not limited to, a rotary control motion, a depth control motion, or a tilt control motion. The system includes a calculation module 10 and a contrast adjustment module 20, wherein: the computing module 10 is configured to obtain an actual parameter variation value from a preset first position to a second position; the comparison and adjustment module 20 is configured to compare the actual motion parameter variation value with the standard motion parameter variation value, and if not, increase or decrease the magnitude of the control current according to the adjustment relationship between the speed of the motion parameter and the output control current.
Preferably, the contrast adjustment module 20 is configured to increase or decrease the magnitude of the control current by a fixed value according to the adjustment relation between the speed of the motion parameter and the output control current.
In summary, according to the automatic control system for the rotary drilling machine provided by the invention, by adding the calculation module 10 and the comparison adjustment module 20, the steps S1 and S2 can be added in the automatic control process, and the adjustment process can be added in the automatic control process, so that the control precision of the automatic control is improved, and in particular, the problems that zero point instability is avoided and the time is long can be improved to a certain extent in the rotation process by setting the preset standard rotation angle.
Preferably, as shown in fig. 4, the automatic control system of the rotary drilling rig further includes a judging module 30, where the judging module 30 is configured to judge whether the first position where the rotary drilling rig is currently located is within a first range, if yes, start automatic control movement, and move for a preset time; judging whether the second position after the movement is within a second range or not, if not, sending a starting signal to the contrast adjusting module 20 and repeating the operation after the operation of the contrast adjusting module 20 is completed until the second position is within the second range; if the second position is judged to be in the second range, the current movement is completed.
By means of the judging module 30, the rotation control is automatically performed when the rotation angle is within the first range, and the rotation motion is considered to be completed when the rotation preset time reaches the second range; and if the preset time is still within the first range after the rotation, repeating the steps S10-S40 until the second position is within the second range, and completing the rotation movement. In practical application, by reasonably setting the first range, the problems that the rotary drilling machine is difficult to smooth when rotating to a zero position when the rotating speed is high or the rotating speed is low and the cost is long due to the fact that the inertia of the rotary drilling machine is high can be further solved on the basis of the steps S1 and S2.
Example 3
Fig. 5 is a schematic block diagram of a rotary drilling rig apparatus according to an embodiment of the present invention, and referring to fig. 5, the rotary drilling rig apparatus according to an embodiment of the present invention includes a rotary drilling rig 100 and a rotary drilling rig automatic control system 200 according to embodiment 2.
Preferably, a display may be further included, which is connected to the automatic control system 200 to display the current rotation angle (i.e., the current motion parameter) in real time.
An automatic rotary switch is also included and connected with the automatic control system 200 for automatic rotary clearing, and when the automatic rotary switch is opened, the automatic control system 200 starts outputting control current.
The automatic control system 200 calculates the rotation angle according to the pulse number output by the rotation speed sensor and sends the rotation angle to the display for displaying.
The automatic control system 200 is connected with the valve core opening of the regulating valve according to the control current.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The automatic control method of the rotary drilling rig is characterized by comprising the following steps of:
judging whether the first position where the current position is located is in a first range, if so, starting automatic control movement, and moving for a preset time;
calculating an actual motion parameter change value from a preset first position to a second position;
judging whether the second position after the movement is in a second range or not, if not, comparing the actual movement parameter change value with the standard movement parameter change value, and if not, increasing or decreasing the magnitude value of the control current according to the adjustment relation between the speed of the movement parameter and the output control current until the second position is in the second range; if yes, the motion is completed, and when the automatic rotary switch is closed, automatic rotary zero clearing is performed;
if the actual motion parameter variation value is larger than the standard motion parameter variation value, the control current is reduced; and if the actual motion parameter variation value is smaller than the standard motion parameter variation value, increasing the control current.
2. The method of claim 1, wherein increasing or decreasing the magnitude of the control current according to the relationship between the speed of the motion parameter and the output control current comprises:
the magnitude of the control current is increased or decreased by a fixed value in accordance with the relation between the speed of the motion parameter and the output control current.
3. The automatic control system of the rotary drilling rig is characterized by comprising a calculation module and a contrast adjustment module, wherein:
the calculation module is used for obtaining an actual motion parameter change value from a preset first position to a second position in a preset time;
the comparison and adjustment module is used for comparing the actual motion parameter change value with the standard motion parameter change value, and if the actual motion parameter change value is not equal to the standard motion parameter change value, the magnitude value of the control current is increased or decreased according to the adjustment relation between the speed of the motion parameter and the output control current;
the judging module is used for judging whether the first position where the current position is located is in a first range, if so, starting automatic control movement, and moving for a preset time; judging whether the second position after the movement is within a second range or not, if not, sending a starting signal to the comparison and adjustment module, and repeating the operation after the operation of the comparison and adjustment module is completed until the second position is within the second range; if the second position is judged to be in the second range, the current movement is completed;
the automatic rotary switch of the rotary drilling rig equipment is connected with the automatic control system of the rotary drilling rig and is used for automatic rotary zero clearing;
if the actual motion parameter variation value is larger than the standard motion parameter variation value, the control current is reduced; and if the actual motion parameter variation value is smaller than the standard motion parameter variation value, increasing the control current.
4. A system as claimed in claim 3, wherein the contrast adjustment module is arranged to increase or decrease the magnitude of the control current by a fixed value in accordance with the speed of the motion parameter and the adjustment relationship of the output control current.
5. A rotary drilling rig device, comprising a rotary drilling rig, an automatic rotary switch and the rotary drilling rig automatic control system according to any one of claims 3-4, wherein the automatic rotary switch is connected with the rotary drilling rig automatic control system and is used for automatic rotary clearing, and when the automatic rotary switch is opened, the automatic control system starts to output control current.
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| CN201911420492.9A CN110965982B (en) | 2019-12-31 | 2019-12-31 | Automatic control method and system for rotary drilling rig and rotary drilling rig equipment |
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Families Citing this family (2)
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| CN113389538B (en) * | 2021-06-29 | 2023-07-11 | 北京三一智造科技有限公司 | Vehicle body rotation control method and system |
| 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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