CN111708386B - Self-adaptive following system and method for long spiral soil cleaning device of rotary drilling rig - Google Patents
Self-adaptive following system and method for long spiral soil cleaning device of rotary drilling rig Download PDFInfo
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- CN111708386B CN111708386B CN202010584018.6A CN202010584018A CN111708386B CN 111708386 B CN111708386 B CN 111708386B CN 202010584018 A CN202010584018 A CN 202010584018A CN 111708386 B CN111708386 B CN 111708386B
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- controller
- pulse sensor
- soil
- soil cleaner
- cleaner
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- 239000002689 soil Substances 0.000 title claims abstract description 99
- 238000005553 drilling Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004140 cleaning Methods 0.000 title claims description 11
- 238000004804 winding Methods 0.000 claims abstract description 16
- 230000006978 adaptation Effects 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims 2
- 238000010276 construction Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- 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
- E21B12/00—Accessories for drilling tools
- E21B12/06—Mechanical cleaning devices
Landscapes
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a self-adaptive following system and a method of a long spiral soil cleaner of a rotary drilling machine, wherein the self-adaptive following system comprises a controller, a pulse sensor I, a pulse sensor II and a PWM electromagnetic valve; the pulse sensor I is arranged on the main winding motor and is electrically connected with the input end of the controller, the output end of the controller is connected with the soil cleaner motor through a PWM electromagnetic valve, and the pulse sensor II is arranged on the soil cleaner motor and is electrically connected with the controller; the pulse sensor I is used for detecting main roll information, the pulse sensor II is used for feeding back soil cleaner information, the controller calculates the adaptation speed of the soil cleaner through the main roll information and the feedback soil cleaner information, and the rotating speed of the soil cleaner motor is realized through controlling the PWM electromagnetic valve. The invention avoids the impact of the screw rod on the soil cleaner when the speed abrupt change is lightened, ensures that the soil cleaner runs in a safe area, and ensures the safety and the high efficiency of construction.
Description
Technical Field
The invention relates to the field of rotary drilling rigs, in particular to a self-adaptive following system of a rotary drilling long spiral soil cleaner. Background
The rotary drilling rig is a periodic and cyclic operation device for taking out soil, forming holes and filling piles, driving a rotary bucket to rotationally cut rock and soil by a drill rod, and then lifting the rock and soil to the outside of the holes for unloading. Compared with the traditional impact or rotary drilling and slurry circulation wall protection pore-forming technology, the rotary drilling has a plurality of advantages in technology, equipment and pore-forming technology, has multiple purposes, and can realize multiple drilling modes. The long spiral is one of the common multifunctional machine types, and because the long spiral is spiral drilling, the soil cleaning device is required to clean soil on the spiral drill rod when the long spiral is lifted, when the soil cleaning device follows too slowly, the soil cleaning device can be lifted by the drill rod to damage the lower part of the spiral track, the follow is too fast, the upper part of the spiral track can be interfered, the soil cleaning device is extremely easy to cause great impact, or the mechanical limit of the drill frame is damaged due to inertia, and even serious accidents of damage and fracture of the soil cleaning device or the spiral rod caused by untimely stopping can occur.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a self-adaptive following system of a long spiral soil cleaner of a rotary drilling bit. The invention is realized according to the following technical scheme:
the self-adaptive following system of the long spiral soil cleaner of the rotary drilling bit comprises a controller, a pulse sensor I, a pulse sensor II and a PWM electromagnetic valve; the pulse sensor I is arranged on the main winding motor and is electrically connected with the input end of the controller, the output end of the controller is connected with the soil cleaner motor through a PWM electromagnetic valve, and the pulse sensor II is arranged on the soil cleaner motor and is electrically connected with the controller; the pulse sensor I is used for detecting main roll information, the pulse sensor II is used for feeding back soil cleaner information, the controller calculates the adaptation speed of the soil cleaner through the main roll information and the feedback soil cleaner information, and the rotating speed of the soil cleaner motor is realized through controlling the PWM electromagnetic valve.
Further, the controller operates based on a speed comparison.
Further, the pulse sensor I is used for transmitting the main winding linear speed of the lifting or falling detection screw rod to the controller, the pulse sensor II is used for feeding back the linear speed of the soil cleaner to the controller, and the controller continuously adjusts the output current of the PWM electromagnetic valve of the soil cleaner through the difference between the main winding linear speed and the linear speed of the soil cleaner.
Further, the controller performs the operation based on a position comparison.
Further, the pulse sensor I is used for transmitting the main winding linear displacement of the lifting or falling detection screw rod to the controller, the pulse sensor II is used for feeding back the linear position of the soil cleaner to the controller, and the controller continuously adjusts the output current of the PWM electromagnetic valve of the soil cleaner through the difference between the main winding linear position and the linear position of the soil cleaner.
Further, the controller is regulated using PID settings given solenoid current.
The self-adaptive following method of the long spiral soil cleaner of the rotary drilling machine comprises the following steps:
detecting main roll information by a pulse sensor I mounted on a main roll motor;
feeding back the soil cleaner information through a pulse sensor II arranged on the soil cleaner motor;
the controller calculates the adaptation speed of the soil cleaner through the main roll information and the feedback soil cleaner information;
the rotating speed of the soil cleaning device motor is realized by controlling the PWM electromagnetic valve.
The invention has the beneficial effects that:
compared with the prior art, the method for adjusting PWM current output has the advantages that the speed of pulse detection is adopted for comparison, the response is faster, the short-time following performance is good, the position comparison eliminates the tiny errors generated in the running process, and the running accuracy of the soil cleaner is ensured; the invention not only eliminates the accumulated error in the running process of the soil cleaner by using pulse sensing, but also can ensure that the soil cleaner can well follow the acceleration and deceleration of the main coil, thereby avoiding the abrasion of the screw rod or the damage of the soil cleaner caused by inaccurate position of the soil cleaner due to the accumulated error, ensuring the intact equipment and ensuring the safety of construction.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a closed-loop control of speed in accordance with the present invention;
fig. 2 is a schematic diagram of displacement closed-loop control according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention become more apparent, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting 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. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The self-adaptive following system of the long spiral soil cleaner of the rotary drilling bit comprises a controller, a pulse sensor I, a pulse sensor II and a PWM electromagnetic valve; the pulse sensor I is arranged on the main winding motor and is electrically connected with the input end of the controller, the output end of the controller is connected with the soil cleaner motor through a PWM electromagnetic valve, and the pulse sensor II is arranged on the soil cleaner motor and is electrically connected with the controller; the pulse sensor I is used for detecting main roll information, the pulse sensor II is used for feeding back soil cleaner information, the controller calculates the adaptation speed of the soil cleaner through the main roll information and the feedback soil cleaner information, and the rotating speed of the soil cleaner motor is realized through controlling the PWM electromagnetic valve.
As shown in fig. 1, the spiral drill rod is lifted and lowered into linear displacement motion, the soil cleaner is rotated and displaced, and the rotating speed is converted into linear speed to be compared with the lifting and lowering speed of the drill rod for inner ring control. Thus, the first and second substrates are bonded together,
the controller performs the operation based on the speed comparison. The specific scheme is as follows:
the pulse sensor I is used for transmitting the main winding linear speed of the lifting or falling detection screw rod to the controller, the pulse sensor II is used for feeding back the linear speed of the soil cleaner to the controller, and the controller continuously adjusts the output current of the PWM electromagnetic valve of the soil cleaner through the difference between the main winding linear speed and the linear speed of the soil cleaner.
When the spiral drill rod is lifted upwards, the controller can give different initial currents to the electromagnetic valve of the soil cleaner according to different speeds, so that the soil cleaner is fully ensured not to be brought up by the spiral drill rod to cause dangerous accidents due to response lag.
As shown in fig. 2, the spiral drill rod is lifted and lowered into linear displacement motion, the soil cleaner is rotated and displaced, the rotated displacement is converted into linear displacement, and the linear displacement is compared with the lifting and lowering displacement of the drill rod to perform outer ring control. Thus, the controller performs the operation based on the position comparison. The specific scheme is as follows:
the pulse sensor I is used for transmitting the main winding linear displacement of the lifting or falling detection screw rod to the controller, the pulse sensor II is used for feeding back the linear position of the soil cleaner to the controller, and the controller continuously adjusts the output current of the PWM electromagnetic valve of the soil cleaner through the difference between the main winding linear position and the linear position of the soil cleaner.
The controller was adjusted using PID settings for a given solenoid current.
And in the movement process, the PID of the speed ring is adopted to realize the following rapid response of the soil cleaner. The PID of the position ring is adopted in a period of time, so that the accurate control of position following is realized; the accumulated error generated in the running process can be eliminated by using the advanced adjustment, so that the position following of the soil cleaner is ensured to be accurate.
The invention also provides a self-adaptive following method of the long spiral soil cleaner of the rotary drilling machine, which comprises the following steps:
s1: detecting main roll information by a pulse sensor I mounted on a main roll motor;
s2: feeding back the soil cleaner information through a pulse sensor II arranged on the soil cleaner motor;
s3: the controller calculates the adaptation speed of the soil cleaner through the main roll information and the feedback soil cleaner information;
s4: the rotating speed of the soil cleaning device motor is realized by controlling the PWM electromagnetic valve.
As shown in fig. 1, the pulse sensor i is used for detecting the instant speed of lifting or falling of the screw rod; the pulse sensor II is used for detecting the instant following speed of the soil cleaner; the controller outputs a current based on the speed comparison to effect the follow.
As shown in fig. 2, the pulse sensor i is used to detect displacement of the screw rod during a period of time when the screw rod is lifted or dropped; the pulse sensor II is used for detecting displacement of the soil cleaner in a period of time; the controller outputs a current based on the position comparison to effect the follow.
The controller was adjusted using PID settings for a given solenoid current.
In summary, the method for adjusting PWM current output has the advantages of quick response, good short-time following performance, and accurate operation of the soil cleaner due to the fact that the speed of pulse detection is adopted for comparison and the position comparison eliminates the tiny errors generated in the operation process; the invention not only eliminates the accumulated error in the running process of the soil cleaner by using pulse sensing, but also can ensure that the soil cleaner can well follow the acceleration and deceleration of the main coil, thereby avoiding the abrasion of the screw rod or the damage of the soil cleaner caused by inaccurate position of the soil cleaner due to the accumulated error, ensuring the intact equipment and ensuring the safety of construction.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical scheme of the present invention and are not limiting; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (4)
1. The utility model provides a dig soon and bore long spiral soil cleaning ware's self-adaptation following system which characterized in that: the self-adaptive following system comprises a controller, a pulse sensor I, a pulse sensor II and a PWM electromagnetic valve; the pulse sensor I is arranged on the main winding motor and is electrically connected with the input end of the controller, the output end of the controller is connected with the soil cleaner motor through a PWM electromagnetic valve, and the pulse sensor II is arranged on the soil cleaner motor and is electrically connected with the controller; the controller calculates the adaptation speed of the soil cleaner by the main roll information and the feedback soil cleaner information, and realizes the rotating speed of the motor of the soil cleaner by controlling the PWM electromagnetic valve;
the controller performs operation based on speed comparison, the pulse sensor I is used for transmitting the main winding linear speed for detecting the lifting or falling of the spiral rod to the controller, the pulse sensor II is used for feeding back the linear speed of the soil cleaner to the controller, and the controller continuously adjusts the output current of the PWM electromagnetic valve of the soil cleaner through the difference between the main winding linear speed and the linear speed of the soil cleaner;
or the controller performs operation based on position comparison, the pulse sensor I is used for transmitting the primary winding linear displacement for detecting the lifting or falling of the spiral rod to the controller, the pulse sensor II is used for feeding back the linear position of the soil cleaner to the controller, and the controller continuously adjusts the output current of the PWM electromagnetic valve of the soil cleaner through the difference between the primary winding linear position and the linear position of the soil cleaner.
2. The adaptive following system of a long spiral earth cleaner for a rotary drill according to claim 1, wherein: the controller is regulated using PID settings given solenoid current.
3. The self-adaptive following method of the long spiral soil cleaner of the rotary drilling machine is characterized by comprising the following steps of:
detecting main reel information by a pulse sensor I mounted on a main reel motor;
feeding back the soil cleaner information through a pulse sensor II arranged on the soil cleaner motor;
the controller calculates the adaptation speed of the soil cleaner through the main roll information and the feedback soil cleaner information;
the rotating speed of the soil cleaning device motor is realized by controlling the PWM electromagnetic valve;
the pulse sensor I is used for detecting the instant speed of lifting or falling of the screw rod; the pulse sensor II is used for detecting the instant following speed of the soil cleaner; the controller outputs current to realize follow based on the speed comparison;
or the pulse sensor I is used for detecting displacement of the screw rod in a period of time when the screw rod is lifted or fallen; the pulse sensor II is used for detecting displacement of the soil cleaner in a period of time; the controller outputs a current based on the position comparison to effect the follow.
4. The adaptive following method of the long spiral soil cleaner of the rotary drilling machine according to claim 3, wherein the following method comprises the following steps:
the controller is regulated using PID settings given solenoid current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010584018.6A CN111708386B (en) | 2020-06-24 | 2020-06-24 | Self-adaptive following system and method for long spiral soil cleaning device of rotary drilling rig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010584018.6A CN111708386B (en) | 2020-06-24 | 2020-06-24 | Self-adaptive following system and method for long spiral soil cleaning device of rotary drilling rig |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111708386A CN111708386A (en) | 2020-09-25 |
| CN111708386B true CN111708386B (en) | 2023-07-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010584018.6A Active CN111708386B (en) | 2020-06-24 | 2020-06-24 | Self-adaptive following system and method for long spiral soil cleaning device of rotary drilling rig |
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| CN (1) | CN111708386B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5646692A (en) * | 1979-09-20 | 1981-04-27 | Ricoh Co Ltd | Pulse motor control system |
| CN201794520U (en) * | 2010-09-30 | 2011-04-13 | 河北新钻钻机有限公司 | Soil removing device of spiral drill rod |
| CN202157322U (en) * | 2011-07-04 | 2012-03-07 | 湖南德邦重工机械有限公司 | Auger boring filling pile machine with oversized torque |
| CN104929612A (en) * | 2014-03-23 | 2015-09-23 | 李耀强 | Anti-burying method for long screw drill |
| CN111022027A (en) * | 2019-11-28 | 2020-04-17 | 徐州徐工基础工程机械有限公司 | Rotary drilling rig and automatic control system and method for drill rod speed of rotary drilling rig |
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2020
- 2020-06-24 CN CN202010584018.6A patent/CN111708386B/en active Active
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| CN111708386A (en) | 2020-09-25 |
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