CN111948532A - An experimental system and control method for simulating bidirectional torsional control of a turntable motor - Google Patents

Abstract

An experimental system and a control method for simulating bidirectional torsion control of a turntable motor. The experimental system mainly comprises a main control unit, an operation control unit and a power unit; the main control unit is used as an upper computer of the whole system, the operation control unit mainly comprises a programmable controller and two frequency converters, and the power unit mainly comprises a main motor, a load motor, a brake device, a speed reducer, a torque sensor and an encoder. The control method comprises the following steps: the main control unit implements angle bidirectional torsion or torque bidirectional torsion control on a main motor of the power unit through the operation control unit, and the programmable controller acquires system operation parameters in real time, mainly including feedback signals of bidirectional torsion speed, torsion angle, torsion torque and the like, so as to form an angle or torque torsion control closed loop. The method is simple, convenient and feasible, and the structure of the field electric turntable transmission system is simulated to the greatest extent; the main control unit and the programmable controller have low cost, high reliability and high communication speed, and ensure the control precision of the system.

Description

An experimental system and control method for simulating bidirectional torsional control of a turntable motor

Technical field:

The invention relates to the technical field of petroleum engineering, in particular to an experimental system and a control method for simulating bidirectional torsion control of a turntable motor.

Background technique:

The turntable is an important part of the oil drilling rig, commonly known as one of the eight major parts of the drilling rig. During the drilling process, the rotary table drives the drill string, bottom hole drilling tools and drill bits to rotate and break the rock, so as to realize the construction of oil and gas wells, which is an important power source of the drilling rig. With the technological progress of drilling equipment, in recent years, the rotary table of drilling rigs has generally been developed from mechanical drive to independent motor drive. The motor-driven rotary table has the advantages of simple structure and convenient control.

In the process of directional sliding drilling of long horizontal section horizontal wells and extended reach wells, the drill string does not rotate, and only relies on the bottom-hole power drilling tool to drive the drill bit to rotate and break the rock to achieve drilling footage. The inclination angle and azimuth angle of the wellbore are changed by sliding the steering tool to control the wellbore trajectory. However, because the drill string does not rotate, there is static friction between the drill string and the well wall, and the frictional resistance value is high, which is easy to support pressure, which leads to drilling. Low efficiency and high operational risk. With the increase of well deviation and displacement, the disadvantages of sliding drilling become more and more obvious.

To this end, using the principle that the friction coefficient of dynamic friction is lower than that of static friction, the automatic control technology of the two-way torsion of the sliding drilling drill string has been carried out at home and abroad. The effect of friction, thereby improving drilling efficiency and reducing drilling costs.

Chinese patent CN102022083B discloses a "Rotary Steering Drilling Tool", which includes a rotating mandrel, an upper bearing, an induction coil, a short inclinometer and a control unit, a non-rotating jacket, a hydraulic control system module, a rib, a lower bearing and a lower joint The rotating mandrel includes a body and an outer boss, the outer boss and the body are fixed together from top to bottom, the outer side of the upper end of the body is fixedly installed with the inner side of the upper bearing, and the outer side of the lower end of the body is fixedly installed with the inner side of the upper end of the lower joint Together, the outer side of the upper end of the lower joint is fixedly installed with the inner side of the lower bearing, and the non-rotating outer casing includes an upper casing body, a lower casing body and a middle casing body with an outer diameter larger than the upper casing body, the upper casing body, the middle casing body and the lower casing body. The sleeve bodies are fixed together in sequence from top to bottom, the inner side of the upper end of the upper sleeve body is fixedly installed with the outer side of the upper bearing, the inner side of the lower sleeve body is fixedly installed with the outer side of the lower bearing, and the upper sleeve body and the main body are fixedly installed together. There is a cavity between, the induction coil, the inclination measuring short joint and the control unit are installed in the cavity from top to bottom, the hydraulic control system module is fixedly installed in the inner cavity of the middle sleeve, and the middle sleeve is spaced on the middle sleeve. The long opening communicated with the inner cavity, the inner cavity of the middle sleeve corresponding to the long opening is hinged with a rib plate that can be resisted by the hydraulic control system module and rotated outward, and in the rotating mandrel there is a hydraulic pressure connected to the cavity. The oil hole has a wire in the hydraulic oil hole and is electrically connected with the induction coil. The induction coil is electrically connected with the inclinometer short section and the control unit through the wire. There is a communication cavity on the middle sleeve body and the inner cavity of the middle sleeve. The hydraulic oil hole, the inclination measuring sub, the control unit and the hydraulic control system module are electrically connected together through the hydraulic oil hole and the wire. The above-mentioned hydraulic control system module may include a hydraulic pump, a coupling, a motor, a balance plunger and a telescopic plunger; the upper end of the hydraulic pump is provided with a telescopic column that can push the outside of the centerline of the inner convex head and can move the baffle plate to the outside. plug. The inclinometer sub-section and the control unit may include an inclinometer body, a control circuit, a rectifier circuit and an inclinometer module, and a control circuit, a rectifier circuit and an inclinometer module are installed on the inclinometer body. The invention drills horizontal wells, large extension wells and highly deviated wells by means of rotary drilling, and can effectively steer, so the drilling efficiency is greatly improved, and the equipment cost is also reduced.

However, at present, the technology is based on top drive research, and no research has been carried out on the electric turntable. Therefore, in the process of researching the bidirectional torsion control technology of the sliding drilling drill string based on the electric turntable, it is necessary to establish an experimental system to simulate the bidirectional torsion control of the turntable motor, and to carry out the research on the torsion control method of the turntable motor. Only after applying the conditions can it be tested on site and popularized.

Invention content:

The purpose of the present invention is to solve the problems existing in the prior art, to provide an experimental system and control method for simulating the bidirectional torsion control of the turntable motor. The purpose of shortening the development cycle.

The present invention is achieved through the following technical solutions:

An experimental system for simulating the two-way torsion control of a turntable motor is mainly composed of a main control unit, an operation control unit and a power unit; the operation control unit is mainly composed of a programmable controller, a 1# inverter and a 2# inverter; the power unit is mainly composed of It consists of 1# motor, 2# motor, brake device, deceleration device, torque sensor and encoder. In the power unit, the 1# motor is connected to the input end of the brake device, the output end of the brake device is connected to the input end of the torque sensor, the output end of the torque sensor is connected to one end of the input shaft of the reduction device, and the encoder is installed on the input end of the reduction device. On the other end of the shaft, the output shaft of the reduction gear is connected to the 2# motor, and the rotation directions of the 1# motor and the 2# motor are opposite.

The main circuit of the operation control unit mainly includes the main power supply, the main circuit breaker, the circuit breaker, the programmable controller and the sensor circuit, the 1# motor cooling fan circuit, the 2# motor cooling fan circuit, the 1# inverter and the 1# motor circuit, 2# inverter and 2# motor circuit.

The programmable controller is mainly composed of power supply module, CPU module, digital input module, digital output module, analog input module, analog output module and counter module.

The encoder is an incremental photoelectric encoder, the 1# motor and the 2# motor are both AC variable frequency speed regulation motors, and the deceleration device can be any one of a gear deceleration device, a chain deceleration device or other deceleration devices.

The above experimental system for simulating the bidirectional torsion control of the turntable motor, the torsion control method is as follows:

a. In the power unit, the 1# motor simulates the main motor of the turntable, which is the torsion control object, and the 2# motor is the load motor, which simulates the downhole torque load during the drilling process. In this experimental system, the output torque and rotation of the 2# motor are set The number of turns is proportional, the brake device simulates the inertial brake of the turntable clutch, and the deceleration device simulates the turntable chain box; the main control unit controls the 1# motor of the power unit through the operation control unit to perform bidirectional torsion control, including angle bidirectional torsion control and torque bidirectional torsion control; During the torsion control process, the programmable controller collects the signals of the torque sensor and the encoder in real time for logical operation and output, so as to realize the precise closed-loop control of the two-way torsion.

b. The main control unit is the upper computer of the experimental system that simulates the two-way torsion control of the turntable motor. It is not only the access and display unit of system operation data, but also realizes the issuance of control instructions to the operation control unit through the interaction of the human-machine interface.

c. The programmable controller is the lower computer of the experimental system, and communicates with the main control unit through Ethernet through the CPU module; the CPU module communicates with the 1# inverter through the RS485 port, and communicates with the 1# motor through the 1# inverter. Speed control; the digital input module collects the braking signal of the braking device and the fault signals of the 1# inverter and 2# inverter; the digital output module controls the on-off of the contactor; #The inverter collects the current of the 1# motor and the 2# motor, and simultaneously collects the torque signal of the torque sensor; the analog output module outputs the torque signal, and controls the torque of the 2# motor through the 2# inverter; the counter module collects the speed of the encoder and angle signals.

d. The experimental steps of simulating the two-way torsion control of the turntable motor, according to the two-way torsion control of the angle and the two-way torsion control of the torque, are described as follows:

(a) Angle bidirectional torsion control:

Ⅰ. Turn on the main power supply, close the main circuit breaker and the branch circuit breaker, the system is powered on, and the programmable controller completes the initialization.

Ⅱ. In the human-computer interaction software of the main control unit, set the operating parameters of the 1# motor angle torsion control, mainly the two-way torsion speed and torsion angle. The two-way torsion angle refers to the maximum clockwise rotation angle θ1 and the counterclockwise rotation maximum angle θ2. Press the start button, the programmable controller controls the contactor to close through the digital output module, so that 1# motor cooling fan circuit, 2# motor cooling fan circuit, 1# inverter and 1# motor circuit, 2# inverter and 2 #The motor circuit starts running. The 1# motor first starts to rotate clockwise. When the clockwise rotation reaches the maximum angle value θ1, the 1# motor stops rotating clockwise, and then starts to rotate counterclockwise in the opposite direction. When the counterclockwise rotation reaches the maximum angle value θ2, the 1# motor Stop the counterclockwise rotation, and then start the clockwise rotation in the opposite direction, and then twist in both directions according to the set angle value.

Ⅲ.1# motor runs according to the set angle torsion parameters, the counter module collects the angle and speed signals of the encoder in real time, forms a closed loop of torsion angle and speed control, and ensures the control accuracy. The analog input module collects real-time 1# inverter and 2# The current signal of the inverter, all data are displayed and stored in real time in the human-computer interaction software;

Ⅳ.When the 1# motor is twisted according to the angle, if the handle of the braking device is manually operated, the digital input module detects the braking signal, and the system stops automatically; when the digital input module detects the fault signal of the 1# inverter or 2# inverter , the system also automatically shuts down;

Ⅴ. If the angle two-way torsion control test is completed, in the main control unit human-computer interaction software, press the stop button to stop the system, and then turn off the main control unit, the sub-breaker, the main circuit breaker and the main power supply in turn, and the angle is two-way torsion. The control experiment ends.

(b) Torque bidirectional torsion control:

Ⅰ. Turn on the main power supply, close the main circuit breaker and the sub-circuit breaker, power on the system, and complete the initialization of the programmable controller;

Ⅱ. In the human-computer interaction software of the main control unit, set the bidirectional torsion speed of the 1# motor and the bidirectional torsion torque value of the 2# motor, that is, the maximum torque value T1 for clockwise rotation and the maximum torque value T2 for counterclockwise rotation, press Start the button, the programmable controller controls the contactor to close through the digital output module, so that the 1# motor cooling fan circuit, the 2# motor cooling fan circuit, the 1# inverter and the 1# motor circuit, the 2# inverter and the 2# motor Loop operation; 1# motor first starts to rotate clockwise, when 2# motor rotates clockwise to the maximum output torque value T2 of 2# motor, 1# motor stops clockwise rotation, then starts to rotate counterclockwise in reverse, and rotates counterclockwise to 2# When the motor outputs the maximum torque value T1, the 1# motor stops rotating counterclockwise, and then starts to rotate clockwise in the opposite direction, so that it has been twisted in both directions according to the set torque value.

Ⅲ. During the two-way torsion process of the 1# motor according to the torque control, the analog input module collects the torque signal of the torque sensor and the current signal of the 1# inverter and the 2# inverter in real time. All data are displayed in real time in the human-computer interaction software. storage; and through the torque feedback signal of the torque sensor collected, a torque control closed loop is formed to ensure the control accuracy.

Ⅳ.1# When the motor is under torque torsion control, if the handle of the brake device is manually operated, the digital input module detects the braking signal, and the system stops automatically; the digital input module detects the failure of the 1# inverter or 2# inverter When the signal is received, the system will also automatically stop;

Ⅴ. If the torque bidirectional torsion control test is completed, in the main control unit human-computer interaction software, press the stop button to stop the system, turn off the main control unit, sub-circuit breaker, main circuit breaker and main power supply in turn, and torque bidirectional torsion control The experiment is over.

The experimental system and control method for simulating bidirectional torsion control of a turntable motor have the following advantages:

(1) The idea of double-motor counter-torsion is adopted in the power unit to simulate the drive of the electric turntable and the downhole load. The method is simple and feasible. One motor simulates the main motor of the electric turntable, and the other motor simulates the drill string during the drilling process. load. At the same time, a deceleration device, a braking device, etc. are added to simulate the structure of the on-site electric turntable transmission system to the greatest extent;

(2) In the experimental system, the mobile server is used as the upper computer, the programmable controller is used as the lower computer, and Ethernet communication is used between the upper computer and the lower computer. Ethernet communication is the most common communication protocol standard, with low cost, high The advantages of high reliability and high communication rate; the programmable controller collects the feedback signals of the torque sensor and the encoder in real time to form a closed-loop control of torque torsion and angle torsion, which ensures that the experimental system has high control accuracy.

Description of drawings:

FIG. 1 is a schematic diagram of the composition of an experimental system for simulating bidirectional torsional control of a turntable motor according to the present invention.

FIG. 2 is a control loop diagram of the operation control unit of the present invention.

Fig. 3 is the main circuit diagram of the operation control unit of the present invention.

Detailed ways

The present invention will be further described below with reference to Figure 1, Figure 2, Figure 3 and specific embodiments.

Example 1:

An experimental system for simulating two-way torsion control of a turntable motor, which is mainly composed of a main control unit 1, an operation control unit 2 and a power unit 3; the operation control unit 2 is mainly composed of a programmable controller 4, 1# frequency converter 5 and 2# frequency converter The power unit 3 is mainly composed of a 1# motor 7, a 2# motor 8, a braking device 9, a deceleration device 10, a torque sensor 11 and an encoder 12.

In the power unit 3, the 1# motor 7 is connected with the input end of the braking device 9, the output end of the braking device 9 is connected with the input end of the torque sensor 11, and the output end of the torque sensor 11 is connected with one end of the input shaft of the reduction gear 10, The encoder 12 is mounted on the other end of the input shaft of the reduction gear 10 , and the output shaft of the reduction gear 10 is connected to the 2# motor 8 .

Example 2:

On the basis of embodiment 1, further comprise:

The main circuit of operation control unit 2 mainly includes main power supply 21, main circuit breaker 22, branch circuit breaker 23, programmable controller and sensor circuit 24, 1# motor cooling fan circuit 25, 2# motor cooling fan circuit 26, 1# frequency conversion 1# motor circuit 27, 2# inverter and 2# motor circuit 28.

The programmable controller 4 is mainly composed of a power supply module 13 , a CPU module 14 , a digital input module 15 , a digital output module 16 , an analog input module 17 , an analog output module 18 and a counter module 19 .

The encoder 12 is an incremental photoelectric encoder, the 1# motor 7 and the 2# motor 8 are both AC variable frequency speed regulation motors, and the rotation directions of the 1# motor 7 and 2# motor 8 are opposite, and the deceleration device 10 can be gear deceleration. Any one of the gears, chain reduction gears or other reduction gears.

Example 3:

The control method for the experimental system of the bidirectional torsion control of the simulated turntable motor of Embodiment 1 is as follows:

a. In power unit 3, 1# motor 7 simulates the main motor of the turntable, which is the object of torsion control, and 2# motor 8 is the load motor, simulating the downhole torque load during the drilling process. In this experimental system, the 2# motor 8 is set The output torque is proportional to the number of rotations, the braking device 9 simulates the inertial brake of the turntable clutch, and the deceleration device 10 simulates the turntable chain box; the main control unit 1 performs bidirectional torsion control on the 1# motor 7 of the power unit 3 through the operation control unit 2, including Angle two-way torsion control and torque two-way torsion control; during the torsion control process, the programmable controller 4 collects the signals of the torque sensor 11 and the encoder 12 for logical operation and output to achieve precise closed-loop control of the two-way torsion.

b. The main control unit 1 is the upper computer of the experimental system that simulates the two-way torsion control of the turntable motor. It is not only the access and display unit of the system operation data, but also realizes the issuance of the control instructions to the operation control unit 2 through the interaction of the human-machine interface. .

c. The programmable controller 4 is the lower computer of the experimental system, and communicates with the main control unit 1 through Ethernet through the CPU module 14; the CPU module 14 communicates with the 1# inverter 5 through the RS485 port, and communicates with the 1# inverter through the 1# inverter. 5. Control the speed of the 1# motor 7; the digital input module 15 collects the braking signal of the brake device 9, the fault signals of the 1# inverter 5 and the 2# inverter 6; the digital output module 16 controls the on-off of the contactor 20 The analog input module 17 collects the current of the 1# motor 7 and the 2# motor 8 from the 1# inverter 5 and the 2# inverter 6 respectively, and simultaneously collects the torque signal of the torque sensor 11; the analog output module 18 outputs the torque signal, Torque control is performed on the 2# motor 8 through the 2# inverter 6; the counter module 19 collects the speed and angle signals of the encoder 12.

Example 4:

The control method for the experimental system of the two-way torsion control of the simulated turntable motor of Embodiment 2 is as follows:

a. In power unit 3, 1# motor 7 simulates the main motor of the turntable, which is the object of torsion control, and 2# motor 8 is the load motor, simulating the downhole torque load during the drilling process. In this experimental system, the 2# motor 8 is set The output torque is proportional to the number of rotations, the braking device 9 simulates the inertial brake of the turntable clutch, and the deceleration device 10 simulates the turntable chain box; the main control unit 1 performs bidirectional torsion control on the 1# motor 7 of the power unit 3 through the operation control unit 2, including Angle two-way torsion control and torque two-way torsion control; during the torsion control process, the programmable controller 4 collects the signals of the torque sensor 11 and the encoder 12 for logical operation and output to achieve precise closed-loop control of the two-way torsion.

b. The main control unit 1 is the upper computer of the experimental system that simulates the two-way torsion control of the turntable motor. It is not only the access and display unit of the system operation data, but also realizes the issuance of the control instructions to the operation control unit 2 through the interaction of the human-machine interface. .

c. The programmable controller 4 is the lower computer of the experimental system, and communicates with the main control unit 1 through Ethernet through the CPU module 14; the CPU module 14 communicates with the 1# inverter 5 through the RS485 port, and communicates with the 1# inverter through the 1# inverter. 5. Control the speed of the 1# motor 7; the digital input module 15 collects the braking signal of the brake device 9, the fault signals of the 1# inverter 5 and the 2# inverter 6; the digital output module 16 controls the on-off of the contactor 20 The analog input module 17 collects the current of the 1# motor 7 and the 2# motor 8 from the 1# inverter 5 and the 2# inverter 6 respectively, and simultaneously collects the torque signal of the torque sensor 11; the analog output module 18 outputs the torque signal, Torque control is performed on the 2# motor 8 through the 2# inverter 6; the counter module 19 collects the speed and angle signals of the encoder 12.

d. The experimental steps of simulating the two-way torsion control of the turntable motor, according to the two-way torsion control of the angle and the two-way torsion control of the torque, are described as follows:

(a) Angle bidirectional torsion control:

1. Turn on the main power supply 21, close the main circuit breaker 22 and the branch circuit breaker 23, the system is powered on, and the programmable controller 4 is initialized.

Ⅱ. In the main control unit 1 human-computer interaction software, set the operating parameters of 1# motor 7 angle torsion control, mainly bidirectional torsion speed and torsion angle, bidirectional torsion angle refers to the maximum clockwise rotation angle θ1 and counterclockwise rotation maximum angle θ2, press the start button, the programmable controller 4 controls the contactor 20 to close through the digital output module 16, so that the 1# motor cooling fan circuit 25, the 2# motor cooling fan circuit 26, the 1# inverter and the 1# motor circuit 27, 2# inverter and 2# motor circuit 28 start running. 1# motor 7 first starts to rotate clockwise. When it rotates clockwise to the maximum angle value θ1, 1# motor 7 stops rotating clockwise, and then starts to rotate counterclockwise in the opposite direction. When it rotates counterclockwise to the maximum angle value θ2, 1 #The motor 7 stops rotating counterclockwise, and then starts rotating clockwise in the opposite direction, so that it has been twisted in both directions according to the set angle value.

Ⅲ.1# Motor 7 runs according to the set angle torsion parameters. The counter module 19 collects the angle and speed signals of the encoder 12 in real time to form a closed loop of torsion angle and speed control to ensure control accuracy. The analog input module 17 collects real-time 1 #Inverter 5 and 2# The current signal of inverter 6, all data are displayed and stored in real time in the human-computer interaction software;

Ⅳ.1# motor 7 is rotating according to the angle, if the handle of the brake device 9 is manually operated, the digital input module 15 detects the braking signal, and the system stops automatically; the digital input module 15 detects that the 1# inverter 5 or 2 #When the inverter 6 fault signal, the system will automatically stop;

Ⅴ. If the angle two-way torsion control test is completed, in the main control unit 1 human-computer interaction software, press the stop button to stop the system, and then turn off the main control unit 1, the branch circuit breaker 23, the main circuit breaker 22 and the main power supply in turn. 21. The angle two-way torsion control experiment is over.

(b) Torque bidirectional torsion control:

1. Turn on the main power supply 21, close the main circuit breaker 22 and the branch circuit breaker 23, the system is powered on, and the programmable controller 4 completes the initialization;

Ⅱ. In the main control unit 1 human-computer interaction software, set the bidirectional torsional speed of 1# motor 7 and the bidirectional torsional torque value of 2# motor 8, that is, the maximum torque value T1 for clockwise rotation and the maximum torque value T2 for counterclockwise rotation , press the start button, the programmable controller 4 controls the contactor 20 to close through the digital output module 16, so that the 1# motor cooling fan circuit 25, the 2# motor cooling fan circuit 26, the 1# inverter and the 1# motor circuit 27 , 2# inverter and 2# motor circuit 28 run; 1# motor 7 starts to rotate clockwise first, when the clockwise rotation reaches the maximum torque value T2 of 2# motor 8, 1# motor 7 stops rotating clockwise, and then The reverse starts to rotate counterclockwise, and when it rotates counterclockwise to the maximum torque value T1 of the 2# motor 8, the 1# motor 7 stops rotating counterclockwise, and then starts to rotate clockwise in the opposite direction. .

III. During the two-way torsion process of 1# motor 7 according to the torque control, the analog input module 17 collects the torque signal of the torque sensor 11, the current signal of the 1# inverter 5 and the 2# inverter 6 in real time, all data are in the human-computer interaction. Real-time display and storage in the software; and through the collected torque feedback signal of the torque sensor 11, a closed loop of torque control is formed to ensure control accuracy.

IV.1# motor 7 is running under torque torsion control, if the handle of the brake device 9 is manually operated, the digital input module 15 detects the braking signal, and the system stops automatically; the digital input module 15 detects the 1# inverter 5 or When the 2# inverter 6 fault signal, the system will automatically stop;

Ⅴ. If the torque bidirectional torsion control test is completed, in the main control unit 1 man-machine interaction software, press the stop button to stop the system, and turn off the main control unit 1, the branch circuit breaker 23, the main circuit breaker 22 and the main power supply 21 in turn. , the torque bidirectional torsion control experiment is over.

The simulation experiment system of the present invention adopts the idea of double-motor opposite torsion to simulate the electric turntable drive and the underground load, and the method is simple and feasible. The power unit is added with a deceleration device and a brake device, which simulates the structure of the on-site electric turntable transmission system to the greatest extent; The main control unit and the programmable controller use Ethernet communication, which has the advantages of low cost, high reliability and high communication rate. At the same time, the use of high-precision torque sensors and encoders ensures the control accuracy of the system.

Claims (10)

1. an experimental system for simulating two-way torsion control of a turntable motor, characterized in that: it is mainly composed of a main control unit (1), an operation control unit (2) and a power unit (3); the operation control unit (2) mainly consists of It consists of a programmable controller (4), a 1# frequency converter (5) and a 2# frequency converter (6); the power unit (3) is mainly composed of a 1# motor (7), a 2# motor (8), a brake The device (9), the deceleration device (10), the torque sensor (11) and the encoder (12) are composed; wherein, the 1# motor (7) is connected with the input end of the braking device (9), and the output of the braking device (9) The end is connected with the input end of the torque sensor (11), the output end of the torque sensor (11) is connected with one end of the input shaft of the reduction gear (10), and the encoder (12) is installed on the other end of the input shaft of the reduction gear (10), The output shaft of the reduction gear (10) is connected with the 2# motor (8), and the 1# motor (7) and the 2# motor (8) rotate in opposite directions. 2. The experimental system of the two-way torsion control of an analog turntable motor according to claim 1, wherein the programmable controller (4) is mainly composed of a power supply module (13), a CPU module (14), a digital input module (15), a digital output module (16), an analog input module (17), an analog output module (18) and a counter module (19). 3. The experimental system for simulating two-way torsion control of a turntable motor according to claims 1 and 2, wherein the operation control unit (2) also comprises a main circuit, which is mainly composed of a main power supply (21), a main circuit breaker ( 22), circuit breaker (23), programmable controller and sensor circuit (24), 1# motor cooling fan circuit (25), 2# motor cooling fan circuit (26), 1# inverter and 1# motor circuit (27), 2# inverter and 2# motor circuit (28). 4. The experimental system for simulating two-way torsion control of a turntable motor according to claim 1 and 2, wherein the encoder (12) is an incremental photoelectric encoder, 1# motor (7) and 2# motor (8) Both are AC variable frequency speed regulation motors, and the reduction device (10) includes a gear reduction device or a chain reduction device. 5. The experimental system for simulating two-way torsion control of a turntable motor according to claim 3, wherein the encoder (12) is an incremental photoelectric encoder, 1# motor (7) and 2# motor (8 ) are both AC variable frequency speed regulating motors, and the deceleration device (10) includes a gear deceleration device or a chain deceleration device. 6. according to the control method of the experimental system of the two-way torsion control of the simulation turntable motor described in claim 1 or 2, it is characterized in that: a. In the power unit (3), the 1# motor (7) simulates the main motor of the turntable, which is the torsion control object, and the 2# motor (8) is the load motor, which simulates the downhole torque load during the drilling process. It is set that the output torque of the 2# motor (8) is proportional to the number of rotations, the braking device (9) simulates the inertial brake of the turntable clutch, and the deceleration device (10) simulates the turntable chain box; the main control unit (1) passes through the operation control unit (2). ) performs bidirectional torsion control on the 1# motor (7) of the power unit (3), including angle bidirectional torsion control and torque bidirectional torsion control; during the torsion control process, the programmable controller (4) collects the torque sensor (11), The feedback signal of the encoder (12) is logically operated and output to realize precise closed-loop control of bidirectional torsion; b. The main control unit (1) is the upper computer of the experimental system simulating the two-way torsion control of the turntable motor. It is not only the access and display unit of the system operation data, but also realizes the operation control unit (2) through the interaction of the human-machine interface. the issuance of control instructions; c. The programmable controller (4) is the lower computer of the experimental system, and communicates with the main control unit (1) through the Ethernet through the CPU module (14); the CPU module (14) communicates with the 1# inverter (5) through the RS485 port ) to communicate, and control the speed of the 1# motor (7) through the 1# frequency converter (5); the digital input module (15) collects the brake signal of the brake device (9), the 1# frequency converter (5) and 2 #The fault signal of the inverter (6); the digital output module (16) controls the on-off of the contactor (20); the analog input module (17) is respectively connected from the 1# inverter (5) and the 2# inverter (6). ) Collect the current of 1# motor (7) and 2# motor (8), and collect the torque signal of the torque sensor (11) at the same time; the analog output module (18) outputs the torque signal, and the 2# frequency converter (6) is used for 2 #The motor (8) performs torque control; the counter module (19) collects the speed and angle signals of the encoder (12). 7. according to the control method of the experimental system of the two-way torsion control of the simulation turntable motor according to claim 3, it is characterized in that: a. In the power unit (3), the 1# motor (7) simulates the main motor of the turntable, which is the torsion control object, and the 2# motor (8) is the load motor, which simulates the downhole torque load during the drilling process. It is set that the output torque of the 2# motor (8) is proportional to the number of rotations, the braking device (9) simulates the inertial brake of the turntable clutch, and the deceleration device (10) simulates the turntable chain box; the main control unit (1) passes through the operation control unit (2). ) performs bidirectional torsion control on the 1# motor (7) of the power unit (3), including angle bidirectional torsion control and torque bidirectional torsion control; during the torsion control process, the programmable controller (4) collects the torque sensor (11), The feedback signal of the encoder (12) is logically operated and output to realize precise closed-loop control of bidirectional torsion; b. The main control unit (1) is the upper computer of the experimental system simulating the two-way torsion control of the turntable motor. It is not only the access and display unit of the system operation data, but also realizes the operation control unit (2) through the interaction of the human-machine interface. the issuance of control instructions; c. The programmable controller (4) is the lower computer of the experimental system, and communicates with the main control unit (1) through the Ethernet through the CPU module (14); the CPU module (14) communicates with the 1# inverter (5) through the RS485 port ) to communicate, and control the speed of the 1# motor (7) through the 1# frequency converter (5); the digital input module (15) collects the brake signal of the brake device (9), the 1# frequency converter (5) and 2 #The fault signal of the inverter (6); the digital output module (16) controls the on-off of the contactor (20); the analog input module (17) is respectively connected from the 1# inverter (5) and the 2# inverter (6). ) Collect the current of 1# motor (7) and 2# motor (8), and collect the torque signal of the torque sensor (11) at the same time; the analog output module (18) outputs the torque signal, and the 2# frequency converter (6) is used for 2 #The motor (8) performs torque control; the counter module (19) collects the speed and angle signals of the encoder (12). 8. according to the control method of the experimental system of the described simulation turntable motor bidirectional torsion control of claim 7, it is characterized in that: described angle bidirectional torsion control and torque bidirectional torsion control are as follows: (a) Angle bidirectional torsion control: Ⅰ. Turn on the main power supply (21), close the main circuit breaker (22) and the branch circuit breaker (23), the system is powered on, and the PLC (4) completes initialization; Ⅱ. In the main control unit (1) human-computer interaction software, set the operating parameters of the 1# motor (7) angle torsion control, mainly bidirectional torsion speed and torsion angle, bidirectional torsion angle refers to the maximum clockwise rotation angle θ1 and reverse rotation. Clockwise rotate the maximum angle θ2, press the start button, the programmable controller (4) controls the contactor (20) to close through the digital output module (16), so that the 1# motor cooling fan circuit (25) and the 2# motor cooling fan are closed. Circuit (26), 1# inverter and 1# motor circuit (27), 2# inverter and 2# motor circuit (28) start running. The 1# motor (7) first starts to rotate clockwise. When the clockwise rotation reaches the maximum angle value θ1, the 1# motor (7) stops rotating clockwise, and then starts to rotate counterclockwise in the reverse direction, and rotates counterclockwise to the maximum angle value. At θ2, the 1# motor (7) stops rotating counterclockwise, and then starts rotating clockwise in the opposite direction, so that it has been twisted in both directions according to the set angle value; Ⅲ.1# Motor (7) runs according to the set angle torsion parameters, and the counter module (19) collects the angle and speed signals of the encoder (12) in real time to form a closed loop of torsion angle and speed control to ensure the control accuracy, analog quantity The input module (17) collects the current signals of the 1# inverter (5) and the 2# inverter (6) in real time, and all data are displayed and stored in real time in the human-computer interaction software; Ⅳ.1# motor (7) rotates according to the angle, if the handle of the brake device (9) is manually operated, the digital input module (15) detects the braking signal, and the system stops automatically; the digital input module (15) is detecting When the fault signal of 1# inverter (5) and 2# inverter is reached, the system will also automatically stop; Ⅴ. If the angle bidirectional torsion control test is completed, in the main control unit (1) human-computer interaction software, press the stop button to stop the system, and then turn off the main control unit (1), the circuit breaker (23), the main The circuit breaker (22) and the main power supply (21), the angle bidirectional torsion control experiment is over; (b) Torque bidirectional torsion control: Ⅰ. Turn on the main power supply (21), close the main circuit breaker (22) and the branch circuit breaker (23), the system is powered on, and the PLC (4) completes initialization; Ⅱ. In the human-computer interaction software of the main control unit (1), set the bidirectional torsional speed of the 1# motor (7) and the bidirectional torsional torque value of the 2# motor (8), that is, the maximum torque value T1 and the reverse torque value of clockwise rotation. Clockwise rotate the maximum torque value T2, press the start button, the programmable controller (4) controls the contactor (20) to close through the digital output module (16), so that the 1# motor cooling fan circuit (25) and the 2# motor heat dissipation Fan circuit (26), 1# inverter and 1# motor circuit (27), 2# inverter and 2# motor circuit (28) run; 1# motor (7) starts by rotating clockwise, When the 2# motor (8) outputs the maximum torque value T2, the 1# motor (7) stops rotating clockwise, then starts to rotate counterclockwise in the opposite direction, and when the 2# motor (8) outputs the maximum torque value T1, The 1# motor (7) stops rotating counterclockwise, and then starts rotating clockwise in the opposite direction, so that it has been twisted in both directions according to the set torque value; III. During the two-way torsion process of the 1# motor (7) according to the torque control, the analog input module (17) collects the torque signal of the torque sensor (11) in real time, and the 1# inverter (5) and the 2# inverter (6) Current signal, all data are displayed and stored in real time in the human-computer interaction software; and a torque control closed loop is formed through the collected torque feedback signal of the torque sensor (11); Ⅳ.1# motor (7) is running under torque torsion control, if the handle of the braking device (9) is manually operated, the digital input module (15) detects the braking signal, and the system stops automatically; the digital input module (15) is in When the fault signal of 1# inverter (5) and 2# inverter (6) is detected, the system will also automatically stop; Ⅴ. If the torque bidirectional torsion control test is completed, in the main control unit (1) human-computer interaction software, press the stop button to stop the system, and turn off the main control unit (1), the sub-circuit breaker (23), and the main circuit breaker in turn. The device (22) and the total power supply (21), the torque bidirectional torsion control experiment is over. 9. according to the control method of the experimental system of the two-way torsion control of the simulation turntable motor described in claim 5, it is characterized in that: a. In the power unit (3), the 1# motor (7) simulates the main motor of the turntable, which is the torsion control object, and the 2# motor (8) is the load motor, which simulates the downhole torque load during the drilling process. It is set that the output torque of the 2# motor (8) is proportional to the number of rotations, the braking device (9) simulates the inertial brake of the turntable clutch, and the deceleration device (10) simulates the turntable chain box; the main control unit (1) passes through the operation control unit (2). ) performs bidirectional torsion control on the 1# motor (7) of the power unit (3), including angle bidirectional torsion control and torque bidirectional torsion control; during the torsion control process, the programmable controller (4) collects the torque sensor (11), The feedback signal of the encoder (12) is logically operated and output to realize precise closed-loop control of bidirectional torsion; b. The main control unit (1) is the upper computer of the experimental system simulating the two-way torsion control of the turntable motor. It is not only the access and display unit of the system operation data, but also realizes the operation control unit (2) through the interaction of the human-machine interface. the issuance of control instructions; c. The programmable controller (4) is the lower computer of the experimental system, and communicates with the main control unit (1) through the Ethernet through the CPU module (14); the CPU module (14) communicates with the 1# inverter (5) through the RS485 port ) to communicate, and control the speed of the 1# motor (7) through the 1# frequency converter (5); the digital input module (15) collects the brake signal of the brake device (9), the 1# frequency converter (5) and 2 #The fault signal of the inverter (6); the digital output module (16) controls the on-off of the contactor (20); the analog input module (17) is respectively connected from the 1# inverter (5) and the 2# inverter (6). ) Collect the current of 1# motor (7) and 2# motor (8), and collect the torque signal of the torque sensor (11) at the same time; the analog output module (18) outputs the torque signal, and the 2# frequency converter (6) is used for 2 #The motor (8) performs torque control; the counter module (19) collects the speed and angle signals of the encoder (12). 10. according to the control method of the experimental system of the described simulation turntable motor two-way torsion control as claimed in claim 9, it is characterized in that: described angle two-way torsion control and torque two-way torsion control are as follows: (a) Angle bidirectional torsion control: Ⅰ. Turn on the main power supply (21), close the main circuit breaker (22) and the branch circuit breaker (23), the system is powered on, and the PLC (4) completes initialization; Ⅱ. In the main control unit (1) human-computer interaction software, set the operating parameters of the 1# motor (7) angle torsion control, mainly bidirectional torsion speed and torsion angle, bidirectional torsion angle refers to the maximum clockwise rotation angle θ1 and reverse rotation. Clockwise rotate the maximum angle θ2, press the start button, the programmable controller (4) controls the contactor (20) to close through the digital output module (16), so that the 1# motor cooling fan circuit (25) and the 2# motor cooling fan are closed. Circuit (26), 1# inverter and 1# motor circuit (27), 2# inverter and 2# motor circuit (28) start running. The 1# motor (7) first starts to rotate clockwise. When the clockwise rotation reaches the maximum angle value θ1, the 1# motor (7) stops rotating clockwise, and then starts to rotate counterclockwise in the reverse direction, and rotates counterclockwise to the maximum angle value. At θ2, the 1# motor (7) stops rotating counterclockwise, and then starts rotating clockwise in the opposite direction, so that it has been twisted in both directions according to the set angle value; Ⅲ.1# Motor (7) runs according to the set angle torsion parameters, and the counter module (19) collects the angle and speed signals of the encoder (12) in real time to form a closed loop of torsion angle and speed control to ensure the control accuracy, analog quantity The input module (17) collects the current signals of the 1# inverter (5) and the 2# inverter (6) in real time, and all data are displayed and stored in real time in the human-computer interaction software; Ⅳ.1# motor (7) rotates according to the angle, if the handle of the brake device (9) is manually operated, the digital input module (15) detects the braking signal, and the system stops automatically; the digital input module (15) is detecting When the fault signal of 1# inverter (5) and 2# inverter is reached, the system will also automatically stop; Ⅴ. If the angle bidirectional torsion control test is completed, in the main control unit (1) human-computer interaction software, press the stop button to stop the system, and then turn off the main control unit (1), the circuit breaker (23), the main The circuit breaker (22) and the main power supply (21), the angle bidirectional torsion control experiment is over; (b) Torque bidirectional torsion control: Ⅰ. Turn on the main power supply (21), close the main circuit breaker (22) and the branch circuit breaker (23), the system is powered on, and the PLC (4) completes initialization; Ⅱ. In the human-computer interaction software of the main control unit (1), set the bidirectional torsional speed of the 1# motor (7) and the bidirectional torsional torque value of the 2# motor (8), that is, the maximum torque value T1 and the reverse torque value of clockwise rotation. Clockwise rotate the maximum torque value T2, press the start button, the programmable controller (4) controls the contactor (20) to close through the digital output module (16), so that the 1# motor cooling fan circuit (25) and the 2# motor heat dissipation Fan circuit (26), 1# inverter and 1# motor circuit (27), 2# inverter and 2# motor circuit (28) run; 1# motor (7) starts by rotating clockwise, When the 2# motor (8) outputs the maximum torque value T2, the 1# motor (7) stops rotating clockwise, then starts to rotate counterclockwise in the opposite direction, and when the 2# motor (8) outputs the maximum torque value T1, The 1# motor (7) stops rotating counterclockwise, and then starts rotating clockwise in the opposite direction, so that it has been twisted in both directions according to the set torque value; III. During the two-way torsion process of the 1# motor (7) according to the torque control, the analog input module (17) collects the torque signal of the torque sensor (11) in real time, and the 1# inverter (5) and the 2# inverter (6) Current signal, all data are displayed and stored in real time in the human-computer interaction software; and a torque control closed loop is formed through the collected torque feedback signal of the torque sensor (11); Ⅳ.1# motor (7) is running under torque torsion control, if the handle of the braking device (9) is manually operated, the digital input module (15) detects the braking signal, and the system stops automatically; the digital input module (15) is in When the fault signal of 1# inverter (5) and 2# inverter (6) is detected, the system will also automatically stop; Ⅴ. If the torque bidirectional torsion control test is completed, in the main control unit (1) human-computer interaction software, press the stop button to stop the system, and turn off the main control unit (1), the sub-circuit breaker (23), and the main circuit breaker in turn. The device (22) and the total power supply (21), the torque bidirectional torsion control experiment is over.

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