CN113428792A - Electronic anti-collision control system for traveling block of oil drilling rig and control method thereof - Google Patents
Electronic anti-collision control system for traveling block of oil drilling rig and control method thereof Download PDFInfo
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- CN113428792A CN113428792A CN202110819706.0A CN202110819706A CN113428792A CN 113428792 A CN113428792 A CN 113428792A CN 202110819706 A CN202110819706 A CN 202110819706A CN 113428792 A CN113428792 A CN 113428792A
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- touch screen
- value encoder
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005553 drilling Methods 0.000 title claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000001174 ascending effect Effects 0.000 claims description 8
- 239000003208 petroleum Substances 0.000 claims description 6
- 239000003129 oil well Substances 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000010410 layer Substances 0.000 description 12
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002356 single layer Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/008—Winding units, specially adapted for drilling operations
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
Abstract
An electronic anti-collision control system for a traveling block of an oil drilling machine and a control method thereof belong to the technical field of oil drilling and aim to solve the problem that the running speed of the traveling block of the existing oil drilling machine is poor in control precision. The motor of the invention is connected with the roller through the reduction box; the absolute value encoder counts the number of rotation turns of the roller; the absolute value encoder is connected with the PLC; the frequency conversion signal output end of the PLC controller is connected with the frequency conversion signal input end of the frequency converter; the control signal output end of the frequency converter is connected with the control signal input end of the motor, the frequency converter is used for collecting the rotating speed of the motor in real time, and the feedback signal output end of the frequency converter is connected with the feedback signal input end of the PLC; the display signal output end of the PLC is connected with the display signal input end of the touch screen, and the instruction signal output end of the touch screen is connected with the instruction signal input end of the PLC. The electronic anti-collision control device has the beneficial effects of realizing the position, the constant speed and the electronic anti-collision control of the hook.
Description
Technical Field
The invention belongs to the technical field of oil drilling.
Background
The winch is one of important devices in petroleum drilling equipment and mainly comprises a motor, a roller and a steel wire rope, wherein one end of the steel wire rope is connected to the roller, and the other end of the steel wire rope is connected to a traveling block through a crown block; the motor drives the roller to rotate at a constant speed, the steel wire rope is wound along with the constant-speed rotation of the roller, and the traveling block is dragged by the steel wire rope to run; the safety protection of the winch mainly adopts the protection of a ring-passing valve and the protection of an overhead traveling crane anti-collision valve, namely sensors are respectively arranged at a roller of the winch and an overhead traveling crane, when a traveling crane touches the overhead traveling crane anti-collision valve sensor, the winch immediately brakes and the whole drilling work immediately stops, but the braking mode has the burst property; meanwhile, when the steel wire rope winds the roller, the winding radius of the roller is increased along with the increase of the number of turns of the steel wire rope; under the unchangeable prerequisite of cylinder rotational speed, the functioning speed of tourist bus constantly increases, consequently, current oil rig tourist bus functioning speed control accuracy is poor, when the mode that adopts the brake when tourist bus functioning speed grow brakies, produces the incident easily, causes very big economic loss.
Disclosure of Invention
The invention aims to solve the problem of poor control precision of the running speed of the conventional oil rig traveling block, and provides an electronic anti-collision control system and a control method for the oil rig traveling block.
The electronic anti-collision control system for the traveling block of the oil drilling machine is used for controlling the running speed of the traveling block of the oil drilling machine;
the oil drilling rig further comprises a motor, a roller, a crown block, a traction rope, a hook, a drill rod, a derrick and a drill floor;
the drill floor is arranged at a petroleum site to be collected; the derrick is arranged right above the drill floor;
the crown block is arranged at the top end of the derrick, a fixed pulley is arranged on the crown block, a movable pulley is arranged on the traveling block, one end of the traction rope is connected to the roller, and the other end of the traction rope is fixed on the derrick after passing through the fixed pulley of the crown block and the movable pulley of the traveling block for multiple times;
the big hook is fixed at the bottom end of the traveling block, the top end of the drill rod is installed on the big hook, and the bottom end of the drill rod penetrates through the drill floor;
the anti-collision control system comprises a reduction gearbox, a frequency converter, an absolute value encoder, a PLC (programmable logic controller) and a touch screen;
the motor is connected with the main shaft of the roller through a reduction box;
the absolute value encoder is arranged on the main shaft of the roller and counts the number of rotation turns of the main shaft of the roller through the absolute value encoder;
the counting signal output end of the absolute value encoder is connected with the counting signal input end of the PLC;
the frequency conversion signal output end of the PLC controller is connected with the frequency conversion signal input end of the frequency converter; the control signal output end of the frequency converter is connected with the control signal input end of the motor, the frequency converter is used for collecting the rotating speed, the torque, the voltage and the current of the motor in real time, and the feedback signal output end of the frequency converter is connected with the feedback signal input end of the PLC;
the display signal output end of the PLC is connected with the display signal input end of the touch screen, and the instruction signal output end of the touch screen is connected with the instruction signal input end of the PLC.
The invention relates to a control method of an electronic anti-collision control system of a traveling block of an oil rig, which comprises the following steps of;
debugging a PLC controller, and determining a first standard numerical value, a second standard numerical value, a third standard numerical value and a fourth standard numerical value of an absolute value encoder;
and step two, controlling the traveling block to move upwards at a constant speed firstly and then move upwards at a reduced speed until the traveling block stops when the traveling block ascends, and determining the termination point of the constant-speed ascending movement of the traveling block as follows: a first norm value of an absolute value encoder; determining the termination point of the deceleration and ascending movement of the traveling block as follows: a second norm value of the absolute value encoder;
step three, when the traveling block is controlled to descend, the traveling block is made to descend at a constant speed firstly and then decelerate until the traveling block stops, and the termination point of the descending movement of the traveling block at the constant speed is determined as follows: a third norm value of the absolute value encoder; determining the termination point of the deceleration descending movement of the traveling block as follows: a fourth norm value of the absolute value encoder.
The touch screen inputs instructions to the PLC controller, the PLC controller controls the rotating speed of the motor through the frequency converter so as to drive the roller to rotate, and the PLC controller controls the traveling block to firstly perform uniform speed, then perform speed reduction and finally stop when the traveling block ascends and controls the traveling block to firstly perform uniform speed, then perform speed reduction and finally stop when the traveling block descends under the action of the absolute value encoder, so that the purposes of preventing the traveling block from colliding with the overhead travelling crane and preventing the hook from colliding with the drill floor are achieved.
The invention has the beneficial effects that: the anti-collision control system is simple in structure, high in stability, low in cost, high in control precision of the roller and capable of reliably achieving hook position, constant speed and electronic anti-collision control.
Drawings
FIG. 1 is a schematic structure diagram of an electronic anti-collision control system for a traveling block of an oil rig according to a first embodiment of the method;
fig. 2 is a schematic structural diagram of a roller according to a first embodiment.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 and 2, and the electronic anti-collision control system for the traveling block of the oil rig is used for realizing the control of the running speed of the traveling block 4 of the oil rig;
the oil drilling machine further comprises a motor 1, a roller 2, a crown block 3, a traction rope 5, a hook 6, a drill rod 7, a derrick 8 and a drill floor 9;
the drill floor 9 is arranged at a petroleum site to be collected; the derrick 8 is arranged right above the drill floor 9;
the crown block 3 is arranged at the top end of the derrick 8, a fixed pulley is arranged on the crown block 3, a movable pulley is arranged on the traveling block 4, one end of the traction rope 5 is connected to the roller 2, and the other end of the traction rope 5 is fixed on the derrick 8 after passing through the fixed pulley of the crown block 3 and the movable pulley of the traveling block 4 for multiple times;
the big hook 6 is fixed at the bottom end of the traveling block 4, the top end of the drill rod 7 is installed on the big hook 6, and the bottom end of the drill rod 7 penetrates through the drill floor 9;
the anti-collision control system comprises a reduction gearbox 10, a frequency converter 11, an absolute value encoder 12, a PLC (programmable logic controller) 13 and a touch screen 14;
the motor 1 is connected with the main shaft of the roller 2 through a reduction box 10; the reduction gearbox 10 is used for realizing a gear shifting function; the rotation speed of the main shaft of the roller 2 and the rotation speed of the motor 1 have a certain transmission ratio after passing through the reduction box 10;
the absolute value encoder 12 is arranged on the main shaft of the roller 2, and the number of rotation turns of the main shaft of the roller 2 is counted through the absolute value encoder 12;
the counting signal output end of the absolute value encoder 12 is connected with the counting signal input end of the PLC 13;
the frequency conversion signal output end of the PLC 13 is connected with the frequency conversion signal input end of the frequency converter 11; the control signal output end of the frequency converter 11 is connected with the control signal input end of the motor 1, the frequency converter 11 is used for collecting the rotating speed, the torque, the voltage and the current of the motor 1 in real time, and the feedback signal output end of the frequency converter 11 is connected with the feedback signal input end of the PLC 13;
the display signal output end of the PLC 13 is connected with the display signal input end of the touch screen 14, and the instruction signal output end of the touch screen 14 is connected with the instruction signal input end of the PLC 13.
In the present embodiment, the absolute value encoder 12 is an explosion-proof absolute value encoder; the model of the PLC controller 13 is: 1515-2 PN; the PLC controller 13 is connected to the frequency converter 11 and the touch panel 14 by bus communication.
In the embodiment, the speed of the hauling ropes 5 on the same layer on the drum 2 is the same, each layer of hauling ropes 5 on the drum 2 is wound according to a certain rule, and the number of turns of each layer of hauling ropes 5 is the same.
In the present embodiment, the speed and position of the traveling carriage 4 can be controlled based on the count signal of the absolute value encoder 12, and the specific control operation principle is as follows: since the traction ropes 5 wound on the drum 2 are arranged in a fixed pattern, each layer of traction ropes 5 on the drum 2 reaches an upper limit after being arranged for M turns, where M is a positive integer greater than 3, as shown in fig. 2, where M is 8, and when the true count of the absolute value encoder 12 is less than or equal to M, at this time, the traction on the drum 2 is performedThe leading ropes 5 are arranged in one layer, and the traction speed of the first layer of the leading ropes 5 is equal to the angular speed x of the roller 2 (the radius of the roller 2 + the radius of the leading ropes 5); when the real count of the absolute value encoder 12 is greater than M and less than or equal to 2M, the traction ropes 5 on the drum 2 are arranged in two layers,
therefore, in order to ensure that the traction speed of the traction rope 5 is constant, the speed of the motor must be correspondingly reduced; and so on; for the position control, the length of the traction rope 5 wound on the roller 2 can be obtained according to the real counting of the absolute value encoder 12, and then the position of the traveling block 4 is determined;
the specific formula is as follows:
NR＝NMi; (unit r/s)
Wherein N isRThe rotational speed (linear velocity) of the drum 2, NMIs the rotating speed (linear speed) of the motor 1, i is the transmission ratio of the reduction gearbox 10;
Wherein L is2The length of the second layer of hauling rope 5, DLThe diameter of the hauling rope 5; dRThe diameter of the roller 2 is shown, and n is the number of turns of the single-layer steel wire rope;
Wherein L is3The third layer of hauling rope 5 length;
Wherein, Vf2The traction speed of the second layer of traction ropes 5;
Wherein, Vf3The traction speed of the third layer of traction ropes 5;
V2＝Vf2z; unit (m/s)
Wherein, V2The running speed of the big hook 6 when the hauling rope 5 is on the second layer is shown, and z is the effective rope number of the hauling rope 5;
V3＝Vf3z; unit (m/s)
Wherein, V3The speed of travel of the hook 6 when the pull-cord 5 is at the third level.
The second embodiment is as follows: the present embodiment is further limited to the electronic anti-collision control system for the oil rig recreational vehicle described in the first embodiment, and in the present embodiment, the motor 1 is a three-phase ac motor.
The third concrete implementation mode: the present embodiment is further limited to the electronic anti-collision control system for the oil rig recreational vehicle according to the first embodiment, and in the present embodiment, the oil rig further comprises a rack 15;
the gantry 15 is arranged horizontally in the upper middle part of the derrick 8.
The fourth concrete implementation mode: the control method of the electronic anti-collision control system for the oil rig touring car is based on the first specific embodiment, and in the embodiment, the control method comprises the following steps;
step one, debugging the PLC 13, and determining a first standard numerical value, a second standard numerical value, a third standard numerical value and a fourth standard numerical value of the absolute value encoder 12;
and step two, controlling the traveling block 4 to perform ascending motion at a constant speed firstly and then perform descending motion till stopping when ascending, and determining the termination point of the ascending motion at the constant speed of the traveling block 4 as follows: a first standard value of the absolute value encoder 12; determining the termination point of the deceleration and ascending motion of the traveling block 4 as follows: a second standard value of the absolute value encoder 12;
step three, when the traveling block 4 is controlled to descend, the traveling block 4 is made to descend at a constant speed firstly and then decelerate until the traveling block stops, and the termination point of the descending movement at the constant speed of the traveling block 4 is determined as follows: a third standard value of the absolute value encoder 12; determining the termination point of the deceleration descending movement of the traveling block 4 as follows: the fourth norm value of the absolute value encoder 12.
In the present embodiment, when the hook 6 descends to the drill floor 9 and the traveling block 4 ascends to the overhead traveling crane 3, a first standard value (up-collision deceleration) position, a second standard value (up-collision brake) position, a third standard value (down-collision deceleration) position, and a fourth standard value (down-collision brake) position are set; and recording the numerical values of the absolute value encoder 12 at the four positions, and when the PLC 13 reads the four positions, correspondingly controlling the absolute value encoder 12 when displaying the corresponding numerical values to complete the electronic anti-collision function.
The fifth concrete implementation mode: in the present embodiment, the control method of the electronic anti-collision control system for the oil rig cruise ship according to the fourth embodiment is further limited, and in the first embodiment, when the PLC controller 13 is debugged in the step one, the specific method for determining the first standard value of the absolute value encoder 12 is as follows:
step one, inputting a descending instruction through a touch screen 14, and controlling the traveling block 4 to descend so that the bottom end of the hook 6 is in contact with the upper surface of the drill floor 9;
step two, inputting a zero clearing instruction through the touch screen 14, and clearing the count of the absolute value encoder 12;
step three, arranging an upper collision deceleration sensor 16 on the derrick 8, inputting a lifting instruction through the touch screen 14, controlling the traveling block 4 to lift, and when the traveling block 4 lifts and touches the upper collision deceleration sensor 16, taking the absolute value encoder value displayed on the touch screen 14 as a first standard value.
The sixth specific implementation mode: in the present embodiment, the control method of the electronic anti-collision control system for the oil rig cruise ship is further defined as the fifth embodiment, and in the first embodiment, when the PLC controller 13 is debugged in the step one, the specific method for determining the second standard value of the absolute value encoder 12 is as follows:
an upper collision brake sensor 17 is arranged on the derrick 8, a deceleration command is input through the touch screen 14, and when the traveling block 4 ascends and touches the upper collision brake sensor 17, the absolute value encoder value displayed on the touch screen 14 serves as a second standard value.
The seventh embodiment: in the present embodiment, the control method of the electronic anti-collision control system for the oil rig cruise ship is further defined as in the sixth embodiment, and in the first embodiment, when the PLC controller 13 is debugged in the step one, the specific method for determining the third standard value of the absolute value encoder 12 is as follows:
and arranging a down-pounding deceleration sensor 18 on the derrick 8, inputting a descending instruction through the touch screen 14, controlling the traveling block 4 to descend, and when the traveling block 4 descends and touches the down-pounding deceleration sensor 18, taking the absolute value encoder value displayed on the touch screen 14 as a third standard value.
The specific implementation mode is eight: in the present embodiment, the control method of the electronic anti-collision control system for the oil rig cruise ship is further defined as the seventh embodiment, and in the first embodiment, when the PLC controller 13 is debugged in the step one, the specific method for determining the fourth standard value of the absolute value encoder 12 is as follows:
and a lower smashing brake sensor 19 is arranged on the derrick 8, a deceleration instruction is input through the touch screen 14, and when the traveling block 4 descends and touches the lower smashing brake sensor 19, the absolute value encoder value displayed on the touch screen 14 serves as a fourth standard value.
Claims (8)
1. An electronic anti-collision control system for a traveling block of an oil drilling machine is used for realizing the control of the running speed of the traveling block (4) of the oil drilling machine;
the oil drilling machine further comprises a motor (1), a roller (2), a crown block (3), a traction rope (5), a hook (6), a drill rod (7), a derrick (8) and a drill floor (9);
the drill floor (9) is arranged at a petroleum site to be collected; the derrick (8) is arranged right above the drill floor (9);
the overhead traveling crane (3) is arranged at the top end of a derrick (8), a fixed pulley is arranged on the overhead traveling crane (3), a movable pulley is arranged on the traveling crane (4), one end of a traction rope (5) is connected to the roller (2), and the other end of the traction rope (5) is fixed on the derrick (8) after sequentially passing through the fixed pulley of the overhead traveling crane (3) and the movable pulley of the traveling crane (4) for multiple times;
the big hook (6) is fixed at the bottom end of the traveling block (4), the top end of the drill rod (7) is installed on the big hook (6), and the bottom end of the drill rod (7) penetrates through the drill floor (9);
the anti-collision control system is characterized by comprising a reduction box (10), a frequency converter (11), an absolute value encoder (12), a PLC (programmable logic controller) controller (13) and a touch screen (14);
the motor (1) is connected with the main shaft of the roller (2) through a reduction box (10);
the absolute value encoder (12) is arranged on the main shaft of the roller (2), and the number of rotation turns of the main shaft of the roller (2) is counted through the absolute value encoder (12);
the counting signal output end of the absolute value encoder (12) is connected with the counting signal input end of the PLC (13);
the frequency conversion signal output end of the PLC (13) is connected with the frequency conversion signal input end of the frequency converter (11); the control signal output end of the frequency converter (11) is connected with the control signal input end of the motor (1), the frequency converter (11) is used for collecting the rotating speed, the torque, the voltage and the current of the motor (1) in real time, and the feedback signal output end of the frequency converter (11) is connected with the feedback signal input end of the PLC (13);
the display signal output end of the PLC (13) is connected with the display signal input end of the touch screen (14), and the instruction signal output end of the touch screen (14) is connected with the instruction signal input end of the PLC (13).
2. The electronic anti-collision control system for the oil-well rig touring car according to claim 1, characterized in that the motor (1) is a three-phase alternating current motor.
3. The electronic collision avoidance control system for a petroleum drilling rig recreational vehicle of claim 1, wherein the petroleum drilling rig further includes a racking platform (15);
the racking platform (15) is horizontally arranged at the middle upper part of the derrick (8).
4. The control method of the electronic anti-collision control system for the oil rig touring car is characterized by comprising the following steps of;
step one, debugging a PLC (13) and determining a first standard numerical value, a second standard numerical value, a third standard numerical value and a fourth standard numerical value of an absolute value encoder (12);
and step two, controlling the traveling block (4) to perform ascending motion at a constant speed firstly and then perform descending motion till stopping when the traveling block (4) ascends, and determining the termination point of the ascending motion at the constant speed of the traveling block (4) as follows: a first norm value of an absolute value encoder (12); determining the termination point of the deceleration and rising movement of the traveling block (4) as follows: a second norm value of the absolute value encoder (12);
step three, when the traveling block (4) is controlled to descend, the traveling block is made to descend at a constant speed firstly and then decelerate until the traveling block stops, and the termination point of the uniform descending motion of the traveling block (4) is determined as follows: a third standard value of the absolute value encoder (12); determining the termination point of the deceleration descending movement of the traveling block (4) as follows: a fourth standard value of the absolute value encoder (12).
5. The control method of the electronic anti-collision control system for the oil rig touring car according to claim 4, characterized in that when the PLC (13) is debugged in the first step, the specific method for determining the first standard value of the absolute value encoder (12) is as follows:
step one, inputting a descending instruction through a touch screen (14) to control the traveling block (4) to descend, so that the bottom end of the hook (6) is in contact with the upper surface of the drill floor (9);
step two, inputting a zero clearing instruction through the touch screen (14), and clearing the count of the absolute value encoder (12);
step three, arranging an upper collision deceleration sensor (16) on the derrick (8), inputting a lifting instruction through the touch screen (14) to control the traveling block (4) to lift, and when the traveling block (4) lifts and touches the upper collision deceleration sensor (16), taking the absolute value encoder value displayed on the touch screen (14) as a first standard value.
6. The control method of the electronic anti-collision control system for the oil rig touring car according to claim 5, characterized in that the specific method for determining the second standard value of the absolute value encoder (12) when the PLC (13) is debugged in the first step is as follows:
an upper collision brake sensor (17) is arranged on the derrick (8), a deceleration instruction is input through the touch screen (14), and when the traveling block (4) ascends to touch the upper collision brake sensor (17), the absolute value encoder value displayed on the touch screen (14) serves as a second standard value.
7. The control method of the electronic anti-collision control system for the oil rig touring car according to claim 6, characterized in that when the PLC (13) is debugged in the first step, the specific method for determining the third standard value of the absolute value encoder (12) is as follows:
and a down-pounding deceleration sensor (18) is arranged on the derrick (8), a descending instruction is input through the touch screen (14), the traveling block (4) is controlled to descend, and when the traveling block (4) descends and touches the down-pounding deceleration sensor (18), the absolute value encoder numerical value displayed on the touch screen (14) serves as a third standard numerical value.
8. The control method of the electronic anti-collision control system for the oil rig touring car according to claim 7, characterized in that when the PLC (13) is debugged in the first step, the specific method for determining the fourth standard value of the absolute value encoder (12) is as follows:
and a down-pounding brake sensor (19) is arranged on the derrick (8), a deceleration instruction is input through the touch screen (14), and when the traveling block (4) descends to touch the down-pounding brake sensor (19), the absolute value encoder value displayed on the touch screen (14) serves as a fourth standard value.
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| CN202110819706.0A CN113428792A (en) | 2021-07-20 | 2021-07-20 | Electronic anti-collision control system for traveling block of oil drilling rig and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604794A (en) * | 2022-01-25 | 2022-06-10 | 四川宏华电气有限责任公司 | System and method for controlling position of winch of oil rig |
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