CN114635647A

CN114635647A - Electric-drive full-casing full-slewing drilling machine system and method based on self-adaptive control

Info

Publication number: CN114635647A
Application number: CN202210532645.4A
Authority: CN
Inventors: 陈卫; 王颖杰; 江城树; 魏垂勇; 陈小青; 卢昊; 陈国安; 刘海媛; 王从明; 顾齐齐
Original assignee: Xuzhou Jingan Heavy Industry Machinery Manufacturing Co ltd; China University of Mining and Technology CUMT
Current assignee: Xuzhou Jingan Heavy Industry Machinery Manufacturing Co ltd; China University of Mining and Technology CUMT
Priority date: 2022-05-17
Filing date: 2022-05-17
Publication date: 2022-06-17
Anticipated expiration: 2042-05-17
Also published as: CN114635647B

Abstract

The invention discloses an electric-drive full-casing full-slewing drilling machine system and method based on adaptive control, wherein the drilling machine system comprises a power part, a drilling part and a hydraulic part, wherein the drilling part and the hydraulic part are respectively connected with the power part; the self-adaptive power distribution control module is integrated in the engine controller, the first power supply part, the second power supply part and the third power supply part are respectively connected with the generator controller, the generator controller is connected with the power grid control cabinet, and the power grid control cabinet forms a power supply output end of the power part; the self-adaptive power distribution control module is respectively connected with the first power supply part, the second power supply part and the third power supply part and is used for controlling the power distribution of the three power supply parts. Therefore, the power distribution of the power supply of the drilling machine is controlled in a self-adaptive power distribution mode, and the optimal energy efficiency is achieved.

Description

Electric-drive full-casing full-slewing drilling machine system and method based on self-adaptive control

Technical Field

The invention relates to the field of engineering machinery and a control method, in particular to a self-adaptive control full-casing-pipe full-slewing drilling machine system taking a motor as main power and a self-adaptive control method thereof.

Background

At present, a full-casing full-slewing drilling machine adopts a diesel engine to drive an oil pump, the oil pump drives a hydraulic motor, and the hydraulic motor drives a transmission mechanism to realize the piling and pile forming functions of the drilling machine. Because the drilling machine uses the diesel engine to provide power, the drilling machine has the defects of low energy efficiency, high emission and high noise of the engine, and does not meet the purposes of energy conservation and emission reduction. The existing full-casing-pipe full-slewing drilling machine cannot control the torque of a motor and the pressure of an oil cylinder according to real-time working conditions, so that the drilling machine is ensured to work in an optimal state all the time, efficient drilling is realized, and the problems of drill jamming, power head damage and the like often occur.

Disclosure of Invention

The invention aims to provide an electrically-driven full-casing full-slewing drilling machine system, which aims to solve the problems of low energy efficiency of an engine, unstable working state of a drilling machine and the like in the prior art.

Along with the development of science and technology, the national requirements on energy conservation and environmental protection are higher and higher, the advantage that a servo motor replaces a diesel engine is more and more obvious, and therefore the electrically-driven system of the electrically-driven full-casing-pipe full-slewing drilling machine replaces the original diesel engine power system, the power output of a power grid, a generator and a main engine storage battery is distributed in a self-adaptive mode, and energy conservation and emission reduction are achieved. Meanwhile, a drilling machine system is controlled by adopting a self-adaptive control method, the motor torque and the oil cylinder pressure are controlled according to real-time working conditions, the drilling machine is ensured to work in an optimal state all the time, high-efficiency drilling is realized, and the problems of drill sticking, power head damage and the like are also avoided.

In order to achieve the purpose, the invention provides the following technical scheme:

an electric-drive full-casing full-slewing drilling machine system based on adaptive control comprises a power part, a drilling part and a hydraulic part, wherein the drilling part and the hydraulic part are respectively connected with the power part; an adaptive power distribution control module is integrated within the generator controller, wherein:

the first power supply part, the second power supply part and the third power supply part are respectively connected with a generator controller, the generator controller is connected with a power grid control cabinet, and the power grid control cabinet forms a power supply output end of the power part;

the self-adaptive power distribution control module is respectively connected with the first power supply part, the second power supply part and the third power supply part and is used for controlling the power distribution of the three power supply parts.

Preferably, the first power supply part comprises a power grid and a high-voltage power management unit connected with the power grid, and the high-voltage power management unit forms an output end of the first power supply part; the second power supply part comprises a diesel engine and a generator connected with the diesel engine, and the generator forms an output end of the second power supply part; the third power supply part comprises a host battery, and the host battery is an output end of the third power supply part.

Preferably, the adaptive power distribution control module includes a first power collection module, a first battery power judgment module, a second power collection module, a third power collection module, a second battery power judgment module, a third battery power judgment module and a power supply execution module, wherein:

the first power acquisition module is used for acquiring the output power of the power grid control cabinet and feeding the output power back to the first storage battery power judgment module;

the first storage battery power judgment module judges whether the power grid is accessed according to the output power of the power grid control cabinet acquired by the first power acquisition module;

the second power acquisition module is used for acquiring the output power of a power grid, the output power of a generator, the output power of a host battery and the residual electric quantity of the host battery and feeding the output power of the host battery, the output power of the host battery and the residual electric quantity of the host battery back to the second battery power judgment module;

the third power acquisition module is used for acquiring the output power of the generator, the output power of the host battery and the residual electric quantity of the host battery and feeding the output power, the output power and the residual electric quantity back to the third battery power judgment module;

the self-adaptive power distribution control module respectively triggers a second storage battery power judgment module and a third storage battery power judgment module according to the judgment result of the first storage battery power judgment module: when the judgment result of the first storage battery power judgment module shows that the power grid is in an access state, triggering a second storage battery power judgment module, otherwise triggering a third storage battery power judgment module;

the power supply execution module outputs corresponding power supply execution instructions according to the judgment results of the second and third storage battery power judgment modules;

the second storage battery power judgment module judges whether the residual capacity ratio of the host storage battery is in a preset threshold range A in the second storage battery power judgment module according to the residual capacity of the host storage battery collected in the second power collection module: when the judgment result shows that the residual electric quantity ratio of the storage battery of the host is within the threshold value range A, triggering a power supply execution module to output a first power supply execution instruction; otherwise, triggering the power supply execution module to output a second power supply execution instruction;

the third storage battery power judgment module comprises three sub-storage battery power judgment modules which are a sub-storage battery power judgment module A, a sub-storage battery power judgment module B and a sub-storage battery power judgment module C correspondingly;

the sub-battery power judgment module A judges whether the residual capacity ratio of the host battery is in a preset threshold range B in the sub-battery power judgment module A according to the residual capacity of the host battery collected in the third power collection module: when the judgment result shows that the residual capacity ratio of the storage battery of the host is within the threshold value range B, triggering the power supply execution module to output a third power supply execution instruction; otherwise, triggering a sub-battery power judgment module B; the sub-battery power judgment module B judges whether the residual capacity ratio of the host battery is in a preset threshold value range C in the sub-battery power judgment module B according to the residual capacity of the host battery collected in the third power collection module: when the judgment result shows that the residual electric quantity ratio of the storage battery of the host is within the threshold value range C, triggering the power supply execution module to output a fourth power supply execution instruction; otherwise, triggering a sub-battery power judgment module C; the sub-battery power judgment module C judges whether the residual electric quantity ratio of the host battery is in a preset threshold range D in the sub-battery power judgment module C according to the residual electric quantity of the host battery collected in the third power collection module: when the judgment result shows that the residual electric quantity ratio of the storage battery of the host is within the threshold range D, triggering the power supply execution module to output a fifth power supply execution instruction; otherwise, triggering the power supply execution module to output a sixth power supply execution instruction;

under the control of the first power supply execution instruction, only the power grid is in a power supply mode, the output power of the power grid = the output power of the power grid control cabinet, and both the main machine storage battery and the generator stop working;

under the control of the second power supply execution instruction, only the power grid is in a power supply mode, the host battery is in a charging mode, the output power of the power grid = the output power of the power grid control cabinet plus the input power of the host battery, and the generator stops working;

under the control of a third power supply execution instruction, only the main machine storage battery is in a power supply mode, the output power of the main machine storage battery = the output power of the power grid control cabinet, and the generator stops working;

under the control of the fourth power supply execution instruction, the host battery and the generator are both in a power supply mode, and the output power of the host battery is as follows: the output power of the power grid control cabinet is the ratio of the residual electric quantity of the storage battery of the host, and the output power of the generator is as follows: output power of the power grid control cabinet (1-residual electric quantity ratio of the storage battery of the main machine);

under the control of a fifth power supply execution instruction, the generator is in a power supply mode, and the output power of the storage battery of the host machine = the output power of the power grid control cabinet; generator output power = rated operating power;

under the control of a sixth power supply execution instruction, the generator is in a power supply mode, the host battery is in a charging mode, the output power of the power grid control cabinet =0, and the drilling machine is stopped.

Preferably, the drilling section includes an adaptive drilling torque control module, first through fourth motor control modules, a motor M₁To M₄The power transmission mechanism and the power head; wherein:

the power supply output end of the power grid control cabinet corresponds to the motor M one by one through the first motor control module to the fourth motor control module respectively₁To M₄Connecting;

motor M₁To M₄The power head and the power head are respectively connected with each other in a linkage way through a power transmission mechanism and are used for cooperatively driving the power head to rotate; the motor M₁To M₄In the middle, two are in a group and symmetrically distributed on two sides of the power head; the axial direction of the power output end of each power transmission mechanism is vertical to the axial direction of the power head;

the first motor control module, the second motor control module, the third motor control module, the fourth motor control module and the fourth motor control module form a power supply input end of a drilling part respectively and are correspondingly connected with a power supply output end of a power grid control cabinet respectively;

the self-adaptive drilling torque control module is used for outputting instructions to the first motor control module, the second motor control module, the third motor control module and the fourth motor control module and is connected with the first motor control module, the second motor control module and the fourth motor control module respectively.

Preferably, the adaptive drilling torque control module comprises a motor rotating speed acquisition module, a motor rotating speed judgment module, a motor torque acquisition module, a motor torque judgment module and a motor torque execution module; the number of the motor rotating speed judging modules is two, and the two motor rotating speed judging modules correspond to a first motor rotating speed judging module and a second motor rotating speed judging module; the motor torque judging modules comprise two, namely a first motor torque judging module and a second motor torque judging module; wherein:

the motor rotating speed acquisition module is used for acquiring a motor M₁To M₄The rotating speed of the motor is output to a first motor rotating speed judging module;

the motor torque acquisition module is used for acquiring a motor M₁To M₄The torque is fed back to the first motor torque judgment module;

the first motor rotating speed judging module is used for judging the average rotating speed N and the given rotating speed N₀Absolute value of difference | N-N₀Whether | is less than N₀0.5%; when the result of the judgment indicates | N-N₀｜＜N₀When the speed is 0.5%, triggering a first motor torque judgment module, otherwise triggering a second motor rotating speed judgment module; wherein: the average speed N is based on the received motor M₁To M₄Calculating the rotating speed of the motor;

the second motor rotating speed judging module is used for judging whether the average rotating speed N is less than the given rotating speed N₀When the judgment result shows that N is less than N₀When the motor torque executing module outputs a first motor torque executing instruction, otherwise, the motor torque executing module outputs a second motor torque executing instruction;

the motor M₁To M₄Simultaneously increasing the motor M under the control of the first motor torque execution command₁To M₄By a given torque N₀1% of;the motor M₁To M₄Simultaneously reducing the motor M under the control of a second motor torque execution command₁To M₄Of a given torque N, the magnitude of the reduction being₀1% of;

the first motor torque judging module is used for judging the average torque T and any motor M_iTorque T of_iAbsolute value of the difference | T-T_iWhether | is less than T x 5%, wherein i =1, 2, 3, 4; average torque T is based on received motor M₁To M₄Calculating the torque of the motor; when the result of the judgment indicates | T-T_i| is < T × 5%, and a third motor torque execution command is output through the motor torque execution module; otherwise, triggering a second motor torque judgment module; the motor M₁To M₄Motor M under the control of a third motor torque execution command₁To M₄Is a given torque N₀；

The second motor torque judging module is used for judging whether the average torque T is smaller than any motor M_iTorque T of_iWhen the judgment result shows that T is less than T_iWhen the motor torque executing module outputs a fourth motor torque executing instruction, otherwise, the motor torque executing module outputs a fifth motor torque executing instruction;

the motor M₁To M₄And, under the control of the fourth motor torque execution command, the corresponding motor M is down-regulated_iDown-regulation of amplitude to a given torque N₀1% of;

the motor M₁To M₄Increasing the corresponding motor M under the control of the fifth motor torque execution command_iBy a given torque N₀1% of the total.

Preferably, each motor control module comprises a circuit breaker, a contactor, a reactor, a motor driver and a driving resistor which are sequentially connected with the circuit breaker; the motor driver constitutes an output end of the motor control module.

Preferably, the hydraulic part comprises an adaptive cylinder pressure control module and a control module connected with the adaptive cylinder pressure control moduleThe adaptive oil cylinder pressure control module is used for outputting an instruction to the fifth motor control module; the fifth motor control module is sequentially connected with a motor M₅Hydraulic oil pump and hydraulic motor, and is used for controlling motor M₅Driving a hydraulic oil pump and a hydraulic motor; the hydraulic oil pump is connected with an oil cylinder control valve group assembly, the oil cylinder control valve group assembly is respectively connected with a pulling oil cylinder, an upper clamping oil cylinder, a lower clamping oil cylinder and a leveling oil cylinder, the pulling oil cylinder comprises 4 oil cylinders, the upper clamping oil cylinder comprises 2 oil cylinders, the lower clamping oil cylinder comprises 2 oil cylinders, and the leveling oil cylinder comprises 4 oil cylinders; the fifth motor control module forms a power supply input end of the hydraulic part;

the self-adaptive oil cylinder pressure control module comprises an oil cylinder pressure acquisition module, a motor inclination angle acquisition module, a clamping oil cylinder pressure judgment module, a clamping oil cylinder pressure execution module, a motor inclination angle judgment module, a leveling oil cylinder displacement calculation module and a leveling oil cylinder pressure execution module, wherein the clamping oil cylinder pressure judgment modules comprise two clamping oil cylinder pressure judgment modules which are correspondingly a first clamping oil cylinder pressure judgment module and a second clamping oil cylinder pressure judgment module, wherein:

the oil cylinder pressure acquisition module can respectively acquire the pressures of the pull-up oil cylinder, the upper clamping oil cylinder, the lower clamping oil cylinder and the leveling oil cylinder, can transmit the acquired pressures of the upper clamping oil cylinder and the lower clamping oil cylinder to the first clamping oil cylinder pressure judgment module, and can transmit the acquired pressure of the leveling oil cylinder to the leveling oil cylinder displacement calculation module;

the motor inclination angle acquisition module is used for acquiring a motor M₁To M₄And transmitting the collected numerical value to a motor inclination angle judgment module;

the first clamping oil cylinder pressure judging module is used for judging the pressure F of the upper clamping oil cylinder_{Upper clamp}Pressure F of lower clamping cylinder_{Lower clip}Absolute value | F of the difference in pressure of (a)_{Upper clamp}-F_{Lower clip}Whether | is greater than the average pressure value F_{Average from top to bottom}10% average pressure value F_{Average from top to bottom}Pressure F fed back by oil cylinder pressure acquisition module_{Upper clamp}With pressure F_{Lower clip}Average value of (d); when the result of the judgment indicates | F_{Upper clamp}-F_{Lower clip}｜>F_{Average from top to bottom}When the speed is 10%, triggering a second clamping oil cylinder pressure judging module, otherwise, sending a first clamping oil cylinder pressure executing instruction through a clamping oil cylinder pressure executing module, and triggering a motor inclination angle judging module;

the second clamping oil cylinder pressure judging module is used for comparing the pressure F_{Pulling-out device}With pressure F_{Lower clip}When the comparison result shows that F_{Upper clamp}>F_{Lower clip}When the clamping oil cylinder pressure execution module is used, a second clamping oil cylinder pressure execution instruction is sent, otherwise, a third clamping oil cylinder pressure execution instruction is sent through the clamping oil cylinder pressure execution module;

the upper clamping oil cylinder and the lower clamping oil cylinder maintain the pressure F under the control of the pressure execution instruction of the first clamping oil cylinder_{Upper clamp}、F_{Lower clip}The change is not changed;

the upper clamping oil cylinder and the lower clamping oil cylinder reduce the pressure of the upper clamping oil cylinder and the lower clamping oil cylinder under the control of a second clamping oil cylinder pressure execution instruction, and the reduction range is 1% of the corresponding given oil pressure;

the pressure of the upper clamping oil cylinder and the pressure of the lower clamping oil cylinder are increased by 1% of the corresponding given oil pressure under the control of a third clamping oil cylinder pressure execution instruction;

the motor inclination angle judging module is used for judging the inclination angle alpha of any motor_iAbsolute value | α of difference from preset predetermined tilt angle β_i-whether β | is less than 0.2% of the constant tilt angle β; when the result of the judgment indicates | α_i-β｜<When beta is 0.2%, outputting a first leveling cylinder pressure execution instruction through the leveling cylinder pressure execution module, otherwise, triggering the leveling cylinder displacement calculation module;

the leveling cylinder maintains the cylinder pressure F under the control of the first leveling cylinder pressure execution instruction_{Leveling of}The change is not changed;

the leveling cylinder displacement calculation module calculates displacement S of four leveling cylinders₁、S₂、S₃、S₄Then screening out the displacement S corresponding to the leveling cylinder with the maximum displacement_mIs denoted as S_maxAnd calculating the difference of the displacement amount Delta S_n=S_max- S_n，m、n∈ [1,4]M and n are positive integers, and m is not equal to n; finally, the difference value Delta S of the displacement amount is calculated_nInputting the data into a PI regulator to calculate a cylinder pressure correction value F corresponding to the leveling cylinder_{Correcting n}；

The leveling oil cylinder pressure execution module controls and displaces S according to the calculation result of the leveling oil cylinder displacement calculation module_nThe corresponding leveling oil cylinder corrects the value F according to the corresponding oil cylinder pressure_{Correcting n}Operation, and displacement S_mCorresponding leveling oil cylinder maintains oil cylinder pressure F_LevellingAnd is not changed.

Another technical object of the present invention is to provide a control method of the above-mentioned electrically-driven full-casing-pipe full-slewing drilling machine system based on adaptive control, in which an adaptive power distribution control module included in the electrically-driven full-casing-pipe full-slewing drilling machine system based on adaptive control is realized by a power adaptive distribution method, the power adaptive distribution method including the following steps a1 to a 12:

step A1: collecting the output power of the power grid control cabinet, judging whether the power grid control cabinet is connected with a power grid, if so, entering the step A2, otherwise, entering the step A3;

step A2: respectively collecting output power of a power grid, a generator and a main machine storage battery, simultaneously collecting residual electric quantity of the main machine storage battery, judging whether the residual electric quantity ratio of the main machine storage battery is more than or equal to 95%, if so, entering the step A4, otherwise, entering the step A5;

step A3: collecting output power of the generator and the host battery and residual capacity ratio of the host battery, and judging whether the residual capacity ratio of the host battery is more than or equal to 90% and less than 95%, if so, entering step A5, otherwise, entering step A6;

step A4: a power grid power supply mode is adopted, and the electromechanical bottle and the generator stop working, so that power self-adaptive distribution control is realized; at this time, the power output of the power grid of the control power part is equal to the power output of the power grid control cabinet, and then the step A12 is carried out;

step A5: a power grid power supply mode is adopted, a main machine storage battery is charged, and a generator stops working, so that power self-adaptive distribution control is realized; at the moment, the power grid power output = the power grid control cabinet output power + the host battery input power; then proceed to step A12;

step A6: the power self-adaptive distribution control is realized by adopting a mode that a host storage battery supplies power independently and stopping a generator, and at the moment, the output power of the host storage battery is equal to the output power of the power grid control cabinet; then proceed to step A12;

step A7: judging whether the residual capacity ratio of the storage battery of the host is more than or equal to 60% and less than 90%, if so, entering the step A8, otherwise, entering the step A9;

step A8: the power is supplied by adopting a mode that a host storage battery and a generator supply power simultaneously, so that power self-adaptive distribution control is realized, and at the moment, the output power of the host storage battery = the output power of a power grid control cabinet and the residual electric quantity ratio of the host storage battery; the output power of the generator = the output power of the power grid control cabinet (1-the remaining capacity ratio of the main battery); then proceed to step A12;

step A9: judging whether the residual capacity ratio of the storage battery of the host is more than or equal to 30% and less than 60%, if so, entering the step A10, otherwise, entering the step A11;

step A10: the power self-adaptive distribution control is realized by adopting a power supply mode of a generator; at this time, the output power of the host battery = the output power of the power grid control cabinet; generator output power = rated operating power; then proceed to step A12;

step A11: the drilling machine stops running, and the generator charges the storage battery of the main machine, so that the power self-adaptive distribution control is realized; then, the step A12 is carried out;

step A12: and judging whether the power self-adaptive distribution control program is ended, if so, ending the program, otherwise, entering the step A1.

Further, the self-adaptive drilling torque control module included in the electric drive full-casing full-slewing drilling machine system based on self-adaptive control is realized by a self-adaptive torque control method, and the self-adaptive torque control method comprises the following steps:

step B1: presetting a given rotating speed N₀While collecting currentMachine M₁To motor M₄Respectively N, of₁、N₂、N₃、N₄And calculates the motor M₁To M₄Average rotational speed N, N = (N)₁+N₂+N₃+N₄) (ii)/4; then step B2 is entered;

step B2: calculating the average speed N and the given speed N₀Absolute value of difference, | N-N₀| value of given rotation speed N₀0.5% of (i), i.e. N₀A value of 0.5%, | N-N₀｜＜N₀0.5%, go to step B3, otherwise go to step B4;

step B3: presetting motor M₁To motor M₄Are all T₀(ii) a And collects the motor M₁To motor M₄Respectively, is T₁、T₂、T₃、T₄Calculating the motor M₁To M₄Torque average value of (a), T = (T)₁+T₂+T₃+T₄) Step B7 is then entered;

step B4: comparing the average speed N with a predetermined speed N₀If N is less than N₀Step B5 is entered, otherwise step B6 is entered;

step B5: make motor M₁To motor M₄The actual torques of (a) are: t is₁=T₀*101%，T₂=T₀*101%，T₃=T₀*101%，T₄=T₀101%, implementing adaptive drilling torque control, and then proceeding to step B12;

step B6: make motor M₁To motor M₄The actual torques of (a) are: t is₁=T₀*99%，T₂=T₀*99%，T₃=T₀*99%，T₄=T₀99%, implementing adaptive drilling torque control, then proceeding to step B12;

step B7: calculating average torque T and Motor M_iTorque T_iAbsolute value of the difference of (a) | T-T_i| calculating a value of 5% of the mean torque T, i.e. T5 | -T_i| T5%, where i =1,2. 3, 4; step B8 is entered, otherwise step B9 is entered;

step B8: holding motor M₁To motor M₄Actual torque T of_iEqual to a given torque T₀I.e. T_i=T₀Wherein i =1, 2, 3, 4, implementing adaptive drilling torque control, followed by proceeding to step B12;

step B9: respectively comparing the average torque T with the motor M₁Actual torque T of_iIf T < T_iWherein i =1, 2, 3, 4, step B10 is entered, otherwise step B11 is entered;

step B10: make motor M_iActual torque T of_i=T₀99%, wherein i =1, 2, 3, 4; implementing adaptive drilling torque control, and then proceeding to step B12;

step B11: make motor M_iActual torque T of_i=T₀101%, wherein i =1, 2, 3, 4; implementing adaptive drilling torque control, and then proceeding to step B12;

step B12: and judging whether the adaptive drilling torque control program is ended, if so, ending the program, otherwise, entering the step B1.

Further, the self-adaptive control module of the electrically-driven full-casing full-slewing drilling machine system based on self-adaptive control is realized by a self-adaptive cylinder pressure control method, and the self-adaptive cylinder pressure control method comprises the following steps:

step C1: collecting the pressure of a pulling oil cylinder, an upper clamping oil cylinder, a lower clamping oil cylinder and a leveling oil cylinder, wherein the pressure is F_{Pulling-out device}、F_{Upper clamp}、F_{Lower clip}、F_{Leveling of}(ii) a Meanwhile, judging whether an oil cylinder pulling instruction exists; if yes, go to step C2, otherwise go to step C3;

step C2: selecting a pulling oil cylinder for operation, and starting the pulling oil cylinder; then proceed to step C5;

step C3: judging whether the pulling oil cylinder is pressed down, if so, entering the step C4, otherwise, entering the step C13;

step C4: closing the pull-out oil cylinder; go to step C5;

step C5: calculate the top clamp cylinder pressure F_{Upper clamp}And lower clamping cylinder pressure F_{Lower clip}Average pressure value F of_{Average from top to bottom}I.e. F_{Average from top to bottom}=（F_{Upper clamp}+F_{Lower clip}) And/2, then calculating the top clamping cylinder pressure F_{Upper clamp}With lower clamping cylinder pressure F_{Lower clip}Absolute value of the difference of (a) | F_{Upper clamp}-F_{Lower clip}| calculating the average pressure value F_{Average from top to bottom}A value of 10%, | F_{Upper clamp}-F_{Lower clip}｜>F_{Average from top to bottom}10%, go to step C6, otherwise go to step C9;

step C6: judging the pressure F of the upper clamping oil cylinder_{Whether the upper clamp is larger than the lower clamp}Pressure F of cylinder_{The lower end of the lower clamp is provided with a lower clamp,}if F_{Upper clamp}>F_{Lower clip}Step C7 is entered, otherwise step C8 is entered;

step C7: adjusting the pressure F of the upper clamping cylinder_{Adjustable upper clamp}So that the adjusted pressure value F of the upper clamping oil cylinder_{Adjustable upper clamp}=F_{Upper clamp}0.99, and simultaneously adjusting the pressure F of the lower clamping oil cylinder_{Adjustable lower clamp}So that the adjusted pressure value F of the lower clamping oil cylinder_{Adjustable lower clamp}=F_{Lower clip}1.01, then proceed to step C5;

step C8: adjusting the pressure F of the upper clamping cylinder_{Adjustable upper clamp}So that the adjusted pressure value F of the upper clamping oil cylinder_{Adjustable upper clamp}=F_{Upper clamp}1.01, and simultaneously adjusting the pressure F of the lower clamping oil cylinder_{Adjustable lower clamp}So that the adjusted pressure value F of the lower clamping oil cylinder_{Adjustable lower clamp}=F_{Lower clip}0.99; then proceed to step C5;

step C9: maintaining pressure F of upper clamping cylinder_{The upper end of the upper clamp is provided with a clamp,}while maintaining the pressure F of the lower clamping cylinder_{The lower end of the lower clamp is provided with a lower clamp,}then proceed to step C10;

step C10: collection motor M₁To M₄Angle of inclination alpha₁、α₂、α₃、α₄And calculating the absolute value of the difference from a preset given tilt angle beta, i.e. | alpha_i- β | wherein i =1, 2, 3, 4; and calculating the value of a preset given tilt angle beta 0.2%, if | alpha_i- β | 0.2%, step C11, otherwise step C12;

step C11: maintaining the pressure F of 4 levelling cylinders_{Leveling of}Realizing self-adaptive oil cylinder pressure control, and then entering step C13;

step C12: respectively calculating the displacement S of 4 leveling oil cylinders₁、S₂、S₃、S₄And to the displacement amount S₁To the displacement amount S₄Sorting from large to small, obtaining the sorting serial numbers 1 to 4 of the displacement amounts sorted from large to small, and sorting the displacement amount S of the serial number 1_iRespectively subtracting the displacement with the sequence numbers of 2, 3 and 4 to further obtain three displacement difference values with the sequence numbers of 2, 3 and 4; respectively taking three displacement difference values with sequencing serial numbers of 2, 3 and 4 as input to a PI (proportional integral) regulator, respectively and correspondingly obtaining three oil cylinder pressure values, respectively applying the three oil cylinder pressure values to leveling oil cylinders with the sequencing serial numbers of 2, 3 and 4, respectively, and respectively applying the leveling oil cylinder pressure value F corresponding to the sequencing serial number of 1 to the leveling oil cylinder pressure value F_{Leveling of}The pressure of the self-adaptive oil cylinder is controlled unchanged; then proceed to step C13;

step C13: and D, judging whether the self-adaptive oil cylinder pressure control program is ended or not, if so, ending the program, and otherwise, entering the step C1.

Compared with the prior art, the technical scheme has the following technical effects:

1. compared with a diesel engine driving full-sleeve full-slewing drilling machine system, the scheme adopts an electric driving mode, and power output is automatically distributed by using three powers of a power grid, a generator and a main machine storage battery, so that the optimal energy efficiency is achieved.

2. The drilling part adopts motor drive (motor M)₁To M₄) The hydraulic motor drive is replaced, the controller adaptively controls the motor driver to adjust the motor torque, and then the speed reducer drives the power head of the drilling machine to rotate and punch, so that the working efficiency of the drilling machine is improved.

3. The hydraulic part adopts motor drive to replace diesel engine drive, and a controller adaptively controls the oil cylinder control valve group assembly to realize adaptive control on loosening, clamping, lifting, pulling and the like of a drill sleeve.

In conclusion, the power required by the diesel engine in the electrically-driven full-casing full-slewing drilling machine system is reduced by one third, the oil consumption is reduced by two thirds, a high-efficiency driving motor is used, a large amount of energy is saved, and noise and tail gas emission are reduced. By adopting a self-adaptive control strategy, the working efficiency and the inclination angle precision of the drilling machine are greatly improved, and the sleeve and the drill bit are protected.

Drawings

FIG. 1 is a system diagram of an electrically driven full casing full rotary drilling rig of the present invention;

FIG. 2 is a block diagram of an adaptive power allocation control module according to the present invention;

FIG. 3 is a block diagram of the adaptive drilling torque control of the present invention;

FIG. 4 is a block diagram of an adaptive cylinder pressure control according to the present invention.

Detailed Description

In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.

Example 1

As shown in fig. 1, the electrically-driven full-casing full-slewing drilling machine system disclosed by the invention comprises a power part, a drilling part and a hydraulic part, wherein the drilling part and the hydraulic part are respectively connected with the power part; the drilling part is used for pushing the drill casing to downwards rotate to cut the underground rock stratum; the hydraulic part is used for controlling loosening, clamping, pressing and pulling of the drilling part.

The power part comprises a self-adaptive power distribution control module, a first power supply part, a second power supply part and a third power supply part; the self-adaptive power distribution control module is respectively connected with the first power supply part, the second power supply part and the third power supply part and is used for controlling the power distribution of the three power supply parts; the first power supply part, the second power supply part and the third power supply part are respectively connected with a generator controller, the generator controller is connected with a power grid control cabinet, and the power grid control cabinet forms a power supply output end of the power part.

The first power supply part comprises a power grid and a high-voltage power management unit connected with the power grid, and the high-voltage power management unit forms an output end of the first power supply part; 380V alternating current is connected to a generator controller through a high-voltage management unit when the power grid is connected, the second power supply part comprises a diesel engine and a generator connected with the diesel engine, the generator forms an output end of the second power supply part, and the diesel engine generates mechanical energy to drive the generator to generate electricity and then is connected to the generator controller; the third power supply portion comprises a host battery, the host battery is an output end of the third power supply portion, the host battery of the internal power supply is directly connected with the generator controller, namely the three power supply portions are connected with the motor controller in a parallel mode, and finally the generator controller is connected with the power grid control cabinet to achieve power output.

Self-adaptation power distribution control module includes first power acquisition module, first storage battery power judgement module, second power acquisition module, third power acquisition module, second storage battery power judgement module, third storage battery power judgement module and power supply execution module, wherein:

the self-adaptive power distribution control module respectively triggers the second storage battery power judgment module and the third storage battery power judgment module according to the judgment result of the first storage battery power judgment module: when the judgment result of the first storage battery power judgment module shows that the power grid is in an access state, triggering a second storage battery power judgment module, otherwise triggering a third storage battery power judgment module;

the second storage battery power judgment module judges whether the ratio of the residual electric quantity of the host storage battery is within a threshold value range A (the value of the invention is more than 95%) preset in the second storage battery power judgment module according to the residual electric quantity of the host storage battery collected in the second power collection module: when the judgment result shows that the residual electric quantity ratio of the storage battery of the host is within the threshold value range A, triggering a power supply execution module to output a first power supply execution instruction; otherwise, triggering the power supply execution module to output a second power supply execution instruction;

the sub-battery power judgment module A judges whether the residual capacity ratio of the host battery is in a preset threshold range B in the sub-battery power judgment module A according to the residual capacity of the host battery collected in the third power collection module: when the judgment result shows that the residual capacity ratio of the storage battery of the host is in a threshold value range B (the value of the invention is more than or equal to 90% and less than 95%), triggering the power supply execution module to output a third power supply execution instruction; otherwise, triggering a sub-battery power judgment module B; the sub-battery power judgment module B judges whether the residual capacity ratio of the host battery is in a preset threshold value range C (the value of the invention is more than or equal to 60% and less than 90%) in the sub-battery power judgment module B according to the residual capacity of the host battery collected in the third power collection module: when the judgment result shows that the residual electric quantity ratio of the storage battery of the host is within the threshold value range C, triggering the power supply execution module to output a fourth power supply execution instruction; otherwise, triggering a sub-battery power judgment module C; the sub-battery power judgment module C judges whether the residual capacity ratio of the host battery is in a preset threshold range D in the sub-battery power judgment module C according to the residual capacity of the host battery collected in the third power collection module: when the judgment result shows that the residual electric quantity ratio of the storage battery of the host is within the threshold range D, triggering the power supply execution module to output a fifth power supply execution instruction; otherwise, triggering the power supply execution module to output a sixth power supply execution instruction;

under the control of a second power supply execution instruction, only the power grid is in a power supply mode, the main machine storage battery is in a charging mode, the output power of the power grid = the output power of the power grid control cabinet plus the input power of the main machine storage battery, and the generator stops working;

under the control of the fourth power supply execution instruction, the host battery and the generator are both in a power supply mode, and the output power of the host battery is as follows: the output power of the power grid control cabinet is the ratio of the residual electric quantity of the storage battery of the host, and the output power of the generator is as follows: the output power of the power grid control cabinet (1-the remaining capacity ratio of the host battery);

under the control of a fifth power supply execution instruction, the generator is in a power supply mode, and the output power of the host battery = the output power of the power grid control cabinet; generator output power = rated operating power;

under the control of a sixth power supply execution instruction, the generator is in a power supply mode, the host battery is in a charging mode, the output power of the power grid control cabinet =0, and the drilling machine is stopped;

and the power supply execution confirming module is used for confirming whether the first power supply part, the second power supply part and the third power supply part work according to the power supply execution instruction output by the power supply execution module.

The drilling portion includes first through fourth motor control modules and an adaptive drilling torque control module. Outputting a power supply of 380V alternating current to four motor control modules which are respectively connected with the power grid control cabinet by the power grid control cabinet, wherein the self-adaptive drilling torque control module is connected with the four motor control modules and is used for respectively outputting instructions to the first motor control module to the fourth motor control module; the first to fourth motor control modules are connected to the motors M1 to M4 in a one-to-one correspondence, respectively, and are configured to control the motors M1 to M4 connected thereto, respectively. And the motors M1 to M4 are respectively connected with the power head speed reducer and used for driving the speed reducer to drive the power head to rotate for drilling. Each motor control module comprises a circuit breaker, and a contactor, a reactor, a motor driver and a driving resistor which are sequentially connected with the circuit breaker; the motor drivers as the output terminals of the respective motor modules are connected to the corresponding motors M1 to M4, respectively.

In the invention, the self-adaptive drilling torque control module comprises a motor rotating speed acquisition module, a motor rotating speed judgment module, a motor torque acquisition module, a motor torque judgment module and a motor torque execution module; the number of the motor rotating speed judging modules is two, and the two motor rotating speed judging modules correspond to a first motor rotating speed judging module and a second motor rotating speed judging module; the motor torque judging modules comprise two, namely a first motor torque judging module and a second motor torque judging module; wherein:

the second motor rotating speed judging module is used for judging whether the average rotating speed N is less than the given rotating speed N₀When the judgment result shows that N is less than N₀When the motor torque execution module outputs a first motor torque execution instruction, otherwise, the motor torque execution module outputs a second motor torqueExecuting the instruction;

the motor M₁To M₄Simultaneously increasing the motor M under the control of the first motor torque execution command₁To M₄By a given torque N₀1% of; the motor M₁To M₄Simultaneously reducing the motor M under the control of a second motor torque execution command₁To M₄Of reduced amplitude to a given torque N₀1% of;

the first motor torque judging module is used for judging the average torque T and any motor M_iTorque T of_iAbsolute value of the difference | T-T_iWhether | is less than T x 5%, wherein i =1, 2, 3, 4; the average torque T is based on the received motor M₁To M₄Calculating the torque of the motor; when the result of the judgment indicates | T-T_i| is < T × 5%, and a third motor torque execution command is output through the motor torque execution module; otherwise, triggering a second motor torque judgment module; the motor M₁To M₄Motor M under the control of a third motor torque execution command₁To M₄Is a given torque N₀；

The hydraulic part comprises a self-adaptive oil cylinder pressure control module and a fifth motor control module connected with the self-adaptive oil cylinder pressure control module, and is used for outputting instructions to the fifth motor control module; the fifth motor control module is sequentially connected with the motor M5, the hydraulic oil pump and the hydraulic motor and is used for controlling the motor M5, driving the hydraulic oil pump and driving the hydraulic motor; the hydraulic oil pump is connected with the oil cylinder control valve group assembly, the oil cylinder control valve group assembly is respectively connected with the pulling oil cylinder, the upper clamping oil cylinder, the lower clamping oil cylinder and the leveling oil cylinder, the hydraulic oil pump is used for controlling loosening, clamping, pressing and pulling of the drilling machine, and the power grid control cabinet outputs an alternating current 380V power supply to the fifth motor control module for supplying power.

The cylinder of pulling up contains 4 hydro-cylinders, go up the clamping cylinder and contain 2 hydro-cylinders, the clamping cylinder contains 2 hydro-cylinders down, the leveling cylinder contains 4 hydro-cylinders.

In the invention, the self-adaptive oil cylinder pressure control module comprises an oil cylinder pressure acquisition module, a motor inclination angle acquisition module, a clamping oil cylinder pressure judgment module, a clamping oil cylinder pressure execution module, a motor inclination angle judgment module, a leveling oil cylinder displacement calculation module and a leveling oil cylinder pressure execution module, wherein the clamping oil cylinder pressure judgment modules comprise two, namely a first clamping oil cylinder pressure judgment module and a second clamping oil cylinder pressure judgment module, and the first clamping oil cylinder pressure judgment module and the second clamping oil cylinder pressure judgment module correspond to each other:

the first clamping oil cylinder pressure judging module is used for judging the pressure F of the upper clamping oil cylinder_{Upper clamp}Pressure F of lower clamping cylinder_{Lower clip}Absolute value | F of the difference in pressure of (a)_{Upper clamp}-F_{Lower clip}Whether | is greater than the average pressure value F_{Average from top to bottom}10% average pressure value F_{Average from top to bottom}For cylinder pressurePressure F fed back by force acquisition module_{Upper clamp}With pressure F_{Lower clip}Average value of (d); when the result of the judgment indicates | F_{Upper clamp}-F_{Lower clip}｜>F_{Average from top to bottom}When the speed is 10%, triggering a second clamping oil cylinder pressure judging module, otherwise, sending a first clamping oil cylinder pressure executing instruction through a clamping oil cylinder pressure executing module, and triggering a motor inclination angle judging module;

the motor inclination angle judging module is used for judging the inclination angle alpha of any motor_iAbsolute value | α of difference from preset predetermined tilt angle β_i-whether β | is less than 0.2% of the constant tilt angle β; when the judgment result shows | alpha_i-β｜<When beta is 0.2%, outputting a first leveling cylinder pressure execution instruction through the leveling cylinder pressure execution module, otherwise, triggering the leveling cylinder displacement calculation module;

the leveling oil cylinder displacement calculation module firstly calculates the displacement S of four leveling oil cylinders₁、S₂、S₃、S₄Then screening out the displacement S corresponding to the leveling cylinder with the maximum displacement_mIs denoted as S_maxAnd calculating the difference of the displacement amount Delta S_n=S_max- S_n，m、n∈ [1,4]M and n are positive integers, and m is not equal to n; finally, the difference value Delta S of the displacement amount is calculated_nInputting the data into a PI regulator to calculate a cylinder pressure correction value F corresponding to the leveling cylinder_{Correcting n}；

The leveling oil cylinder pressure execution module controls and displaces S according to the calculation result of the leveling oil cylinder displacement calculation module_nThe corresponding leveling oil cylinder corrects the value F according to the corresponding oil cylinder pressure_{Correcting n}Operation with displacement amount S_mCorresponding leveling oil cylinder maintains oil cylinder pressure F_LevellingAnd is not changed.

Example 2

According to the electrically-driven full-casing full-slewing drilling machine system, the invention provides a power self-adaptive distribution method for realizing the power self-adaptive distribution of a power supply part, which comprises the following steps of A1 to A12:

step A3: collecting output power of the generator and the host battery and residual capacity ratio of the host battery, and judging whether the residual capacity ratio of the host battery is more than or equal to 90% and less than 95%, if so, entering step A5, otherwise, entering step A6; step A4: a power grid power supply mode is adopted, and the electromechanical bottle and the generator stop working, so that power self-adaptive distribution control is realized; at this time, the power output of the power grid of the control power part is equal to the power output of the power grid control cabinet, and then the step A12 is carried out;

Example 3

According to the electrically-driven full-casing full-slewing drilling machine system, the invention provides a self-adaptive torque control method for realizing the motor M₁To M₄The adaptive torque control of (1), as shown in fig. 3, includes the following steps B1 to B12:

step B1: presetting a given rotating speed N₀While collecting motor M₁To motor M₄Respectively N, of₁、N₂、N₃、N₄And calculates the motor M₁To M₄Average rotational speed N, N = (N)₁+N₂+N₃+N₄) (ii)/4; then step B2 is entered;

step B5: make motor M₁To motor M₄The actual torques of (a) are: t is a unit of₁=T₀*101%，T₂=T₀*101%，T₃=T₀*101%，T₄=T₀101%, implementing adaptive drilling torque control, then proceeding to step B12;

step B7: calculating average torque T and Motor M_iTorque T_iAbsolute value of the difference of (a) | T-T_i| calculating a value of 5% of the mean torque T, i.e. T5 | -T_i| T5%, where i =1, 2, 3, 4; step B9 is entered, noStep B9 is entered;

Example 4

According to the electrically-driven full casing full rotary drilling machine system, the invention provides an adaptive cylinder pressure control method for realizing adaptive cylinder pressure control of a hydraulic part, as shown in fig. 4, comprising the following steps C1 to C13:

step C4: closing the pull-up oil cylinder; go to step C5;

step C5: calculate the top clamp cylinder pressure F_{Upper clamp}And lower clamping cylinder pressure F_{Lower clip}Average pressure value F of_{Average from top to bottom}I.e. F_{Average from top to bottom}=（F_{Upper clamp}+F_{Lower clip}) 2, then calculating the upper clamping cylinder pressure F_{Upper clamp}With lower clamping cylinder pressure F_{Lower clip}Absolute value of the difference of (a) | F_{Upper clamp}-F_{Lower clip}| calculating the average pressure value F_{Average from top to bottom}Value of 10%, if | F_{Upper clamp}-F_{Lower clip}｜>F_{Average from top to bottom}10%, go to step C6, otherwise go to step C9;

step C6: judging the pressure F of the upper clamping oil cylinder_{Whether the upper clamp is larger than the lower clamp}Pressure F of cylinder_{The lower end of the lower clamp is provided with a lower clamp,}if F_{Upper clamp}>F_{Lower clip}If yes, go to step C7, otherwise go to step C8;

step C7: adjusting the pressure F of the upper clamping cylinder_{Adjustable upper clamp}So that the adjusted pressure value F of the upper clamping oil cylinder_{Adjustable upper clamp}=F_{Upper clamp}0.99, and simultaneously adjusting the pressure F of the lower clamping oil cylinder_{Adjustable lower clamp}So that the adjusted pressure value F of the lower clamping oil cylinder_{Adjustable lower clamp}=F_{Lower clip}1.01, then go to step C5;

step C10: collection motor M₁To M₄Angle of inclination alpha₁、α₂、α₃、α₄And calculating the absolute value of the difference from a preset given tilt angle beta, i.e. | alpha_i- β | wherein i =1, 2, 3, 4; and calculating the value of a preset given inclination angle beta 0.2%, if | alpha_i- β | 0.2%, step C11, otherwise step C12;

step C11: maintaining the pressure F of 4 levelling cylinders_LevellingRealizing the self-adaptive oil cylinder pressure control, and then entering the step C13;

step C12: respectively calculating the displacement S of 4 leveling oil cylinders₁，S₂，S₃，S₄And to the displacement amount S₁To the displacement amount S₄Sorting from large to small, obtaining the sorting serial numbers 1 to 4 of the displacement amounts sorted from large to small, and sorting the displacement amount S of the serial number 1_iRespectively subtracting the displacement values with the sequence numbers of 2, 3 and 4 to further obtain three displacement difference values with the sequence numbers of 2, 3 and 4; inputting three displacement difference values with sequencing serial numbers of 2, 3 and 4 as input into a PI (proportional integral) regulator, correspondingly obtaining three oil cylinder pressure values respectively, and applying the three oil cylinder pressure values to leveling oil cylinders with sequencing serial numbers of 2, 3 and 4 respectively, wherein the leveling oil cylinder pressure value F corresponding to the sequencing serial number of 1_{Leveling of}The pressure of the self-adaptive oil cylinder is controlled unchanged; then proceed to step C13;

Aspects of the invention are described herein with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the invention are not limited to those shown in the drawings. It is to be understood that the invention is capable of implementation in any of the numerous concepts and embodiments described hereinabove or described in the following detailed description, since the disclosed concepts and embodiments are not limited to any embodiment. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.

Although the invention has been described with reference to preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. An electric-drive full-casing full-slewing drilling machine system based on adaptive control comprises a power part, a drilling part and a hydraulic part, wherein the drilling part and the hydraulic part are respectively connected with the power part; an adaptive power distribution control module is integrated within the generator controller, wherein:

2. The adaptive control based electrically driven full casing full slewing drilling machine system of claim 1, wherein the first power supply comprises a power grid and a high voltage power management unit connected thereto, the high voltage power management unit constituting a first power supply output; the second power supply part comprises a diesel engine and a generator connected with the diesel engine, and the generator forms an output end of the second power supply part; the third power supply part comprises a host battery, and the host battery is an output end of the third power supply part.

3. The electrically-driven full-casing full-slewing drilling machine system based on adaptive control of claim 2, wherein the adaptive power distribution control module comprises a first power acquisition module, a first battery power judgment module, a second power acquisition module, a third power acquisition module, a second battery power judgment module, a third battery power judgment module and a power supply execution module, wherein:

4. The adaptive control-based electrically-driven full casing full slewing drilling machine system of claim 2 or 3, wherein the drilling section comprises an adaptive drilling torque control module, first to fourth motor control modules, a motor M₁To M₄The power transmission mechanism and the power head; wherein:

5. The system of claim 4, wherein the adaptive control-based electric drive full-casing full-slewing drilling machine comprises a motor speed acquisition module, a motor speed judgment module, a motor torque acquisition module, a motor torque judgment module and a motor torque execution module; the number of the motor rotating speed judging modules is two, and the two motor rotating speed judging modules correspond to a first motor rotating speed judging module and a second motor rotating speed judging module; the motor torque judging modules comprise two, namely a first motor torque judging module and a second motor torque judging module; wherein:

the second motor rotating speed judging module is used for judging whether the average rotating speed N is less than the given rotating speed N₀When the judgment result shows that N is less than N₀When the motor torque execution module outputs a first motor torque execution instruction, otherwise, the motor torque execution module outputs a second motor torque execution instruction;

the first motor torque judging module is used for judging the average torque T and any motor M_iTorque T of_iAbsolute value of the difference | T-T_iWhether | is less than T x 5%, wherein i =1, 2, 3, 4; average torque T is based on received motor M₁To M₄Calculating the torque of the motor; when judgingResults of fragmentation indicate | T-T_i| is < T × 5%, and a third motor torque execution command is output through the motor torque execution module; otherwise, triggering a second motor torque judgment module; the motor M₁To M₄Motor M under the control of a third motor torque execution command₁To M₄Is a given torque N₀；

the motor M₁To M₄And, under the control of the fourth motor torque execution command, the corresponding motor M is down-regulated_iDown-regulated to a given torque N₀1% of;

6. The electrically-driven full casing full rotary drilling machine system according to claim 5, wherein each motor control module comprises a circuit breaker, and a contactor, a reactor, a motor driver and a driving resistor which are sequentially connected with the circuit breaker; the motor driver forms an output end of the motor control module.

7. The electrically driven full casing full slewing drilling machine system based on adaptive control of claim 6, wherein the hydraulic section comprises an adaptive cylinder pressure control module and a fifth motor control module connected to the adaptive cylinder pressure control module, the adaptive cylinder pressure control module for outputting a command to the fifth motor control module; the fifth motor control module is sequentially connected with a motor M₅Hydraulic oil pump and hydraulic motor, and is used for controlling motor M₅Driving a hydraulic oil pump and a hydraulic motor; the hydraulic oil pump is connected with an oil cylinder control valve group assembly, the oil cylinder control valve group assembly is respectively connected with a pulling oil cylinder, an upper clamping oil cylinder, a lower clamping oil cylinder and a leveling oil cylinder, the pulling oil cylinder comprises 4 oil cylinders, the upper clamping oil cylinder comprises 2 oil cylinders, the lower clamping oil cylinder comprises 2 oil cylinders, and the leveling oil cylinder comprises 4 oil cylinders; the fifth motor control module forms a power supply input end of the hydraulic part;

the motor inclination angle acquisition module is used for acquiring a motor M₁To M₄And transmitting the collected numerical value to a motor inclination angle judging module;

the first clamping oil cylinder pressure judging module is used for judging the pressure F of the upper clamping oil cylinder_{Upper clamp}Pressure F of lower clamping cylinder_{Lower clip}Absolute value | F of the difference in pressure of (a)_{Upper clamp}-F_{Lower clip}Whether | is greater than the average pressure value F_{Average from top to bottom}10% average pressure value F_{Average from top to bottom}Pressure F fed back by oil cylinder pressure acquisition module_{Upper clamp}With pressure F_{Lower clip}Average value of (a); when the result of the judgment indicates | F_{Upper clamp}-F_{Lower clip}｜>F_{Average from top to bottom}Triggering a second clamping oil cylinder pressure judging module when the pressure is 10 percent, otherwise, pressing the second clamping oil cylinder through the clamping oil cylinderThe force execution module sends a pressure execution instruction of the first clamping oil cylinder and triggers the motor inclination angle judgment module;

the upper clamping oil cylinder and the lower clamping oil cylinder increase the pressure of the upper clamping oil cylinder and the lower clamping oil cylinder under the control of a third clamping oil cylinder pressure execution instruction, and the increase amplitude is 1% of the corresponding given oil pressure;

The leveling oil cylinder pressure execution module controls and displaces S according to the calculation result of the leveling oil cylinder displacement calculation module_nThe corresponding leveling oil cylinder corrects the value F according to the corresponding oil cylinder pressure_{Correcting n}Operation, and displacement S_mCorresponding leveling oil cylinder maintains oil cylinder pressure F_{Leveling of}And is not changed.

8. The control method of the electrically-driven full-casing full-slewing drilling machine system based on adaptive control according to claim 1, wherein the adaptive power distribution control module included in the electrically-driven full-casing full-slewing drilling machine system based on adaptive control is realized by a power adaptive distribution method, and the power adaptive distribution method comprises the following steps A1 to A12:

9. The method for controlling an electrically driven full-casing full-slewing drilling machine system based on adaptive control of claim 8, wherein the adaptive drilling torque control module included in the electrically driven full-casing full-slewing drilling machine system based on adaptive control is realized by an adaptive torque control method, and the adaptive torque control method comprises the following steps:

step B2: calculating the average speed N and the given speed N₀Absolute value of difference, | N-N₀| value of given rotation speed N₀0.5% of (i), i.e. N₀Value 0.5%, if | N-N₀｜＜N₀0.5%, go to step B3, otherwise go to step B4;

step B3: presetting motor M₁To motor M₄Are all T₀(ii) a And collects the motor M₁To motor M₄Respectively, is T₁、T₂、T₃、T₄Calculating the motor M₁To M₄Torque average value T, T = (T)₁+T₂+T₃+T₄) Step B7 is then entered;

step B4: comparing the average speed N with a predetermined speed N₀If N < N₀Step B5 is entered, otherwise step B6 is entered;

step B5: make motor M₁To motor M₄The actual torques of (a) are: t is₁=T₀*101%，T₂=T₀*101%，T₃=T₀*101%，T₄=T₀101%, implementing adaptive drilling torque control, then proceeding to step B12;

step B7: calculating average torque T and Motor M_iTorque T_iAbsolute value of the difference of (a) | T-T_i| calculating a value of 5% of the mean torque T, i.e. T5 | -T_i| T5%, wherein i =1, 2, 3, 4; step B8 is entered, otherwise step B9 is entered;

10. The method for controlling an electrically driven full-casing full-slewing drilling machine system based on adaptive control according to claim 8, wherein the adaptive cylinder pressure control module included in the electrically driven full-casing full-slewing drilling machine system based on adaptive control is realized by an adaptive cylinder pressure control method, and the adaptive cylinder pressure control method comprises the following steps:

step C4: closing the pull-up oil cylinder; go to step C5;

step C6: judging the pressure F of the upper clamping oil cylinder_{Upper clamp}Whether the pressure is greater than the pressure F of the lower clamping oil cylinder_{The lower end of the lower clamp is provided with a lower clamp,}if F_{Upper clamp}>F_{Lower clip}Step C7 is entered, otherwise step C8 is entered;

step C10: collection motor M₁To M₄Angle of inclination alpha₁、α₂、α₃、α₄And respectively calculate and preset the given valuesAbsolute value of difference in tilt angle β, i.e. | α_i- β | wherein i =1, 2, 3, 4; and calculating the value of a preset given inclination angle beta 0.2%, if | alpha_i- β | 0.2%, step C11, otherwise step C12;

step C12: respectively calculating the displacement S of 4 leveling oil cylinders₁、S₂、S₃、S₄And to the displacement amount S₁To the displacement amount S₄Sorting from large to small, obtaining the sorting numbers 1 to 4 of the displacement amount sorted from large to small, and sorting the displacement amount S of the sorting number 1_iRespectively subtracting the displacement with the sequence numbers of 2, 3 and 4 to further obtain three displacement difference values with the sequence numbers of 2, 3 and 4; respectively taking three displacement difference values with sequencing serial numbers of 2, 3 and 4 as input to a PI (proportional integral) regulator, respectively and correspondingly obtaining three oil cylinder pressure values, respectively applying the three oil cylinder pressure values to leveling oil cylinders with the sequencing serial numbers of 2, 3 and 4, respectively, and respectively applying the leveling oil cylinder pressure value F corresponding to the sequencing serial number of 1 to the leveling oil cylinder pressure value F_{Leveling of}The pressure of the self-adaptive oil cylinder is controlled unchanged; then proceed to step C13;