WO2021063152A1 - 一种水平定向钻机的控制系统及其控制方法 - Google Patents

一种水平定向钻机的控制系统及其控制方法 Download PDF

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WO2021063152A1
WO2021063152A1 PCT/CN2020/113158 CN2020113158W WO2021063152A1 WO 2021063152 A1 WO2021063152 A1 WO 2021063152A1 CN 2020113158 W CN2020113158 W CN 2020113158W WO 2021063152 A1 WO2021063152 A1 WO 2021063152A1
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push
pressure
pull
rotation
pump
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PCT/CN2020/113158
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English (en)
French (fr)
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陈凤钢
许为松
胡孝新
程熙
石姚姚
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江苏谷登工程机械装备有限公司
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Publication of WO2021063152A1 publication Critical patent/WO2021063152A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers

Definitions

  • the invention relates to the field of horizontal directional drilling rig manufacturing, in particular to a control system of a horizontal directional drilling rig and a control method thereof.
  • Trenchless horizontal directional drilling rigs are typical construction machinery products using trenchless technology.
  • HDDs are typical construction machinery products using trenchless technology.
  • 49% of public facilities construction projects use HDD, and 17.6% of enterprises in the existing trenchless industry have adopted HDD As a business focus.
  • Trenchless horizontal directional drilling rigs play a very important role in urban construction, especially in the construction of municipal infrastructure.
  • the horizontal directional drilling rig is suitable for various complex formations such as sand, clay, pebbles and rocks.
  • the horizontal directional drilling rig When the horizontal directional drilling rig is pushing and rotating, if it encounters a complex soil layer, the horizontal directional drilling rig’s pushing and pulling and rotating pressure fluctuate greatly.
  • Horizontal directional drilling rigs require the rig's hands to constantly adjust the position of the push-pull and rotary handles to control the displacement of the push-pull rotary pump during operation to ensure stable pressure.
  • This method of manually adjusting the pressure by the rig's hand not only increases the workload of the rig's hand, but is also not conducive to the stability of the pressure. Drilling is difficult, but the drill pipe is directly twisted off.
  • the present invention provides a horizontal directional drilling rig control system and control method thereof.
  • the specific technical solutions are as follows:
  • the control system of a horizontal directional drilling rig of the present invention includes a controller, a pressure sensor, a position sensor, a handle, and a proportional pump.
  • the pressure sensor is used to detect the rotation pressure and the push-pull pressure of the power head of the horizontal directional drilling rig.
  • the proportional pump is used to drive the movement of the power head, the position sensor is used to detect the position of the handle, and the controller is used to control the position of the handle and the rotation or push-pull pressure of the horizontal directional drill.
  • the proportional pump adjusts the displacement.
  • the pressure sensor includes a rotation pressure sensor and a push-pull pressure sensor, the rotation pressure sensor is used to detect the rotation pressure of the power head, and the push-pull pressure sensor is used to detect the push-pull pressure of the power head.
  • the proportional pump is an electronically controlled proportional pump, including a rotary pump and a push-pull pump, the rotary pump is used to drive the rotary motion of the power head, and the push-pull pump is used to drive the push-pull motion of the power head.
  • the handle is an electric control handle, including a rotating handle and a push-pull handle.
  • controller is a PLC controller.
  • the displacement adjustment method of the proportional pump adopts PID proportional adjustment.
  • a control method of a horizontal directional drilling rig includes the following steps:
  • the position sensor detects the positions of the rotating handle and the push-pull handle, and transmits the detection signal to the controller;
  • the rotation pressure sensor and the push-pull pressure sensor respectively detect the rotation pressure and push-pull pressure of the power head, and both transmit the detection signal to the controller;
  • S4 The controller adjusts the displacement of the push-pull pump or the rotary pump according to the detection signals of steps S2 and S3.
  • the system returns to the starting position; when the position sensor detects that the rotating handle is in the neutral position, and the push-pull handle In the non-neutral position, if the push-pull pressure sensor detects that the push-pull pressure is greater than the push-pull dead zone pressure, the controller will reduce the displacement of the push-pull pump by the PID ratio; if the push-pull pressure is less than the push-pull dead zone pressure, The controller performs PID proportional adjustment on the displacement of the push-pull pump; if the push-pull pressure is within the push-pull dead zone pressure range, the controller performs PID precise adjustment on the displacement of the push-pull pump.
  • the control performs PID proportional adjustment on the displacement of the rotary pump; if the rotary pressure is less than the rotary dead zone pressure, the controller performs PID proportional adjustment on the displacement of the rotary pump; if the rotary pressure is in the rotary dead zone Within the pressure range, the controller will perform PID precise adjustments on the displacement of the rotary pump.
  • the controller selects the push-pull or rotating pressure that deviates from its dead zone pressure with a larger amplitude as the adjustment object, and treats the push-pull pump
  • the displacement of the rotary pump is adjusted to a smaller PID ratio; if the pressure does not have a trend of convergence, the displacement of the rotary pump is adjusted accordingly.
  • the controller will perform PID proportional adjustment on the displacement of the push-pull pump according to the rotation pressure; if the rotation pressure is not The trend of convergence is followed by adjustment of the rotary pump.
  • the controller will adjust the displacement of the rotary pump to the maximum displacement corresponding to the position of the rotary handle. According to the push-pull pressure, the displacement of the push-pull pump is adjusted in PID proportion.
  • the controller will perform PID proportional adjustment on the displacement of the push-pull pump according to the push-pull pressure.
  • the controller performs PID precise adjustment on the displacement of the push-pull pump according to the rotation pressure; if the rotation pressure does not tend to converge, the PLC controller The displacement of the rotary pump is adjusted accordingly.
  • the control system and control method of the horizontal directional drilling rig of the present invention solve the problem of automatic drilling of a single rod of the drilling rig.
  • the control system and control method of the horizontal directional drilling rig of the present invention solve the control problem of the push-pull rotation pressure of the drilling rig and simultaneously control the displacement of the push-pull pump.
  • FIG. 1 is a diagram of the control system of the present invention
  • FIG. 2 is a flow chart of the control system of the present invention.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense. For example, they can be fixedly connected or detachably connected. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • installed can be fixedly connected or detachably connected. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • a control system of a horizontal directional drilling rig includes a controller, a pressure sensor, a position sensor, a handle, and a proportional pump.
  • the pressure sensor is used to detect the rotation pressure and push-pull pressure of the power head of the horizontal directional drilling rig
  • the proportional pump is used to drive the movement of the power head
  • the position sensor is used to detect the position of the handle
  • the controller is used to control the position of the handle and the rotation or push-pull pressure of the horizontal directional drill
  • the proportional pump performs displacement adjustment.
  • the pressure sensor includes a rotation pressure sensor and a push-pull pressure sensor, the rotation pressure sensor is used to detect the rotation pressure of the power head, and the push-pull pressure sensor is used to detect the push-pull pressure of the power head;
  • the electronically controlled proportional pump includes a rotary pump and a push-pull pump, the rotary pump is used to drive the rotary motion of the power head, and the push-pull pump is used to drive the push-pull motion of the power head;
  • the electric control handle includes a rotary handle and a push-pull handle, and the position sensor is used to detect the positions of the rotary handle and the push-pull handle respectively;
  • the controller is a PLC controller
  • the position sensor and the pressure sensor both transmit detection signals to the PLC controller, and the PLC controller respectively sends control signals to the rotary pump or push-pull pump according to the detection signals, and the rotary pump or push-pull pump according to the control signal Make PID proportional adjustments to their respective displacements.
  • Figure 2 is a flow chart of the control system of the present invention. As shown in the figure, the control method of the control system is as follows:
  • the control mode of the horizontal directional drilling rig is switched to the automatic control mode, and then the rotary pressure sensor and the push-pull pressure sensor detect the rotation pressure and push-pull pressure of the power head respectively, and the position sensor detects the position of the rotary handle and the push-pull handle.
  • the position sensor detects that both the rotating handle and the push-pull handle are in the neutral position, indicating that the drilling rig is not working and the system returns to the starting position.
  • the position sensor detects that the rotating handle is in the neutral position and the push-pull handle is in the non-neutral position, it means that the power head only performs push-pull movement, and the position sensor transmits the detected signal to the PLC
  • the PLC controller after receiving the signal, the PLC controller only processes the push-pull pressure data detected by the pressure sensor, and compares the push-pull pressure with the push-pull dead zone pressure.
  • the PLC controller When the push-pull pressure is greater than the push-pull dead zone pressure , The PLC controller will reduce the PID ratio of the displacement of the push-pull pump; when the push-pull pressure is less than the push-pull dead zone pressure, the PLC controller will increase the PID ratio of the displacement of the push-pull pump ; When the push-pull pressure is within the push-pull dead zone pressure range, the PLC controller will accurately adjust the displacement of the push-pull pump by PID.
  • the position sensor When the position sensor detects that the rotating handle is in the non-neutral position, and the push-pull handle is in the neutral position, it means that the power head is only rotating, and the position sensor transmits the detected signal to the PLC
  • the PLC controller After receiving the signal, the PLC controller processes the rotation pressure data detected by the pressure sensor, and compares the rotation pressure with the rotation dead zone pressure. When the rotation pressure is greater than the rotation dead zone pressure, the The PLC controller will perform PID proportional adjustment on the displacement of the rotary pump; when the rotation pressure is less than the rotation dead zone pressure, the PLC controller will adjust the displacement of the rotary pump by PID proportional adjustment; When the pressure is within the rotating dead zone pressure range, the PLC controller will perform PID precise adjustment on the displacement of the rotating pump.
  • the position sensor detects that the rotating handle and the push-pull handle are both in non-neutral positions, it means that the power head is rotating and pushing and pulling at the same time.
  • the position sensor transmits the detected signal to the PLC controller, so
  • the PLC controller processes the rotation and push-pull pressure data detected by the pressure sensor, and then performs PID proportional adjustment on the displacement of the rotary pump or push-pull pump based on the comparison between the push-pull or rotation pressure and its dead zone pressure.
  • the adjustment of the rotary pump lags behind the adjustment of the push-pull pump, which specifically includes the following situations:
  • the PLC controller selects the push-pull or rotating pressure that deviates from its dead zone pressure as the adjustment object.
  • the displacement of the push-pull pump is adjusted to a smaller PID ratio; if the pressure does not have a tendency to converge, the displacement of the rotary pump is adjusted accordingly, that is, the PID is performed on the displacement of the rotary pump following the change trend of the displacement of the push-pull pump Turn down the ratio.
  • the PLC controller will first reduce the PID ratio of the displacement of the push-pull pump according to the rotation pressure. If the rotating pressure does not have a tendency to converge, follow up adjustments to the rotating pump.
  • the PLC controller When the rotation pressure is less than the rotation dead zone pressure, and the push-pull pressure is less than the push-pull dead zone pressure or within the dead pressure range, the PLC controller first adjusts the displacement of the rotary pump to the position corresponding to the position of the rotary handle Maximum displacement, and then the PLC controller performs PID proportional adjustment to the displacement of the push-pull pump according to the push-pull pressure.
  • the PLC controller will reduce the displacement of the push-pull pump according to the push-pull pressure.
  • the PLC controller will first accurately adjust the PID of the push-pull pump according to the rotation pressure. At this time, all PID parameters adjusted are based on pressure fluctuations. The trend is self-tuning. If the rotating pressure does not have a trend of convergence, the PLC controller will follow-up and adjust the displacement of the rotating pump.
  • the horizontal directional drilling rig control system and the control method thereof of the present invention solve the problem of automatic drilling of a single rod of the drilling rig.
  • the horizontal directional drilling rig control system and control method thereof of the present invention solves the control problem of the push-pull rotation pressure of the drilling rig and simultaneously controls the displacement of the push-pull pump.
  • the horizontal directional drilling rig control system and the control method thereof of the present invention solve the control problem of the sudden change in the load of the drilling rig.

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Abstract

公开了一种水平定向钻机的控制系统，其包括控制器、压力传感器、位置传感器、手柄以及比例泵，压力传感器包括旋转压力传感器和推拉压力传感器；还公开了一种水平定向钻机的控制方法，将系统切换为自动控制模式后，旋转压力传感器和推拉压力传感器分别对钻杆的旋转实际压力和推拉的推拉实际压力进行检测，同时位置传感器对旋转手柄和推拉手柄的位置进行检测，然后旋转压力传感器、推拉压力传感器和位置传感器将其各自的检测数据分别传送至PLC控制器，PLC控制器对检测数据进行处理后，对推拉泵或旋转泵发出控制信号，调节推拉泵或旋转泵的排量。水平定向钻机的控制系统可以实现钻机单杆的自动钻进，钻机扭矩的恒定、钻机推拉或旋转压力对推拉泵排量的同时控制以及更好的应对负载的突变。

Description

一种水平定向钻机的控制系统及其控制方法 技术领域
本发明涉及水平定向钻机制造领域，尤其涉及一种水平定向钻机的控制系统及其控制方法。
背景技术
随着城市建设的快速发展，城市和农村对基础设施建设的要求也越来越高。地下管网作为一个城市基础设施的重要组成部分，比如水电、通讯、天然气以及石油等领域的地下管道或管线的铺设工程中，通常会采用非开挖技术进行地下管线的铺设、更换或修复作业，以保护生态环境并提高铺管效率。非开挖水平定向钻机，简称HDD，是应用非开挖技术的典型工程机械产品，目前公共设施建设工程中有49％用到了HDD，现有的非开挖行业中17.6％的企业已经将HDD作为业务重点。非开挖水平定向钻机在城市建设，尤其是市政基础设施建设中有着非常重要的作用。
水平定向钻机适用于沙土、黏土、卵石、岩石等各种复杂地层，在水平定向钻机推拉、旋转工作时，如果遇到复杂的土层，水平定向钻机推拉、旋转压力波动大，而现有的水平定向钻机需要钻机手在操作时不停地调整推拉、旋转手柄位置来控制推拉旋转泵的排量从而保证压力稳定。
这种由钻机手人为调节压力的方式不仅增加了钻机手的工作负担，而且也不利于压力的稳定性，稍有不注意压力就会陡升至很大的值，轻则导致卡钻、卸钻困难，重则直接将钻杆扭断。
因此，结合上述存在的技术问题，有必要提供一种新的技术方案。
发明内容
为解决现有技术中存在的技术问题，本发明提供了一种水平定向钻机的控制系统及其控制方法，具体技术方案如下所述：
本发明的一种水平定向钻机的控制系统，包括控制器、压力传感器、位置传感器、手柄以及比例泵，所述压力传感器用于检测所述水平定向钻机动力头 的旋转压力和推拉压力，所述比例泵用来驱动所述动力头的运动，所述位置传感器用于检测所述手柄的位置，所述控制器用于根据所述手柄的位置和所述水平定向钻机的旋转或推拉压力控制所述比例泵进行排量调节。
进一步地，所述压力传感器包括旋转压力传感器和推拉压力传感器，所述旋转压力传感器用于检测所述动力头的旋转压力，所述推拉压力传感器用于检测所述动力头的推拉压力。
进一步地，所述比例泵为电控比例泵，包括旋转泵和推拉泵，所述旋转泵用于驱动所述动力头的旋转运动，所述推拉泵用于驱动所述动力头的推拉运动。
进一步地，所述手柄为电控手柄，包括旋转手柄和推拉手柄。
进一步地，所述控制器为PLC控制器。
进一步地，所述比例泵的排量调节方式均采用是PID比例调节。
一种水平定向钻机的控制方法，包括如下步骤：
S1：水平定向钻机的控制模式切换为自动控制模式；
S2：位置传感器对旋转手柄和推拉手柄的位置进行检测，并将检测信号传送至所述控制器；
S3：旋转压力传感器和推拉压力传感器分别对动力头的旋转压力和推拉压力进行检测，并均将检测信号传送至控制器；
S4：所述控制器根据步骤S2和S3的检测信号，对推拉泵或旋转泵的排量进行调节。
进一步地，当所述位置传感器检测到所述旋转手柄和推拉手柄均处于中位位置，系统重返开始位置；当所述位置传感器检测到所述旋转手柄处于中位位置，而所述推拉手柄处于非中位位置时，若所述推拉压力传感器检测到推拉压力大于推拉死区压力，所述控制器对所述推拉泵的排量进行PID比例调小；若推拉压力小于推拉死区压力，所述控制器对所述推拉泵的排量进行PID比例调大；若推拉压力处于推拉死区压力范围内时，所述控制器对所述推拉泵的排量进行PID精确调节。
进一步地，当所述位置传感器检测到所述旋转手柄处于非中位位置，而所述推拉手柄处于中位位置时，若所述旋转压力传感器检测到旋转压力大于旋转死区压力，所述控制器对所述旋转泵的排量进行PID比例调小；若旋转压力小于旋转死区压力时，所述控制器对所述旋转泵的排量进行PID比例调大；若旋转压 力处于旋转死区压力范围内，所述控制器会所述旋转泵的排量进行PID精确调节。
进一步地，当所述位置传感器检测到所述旋转手柄和推拉手柄均处于非中位位置时，根据压力传感器检测情况分为以下情况：
a、若旋转压力大于旋转死区压力，推拉压力大于推拉死区压力，所述控制器选取推拉或旋转压力中偏离其死区压力幅值较大的一个压力作为调节对象，对所述推拉泵的排量进行PID比例调小；若压力没有收敛的趋势，对所述旋转泵的排量进行跟随调节。
b、若旋转压力大于旋转死区压力，推拉压力小于推拉死区压力或在死去压力范围内，所述控制器根据旋转压力对所述推拉泵的排量进行PID比例调小；若旋转压力没有收敛的趋势，对所述旋转泵进行跟随调节。
c、若旋转压力小于旋转死区压力，推拉压力小于推拉死区压力或在死去压力范围内，所述控制器将所述旋转泵的排量调到至所述旋转手柄所在位置对应的最大排量，再根据推拉压力对所述推拉泵的排量进行PID比例调大。
d、若旋转压力小于旋转死区压力，推拉压力大于推拉死区压力，所述控制器根据推拉压力对所述推拉泵的排量进行PID比例调小。
e、若旋转和推拉压力均处于其死区压力范围内，所述控制器根据旋转压力对所述推拉泵的排量进行PID精确调节；若旋转压力没有收敛的趋势，所述PLC控制器对所述旋转泵排量进行跟随调节。
本发明的一种水平定向钻机的控制系统及其控制方法，具有如下有益效果：
(1)本发明的水平定向钻机的控制系统及其控制方法，其解决了钻机单杆自动钻进问题。
(2)本发明的水平定向钻机的控制系统及其控制方法，其解决了钻机恒扭矩的控制问题。
(3)本发明的水平定向钻机的控制系统及其控制方法，其解决了钻机推拉旋转压力同时控制推拉泵排量的控制问题。
(4)本发明的水平定向钻机的控制系统及其控制方法，其解决了钻机负载突变的控制问题。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
为了更清楚地说明本发明的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。
图1是本发明的控制系统图；
图2是本发明的控制系统流程图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“上”、“下”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或者元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以使固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以使直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
实施例
请参阅图1，图1是本发明的控制系统图。如图所示，一种水平定向钻机的 控制系统，包括控制器、压力传感器、位置传感器、手柄以及比例泵，所述压力传感器用于检测所述水平定向钻机动力头的旋转压力和推拉压力，所述比例泵用来驱动所述动力头的运动，所述位置传感器用于检测所述手柄的位置，所述控制器用于根据所述手柄的位置和所述水平定向钻机的旋转或推拉压力控制所述比例泵进行排量调节。
所述压力传感器包括旋转压力传感器和推拉压力传感器，所述旋转压力传感器用于检测所述动力头的旋转压力，所述推拉压力传感器用于检测所述动力头的推拉压力；
所述电控比例泵包括旋转泵和推拉泵，所述旋转泵用于驱动所述动力头的旋转运动，所述推拉泵用于驱动所述动力头的推拉运动；
所述电控手柄包括旋转手柄和推拉手柄，所述位置传感器用来分别检测所述旋转手柄和推拉手柄的位置；
所述控制器为PLC控制器；
所述位置传感器和压力传感器均将检测信号传送至所述PLC控制器，所述PLC控制器根据检测信号分别给所述旋转泵或推拉泵发出控制信号，所述旋转泵或推拉泵根据控制信号对各自排量做出PID比例调节。
请参阅图2，图2是本发明的控制系统流程图。如图所示，该控制系统的控制方法如下：
首先，水平定向钻机的控制模式切换为自动控制模式，然后旋转压力传感器和推拉压力传感器分别对动力头的旋转压力和推拉压力进行检测，同时位置传感器对旋转手柄和推拉手柄的位置进行检测，当所述位置传感器检测到所述旋转手柄和推拉手柄均处于中位位置，说明钻机没有工作，系统重返开始位置。
当所述位置传感器检测到所述旋转手柄处于中位位置，而所述推拉手柄处于非中位位置时，说明动力头只进行推拉运动，所述位置传感器将检测到的信号传递给所述PLC控制器，所述PLC控制器接收到信号后，只对所述压力传感器检测到的推拉压力数据进行处理，将推拉压力与推拉死区压力之间进行比较，当推拉压力大于推拉死区压力时，所述PLC控制器会对所述推拉泵的排量进行PID比例调小；当推拉压力小于推拉死区压力时，所述PLC控制器会对所述推拉泵的排量进行PID比例调大；当推拉压力处于推拉死区压力范围内时，所述PLC控制器会对所述推拉泵的排量进行PID精确调节。
当所述位置传感器检测到所述旋转手柄处于非中位位置，而所述推拉手柄处于中位位置时，说明动力头只进行旋转运动，所述位置传感器将检测到的信号传递给所述PLC控制器，所述PLC控制器接收到信号后，对所述压力传感器检测到的旋转压力数据进行处理，将旋转压力与旋转死区压力进行比较，当旋转压力大于旋转死区压力时，所述PLC控制器会对所述旋转泵的排量进行PID比例调小；当旋转压力小于旋转死区压力时，所述PLC控制器会对所述旋转泵的排量进行PID比例调大；当旋转压力处于旋转死区压力范围内时，所述PLC控制器会对所述旋转泵的排量进行PID精确调节。
当所述位置传感器检测到所述旋转手柄和推拉手柄均处于非中位位置时，说明动力头同时进行旋转和推拉运动，所述位置传感器将检测到的信号传递给所述PLC控制器，所述PLC控制器对所述压力传感器检测到的旋转和推拉压力数据进行处理，然后根据推拉或旋转压力与其死区压力的比较情况，同时对所述旋转泵或推拉泵的排量进行PID比例调节，在对所述旋转泵和推拉泵的排量同时调节过程中，所述旋转泵的调节要滞后于所述推拉泵的调节，具体包括以下几种情况：
a、当旋转压力大于旋转死区压力，推拉压力大于推拉死区压力时，所述PLC控制器选取推拉或旋转压力中偏离其死区压力幅值较大的一个压力作为调节对象，对所述推拉泵的排量进行PID比例调小；如果压力没有收敛的趋势，对所述旋转泵的排量进行跟随调节，即跟随所述推拉泵排量的变化趋势对旋转泵的排量进行的PID比例调小。
b、当旋转压力大于旋转死区压力，推拉压力小于推拉死区压力或在死去压力范围内时，所述PLC控制器会先根据旋转压力对所述推拉泵的排量进行PID比例调小，如果旋转压力没有收敛的趋势，再对所述旋转泵进行跟随调节。
c、当旋转压力小于旋转死区压力，推拉压力小于推拉死区压力或在死去压力范围内时，所述PLC控制器先将所述旋转泵的排量调到所述旋转手柄所在位置对应的最大排量，然后所述PLC控制器再根据推拉压力对所述推拉泵的排量进行PID比例调大。
d、当旋转压力小于旋转死区压力，推拉压力大于推拉死区压力时，所述PLC 控制器会根据推拉压力对所述推拉泵的排量进行PID比例调小。
e、当旋转和推拉压力均处于其死区压力范围内时，所述PLC控制器会先根据旋转压力对所述推拉泵进行PID精确调节，此时调整的PID所有参数都是根据压力波动的趋势进行自我整定，如果旋转压力没有收敛的趋势，所述PLC控制器会对所述旋转泵排量进行跟随调节。
本发明的水平定向钻机控制系统及其控制方法的有益效果是：
(1)本发明的水平定向钻机控制系统及其控制方法，其解决了钻机单杆自动钻进问题。
(2)本发明的水平定向钻机控制系统及其控制方法，其解决了钻机恒扭矩的控制问题。
(3)本发明的水平定向钻机控制系统及其控制方法，其解决了钻机推拉旋转压力同时控制推拉泵排量的控制问题。
(4)本发明的水平定向钻机控制系统及其控制方法，其解决了钻机负载突变的控制问题。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。此外，本领域人员可以将本说明书中描述的不同实施例或示例进行接合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改和变型。

Claims (10)

  1. 一种水平定向钻机的控制系统，其特征在于，所述控制系统包括控制器、压力传感器、位置传感器、手柄以及比例泵，所述压力传感器用于检测所述水平定向钻机动力头的旋转压力和推拉压力，所述比例泵用来驱动所述动力头的运动，所述位置传感器用于检测所述手柄的位置，所述控制器用于根据所述手柄的位置和所述水平定向钻机的旋转或推拉压力控制所述比例泵进行排量调节。
  2. [根据细则26改正04.11.2020]　
    根据权利要求1所述的水平定向钻机的控制系统，其特征在于，所述压力传感器包括旋转压力传感器和推拉压力传感器，所述旋转压力传感器用于检测所述动力头的旋转压力，所述推拉压力传感器用于检测所述动力头的推拉压力。
  3. [根据细则26改正04.11.2020]　
    根据权利要求1所述的水平定向钻机的控制系统，其特征在于，所述比例泵为电控比例泵，包括旋转泵和推拉泵，所述旋转泵用于驱动所述动力头的旋转运动，所述推拉泵用于驱动所述动力头的推拉运动。
  4. [根据细则26改正04.11.2020]　
    根据权利要求1所述的水平定向钻机的控制系统，其特征在于，所述手柄为电控手柄，包括旋转手柄和推拉手柄。
  5. [根据细则26改正04.11.2020]　
    根据权利要求1所述的水平定向钻机的控制系统，其特征在于，所述控制器为PLC控制器。
  6. [根据细则26改正04.11.2020]　
    根据权利要求1所述的水平定向钻机自动钻进控制系统，其特征在于，所述比例泵的排量调节方式均采用是PID比例调节。
  7. 一种水平定向钻机的控制方法，其特征在于，所述控制方法包括如下步骤：
    S1：水平定向钻机的控制模式切换为自动控制模式；
    S2：位置传感器对旋转手柄和推拉手柄的位置进行检测，并将检测信号传送至所述控制器；
    S3：旋转压力传感器和推拉压力传感器分别对动力头的旋转压力和推拉压力进行检测，并均将检测信号传送至控制器；
    S4：所述控制器根据步骤S2和S3的检测信号，对推拉泵或旋转泵的排量进行调节。
  8. 根据权利要求7所述的水平定向钻机的控制方法，其特征在于，当所述位置传感器检测到所述旋转手柄和推拉手柄均处于中位位置，系统重返开始位置；当所述位置传感器检测到所述旋转手柄处于中位位置，而所述推拉手柄处于非中位位置时，若所述推拉压力传感器检测到推拉压力大于推拉死区压力，所述控制器对所述推拉泵的排量进行PID比例调小；若推拉压力小于推拉死区压力，所述控制器对所述推拉泵的排量进行PID比例调大；若推拉压力处于推拉死区压力范围内时，所述控制器对所述推拉泵的排量进行PID精确调节。
  9. 根据权利要求7所述的水平定向钻机的控制方法，其特征在于，当所述位置传感器检测到所述旋转手柄处于非中位位置，而所述推拉手柄处于中位位置时，若所述旋转压力传感器检测到旋转压力大于旋转死区压力，所述控制器对所述旋转泵的排量进行PID比例调小；若旋转压力小于旋转死区压力时，所述控制器对所述旋转泵的排量进行PID比例调大；若旋转压力处于旋转死区压力范围内，所述控制器会所述旋转泵的排量进行PID精确调节。
  10. 根据权利要求7所述的水平定向钻机的控制方法，其特征在于，当所述位置传感器检测到所述旋转手柄和推拉手柄均处于非中位位置时，根据压力传感器检测情况分为以下情况：
    a、若旋转压力大于旋转死区压力，推拉压力大于推拉死区压力，所述控制器选取推拉或旋转压力中偏离其死区压力幅值较大的一个压力作为调节对象，对所述推拉泵的排量进行PID比例调小；若压力没有收敛的趋势，对所述旋转泵的排量进行跟随调节。
    b、若旋转压力大于旋转死区压力，推拉压力小于推拉死区压力或在死去压 力范围内，所述控制器根据旋转压力对所述推拉泵的排量进行PID比例调小；若旋转压力没有收敛的趋势，对所述旋转泵进行跟随调节。
    c、若旋转压力小于旋转死区压力，推拉压力小于推拉死区压力或在死去压力范围内，所述控制器将所述旋转泵的排量调到至所述旋转手柄所在位置对应的最大排量，再根据推拉压力对所述推拉泵的排量进行PID比例调大。
    d、若旋转压力小于旋转死区压力，推拉压力大于推拉死区压力，所述控制器根据推拉压力对所述推拉泵的排量进行PID比例调小。
    e、若旋转和推拉压力均处于其死区压力范围内，所述控制器根据旋转压力对所述推拉泵的排量进行PID精确调节；若旋转压力没有收敛的趋势，所述PLC控制器对所述旋转泵排量进行跟随调节。
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