CN105715247B - A kind of rotary drilling rig control system automatically controlling drilling according to stratum - Google Patents
A kind of rotary drilling rig control system automatically controlling drilling according to stratum Download PDFInfo
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- CN105715247B CN105715247B CN201610189885.3A CN201610189885A CN105715247B CN 105715247 B CN105715247 B CN 105715247B CN 201610189885 A CN201610189885 A CN 201610189885A CN 105715247 B CN105715247 B CN 105715247B
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- 238000005553 drilling Methods 0.000 title claims abstract description 162
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 23
- 239000010959 steel Substances 0.000 claims abstract description 23
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- 238000010276 construction Methods 0.000 claims description 84
- 238000000034 method Methods 0.000 claims description 57
- 238000002474 experimental method Methods 0.000 claims description 48
- 238000000465 moulding Methods 0.000 claims description 29
- 238000012544 monitoring process Methods 0.000 claims description 19
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- 239000011435 rock Substances 0.000 claims description 14
- 239000002689 soil Substances 0.000 claims description 14
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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
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Abstract
The present invention relates to a kind of rotary drilling rig control systems that drilling is automatically controlled according to stratum, the rotary drilling rig control system includes drilling tool, drive the drilling rod of the drilling tool drilling, the master winch steel wire rope for pulling the drilling rod to move up and down, the master winch being connect with the master winch steel wire rope, the main winch motor being connect with the master winch, the master winch proportion magnetic valve being connect with the main winch motor, the power head for driving the drilling rod spinning movement, the power head hydraulic motor being connect with the power head.The power head electro-hydraulic proportional valve being connect with the hydraulic motor, the pressurization oil cylinder being connect with the power head, the pressurization electro-hydraulic proportional valve being connect with the pressurization oil cylinder；The main hoisting tension sensor being connect with the master winch steel wire rope, for obtaining pulling force suffered by the wirerope；The depth sensor connecting with the master winch steel wire rope obtains the speed of drilling, the position of depth and drilling tool for measuring the length and speed of the wirerope decentralization.
Description
Technical field
The present invention relates to a kind of control systems, more particularly, to a kind of rotary drilling rig control for automatically controlling drilling according to stratum
System processed, belongs to technical field of engineering machinery.
Background technique
Rotary drilling rig is a kind of multiduty foundation pile of building construction equipment, can be constructed under various stratum, no
Requirement of the same stratum to rotary drilling rig drilling engineering method is different.China has a vast territory, and stratum is different, and different deep in same position
The stratum of degree is also different.Rotary drilling rig construction is mainly based on manually establishing.Because of underground construction, need in drilling by foundation
Machine hand observes rate of penetration in real time, perceives the variation of pilot handle pressure changes to adjust moulding pressure, power head torque
Drilling method, the experience accumulation for establishing machine hand become the highly important factor of safe and efficient construction, in recent years with applying
The continuous accumulation and summary of work experience, relevant department and enterprise form the construction file of system on this basis, to
Site operation is instructed, the specification of construction and application largely play popularizing action for the application of rotary drilling rig, but
Construction is needed to learn, be grasped and skillfully applies could be effective, and also there is relevant rotary drilling rig in overseas market, still
These structures are mostly more complicated, higher cost, once going wrong, maintenance cost is higher, therefore there is an urgent need for a kind of new
Scheme solve above-mentioned technical problem.
Summary of the invention
The present invention is exactly directed to the problem of prior art design, provides a kind of automatically control according to stratum and creeps into
Rotary drilling rig control system, the technical solution rotary drilling rig drilling establish part construction method by way of software and hardware
It is cured in the electrohydraulic control system of equipment, allowing a new rotary drilling rig to establish machine hand can be by simply establishing energy very well
The mature construction drilling construction of application, reduce work difficulty, improve work efficiency.
To achieve the goals above, the technical solution adopted by the present invention is as follows, a kind of to automatically control drilling according to stratum
Rotary drilling rig control system, which is characterized in that the rotary drilling rig control system includes drilling tool, drives the brill of the drilling tool drilling
Bar, the master winch steel wire rope for pulling the drilling rod to move up and down, the master winch being connect with the master winch steel wire rope, with the master
The main winch motor of elevator connection, the master winch proportion magnetic valve connecting with the main winch motor drive the drilling rod to rotate
The power head of movement, the power head hydraulic motor connecting with the power head, the power head connecting with the hydraulic motor are electro-hydraulic
Proportioning valve, the pressurization oil cylinder being connect with the power head, the pressurization electro-hydraulic proportional valve being connect with the pressurization oil cylinder；With the master
The main hoisting tension sensor of winding steel wire rope connection, for obtaining pulling force suffered by the wirerope；With the master winch steel
The depth sensor of cord connection, for measuring the length and speed of wirerope decentralization, obtain the speed of drilling, depth with
The position of drilling tool；The power head torque sensor being connect with the power head, for measuring the movement pressure of the power head motor
Power obtains the change in torque data of the power head by calculating；The moulding pressure sensor connecting with the pressurization oil cylinder, is used
In the pressure change for measuring the pressurization oil cylinder, the pressurization oil cylinder is obtained to the plus-pressure delta data of the power head, with
The controller that the main hoisting tension sensor, depth sensor, power head torque sensor, moulding pressure sensor connect
(CPU) by collecting and analyzing the tension sensor, depth sensor, power head torque sensor, moulding pressure sensor
Data and combined data library analysis drive again the master winch proportion magnetic valve, power head proportion magnetic valve and pressurization ratio electricity
Magnet valve movement realizes that rotary drilling rig automatically controls drilling function according to stratum.The master winch drives the master winch steel wire rope
The drilling rod and drilling tool are transferred to hole bottom, starts automatic drilling, master winch floats, in standard press power and standard torque backspin
Drilling machine is dug to start to creep into work.
The variation of the power head torque sensor monitoring power head motor inlet pressure, and the pressure change is transmitted
The strong controller (CPU), so that the controller (CPU) calculates power according to power head motor inlet pressure variation
Head change in torque, according to the change in torque as one of the foundation on stratum for judging the drilling tool drilling.
The depth sensor monitors the lowering velocity of the master winch steel wire rope, i.e., the rate of penetration of the described drilling tool.And
The rate of penetration is transmitted to the controller (CPU), so that the controller (CPU) is according to the rate of penetration as brill
Has one of the judgment basis on stratum of drilling.
The moulding pressure sensor monitors the stressed variation of the pressurization oil cylinder, and the stressed variation is passed
It is delivered to the controller (CPU), so that the controller (CPU) changes the stratum crept into as drilling tool according to the moulding pressure
Interpretation according to one of.
When the drilling tool is crept into, according to the power head change in torque, drilling tool rate of penetration, moulding pressure variation and system
The monitor database being internally integrated can judge the formation information that the drilling tool is crept into now.
As an improvement of the present invention, the controller (CPU) includes cpu signal acquisition unit, cpu logic control list
Member, CPU communication control unit and CPU proportioning valve driving unit；The cpu signal acquisition unit collects moulding pressure sensing
Device, main hoisting tension sensor, power head torque sensor and depth sensor related data, cpu logic control unit
The stratum actually crept into is calculated, information feedback is held display interface, the retrieval of cpu logic control unit by CPU communication control unit
Construction data-base looks for calling arrangement and method for construction, controls pressurization oil cylinder, power head motor and master by CPU proportioning valve driving unit
Hoist motor movement.
The method for building up of the rotary drilling rig control system of drilling is automatically controlled according to stratum, the method includes following steps
It is rapid:
1) construction data-base is established.For Mud Ground, artificial earth fill's layer, cohesive soil stratum, sandy soils, broken, pebble layer,
Mudstone stratum, conglomerate, sandstone formation, lime rock stratum, hard rock stratum etc., the most effective construction method of rotary drilling rig, respectively
Database is arranged and establishes, main first is monitor database (establishment process is as shown in Figure 2) there are two the content of aspect, is bored
How automatic measurement is constructed on that stratum to machine, and second is construction data-base (establishment process is as shown in Figure 3), for variously
The arrangement and method for construction of layer (arrangement and method for construction is from a large amount of experiment and summary of experience)；
2) implant data library is into the control system of rotary drilling rig；
3) in work progress the power head torque, moulding pressure of real-time monitoring delta data Input Monitor Connector database, and
Judge automatically which kind of stratum creeping into is in conjunction with geologic report；
4) formation information that real-time monitoring goes out inputs construction data-base；
5) construction data-base calls corresponding arrangement and method for construction to drive power head, and pressurization oil cylinder and master file movement reach best brill
Into effect；
6) storage of complete machine items construction data is to central control portion, in case data analysis and system are improved.
As an improvement of the present invention, specific step is as follows in the step 1), the 11) foundation in monitoring data library
Journey,
(111) stratum characteristic is collected, each stratum character subset is formed,
(112) field experiment is built, diameter 5M, from the cylinder of earth's surface downward 5 to 10M, every kind of one, stratum is built up single
Stratum experimental site, as Mud Ground field experiment, artificial earth fill layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment,
Broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment,
Hard rock stratum field experiment etc.;
(1113) experimental data is collected, churning driven is constructed in single stratum experimental site respectively, in the standard press of 100KN
Under the standard torque of power and 220KN.m: by the depth sensor, obtaining the speed data Δ V of drilling；Pass through the power
Head torque sensor, obtains the change in torque data Δ P of the power head；By the moulding pressure sensor, described in acquisition
Oil cylinder pressurize to the plus-pressure delta data Δ N of the power head, by data acquisition module, into the signal of the controller
Acquisition unit, the subdata base of formation change curve storage to corresponding stratum;
(1114) each stratum character subset and the subdata base on various stratum are combined into monitoring data library；
12) establishment process of construction data-base,
(121) field experiment is built, diameter 5M, from the cylinder of earth's surface downward 5 to 10M, every kind of one, stratum is built up single
Stratum experimental site, as Mud Ground field experiment, artificial earth fill layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment,
Broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment,
Hard rock stratum field experiment etc.；
(122) churning driven is constructed in single stratum experimental site respectively, in conjunction with construction, is manually adjusted by controller
The driving current data of three proportion magnetic valves are the master winch proportion magnetic valve connecting with the main winch motor, with the liquid
The power head electro-hydraulic proportional valve of pressure motor connection, the pressurization electro-hydraulic proportional valve being connect with the pressurization oil cylinder；Make rate of penetration and
Drilling quality is best, collects driving current data at this time, by data acquisition module, into the logic control of the controller
Unit B forms the drive scheme on corresponding stratum, and the drill mode subdata base on corresponding stratum is arrived in storage,
(123) the drill mode subdata base on various stratum forms construction data-base.
The control method of the rotary drilling rig control system of drilling is automatically controlled according to stratum, which is characterized in that the control
Method is as follows,
1) rotary drilling rig carries out preparation of construction；
2) electro-hydraulic proportional valve of master winch raising and lowering drives master winch lowering drill pipes drill bit, when master winch steel wire rope is hung
The pulling force of the tension sensor measurement of weight stops transferring less than 2 ton hours, and drill bit bottoms out；
3) start automatic drilling function on display interface；
4) system automatically enters: the standard press power of 100KN and the standard torque of 220KN.m, and drives pressurization ratio electric
Magnet valve and power head proportion magnetic valve start to creep into；
Real-time monitoring moulding pressure and power head torque in drilling process, and combine the data transmission faced in monitor database
The drilling tool currently constructed, which is calculated, to cpu logic control unit actually creeps into stratum now；
5) arrangement and method for construction in cpu logic control unit retrieval construction data-base, as shown in figure 3, what root was currently constructed
Drilling tool actually creeps into stratum now, selects drill mode, and call corresponding arrangement and method for construction；In cpu logic control unit point
It analyses in calculating process, result is transferred to display interface real-time display by CPU communication control unit in real time；
6) arrangement and method for construction for the most suitable current formation that CPU proportioning valve driving unit is provided according to cpu logic control unit,
Arrangement and method for construction is realized in driving pressurization oil cylinder, power head motor and main winch motor work.
7) during entire automatic drilling, because construction stratum is complicated and changeable, control system needs monitoring sensing in real time
The data variation of device judges drilling tool from a kind of stratum to another stratum, and formation variation control system automatic conversion is applied accordingly
Work scheme.Such as from artificial earth fill's layer drilling to mud, control system is needed to work automatically from artificial earth fill's layer as shown in Figure 3
Mode is transformed into mud operating mode, and corresponding arrangement and method for construction is also converted.In entire automatic drilling construction, more than circulation execution
Process；
8) when the depth of depth sensor feedback reaches boring requirement, or when manually stopping, automatic drilling is stopped
Only work.
Compared with the existing technology, advantages of the present invention is as follows: 1) overall construction design is novel, simple, reliable；2) technology
Scheme realizes the automatic control during rotary digging drilling, and being applied in rotary drilling rig construction has the effect of the following aspects to mention
Rise: rotary digging drilling process automatically controls the artificial foundation of replacement, reduces the labor intensity of personnel, improves reaction speed and construction standard
True property；Rotary digging construction, into construction, improves the hole quality of rotary drilling rig by database application；Establish applying for personnel
Work experience is cured in construction data-base, improves construction efficiency；Reduce that rotary drilling rig establishes the training of machine hand and practice is wanted
It asks, reducing waste reduces cost；3) the equipment part of rotary drilling rig is integrated by control unit in the technical solution
One entirety adjusts premolded package in real time by the variation of sensor sensing power head torque, rate of penetration and moulding pressure,
Rotary drilling rig drilling construction is carried out to use optimal control automatically.Achieve the purpose that energy-efficient.
Detailed description of the invention
Fig. 1 is rotary drilling rig structural schematic diagram；
Fig. 2 is monitor database structural schematic diagram；
Fig. 3 is construction data-base structural schematic diagram；
Fig. 4 is system principle working drawing；
Fig. 5 is local schematic illustration.
In figure: 1, power head hydraulic motor, 2, drilling rod, 3, master winch steel wire rope, 4, master file poplar, 5, main winch motor, 6,
Power head, 7, power head hydraulic motor, 8, pressurization oil cylinder.
Specific embodiment
In order to deepen the understanding of the present invention and recognize, the invention will be further described below in conjunction with the accompanying drawings and introduces.
Embodiment 1:
Referring to Fig. 1, Fig. 4, Fig. 5, a kind of rotary drilling rig control system automatically controlling drilling according to stratum, the churning driven
Machine control system includes drilling tool, drives the drilling rod 2 of the drilling tool drilling, the master winch steel wire for pulling the drilling rod 2 to move up and down
Rope 3, the master winch 4 being connect with the master winch steel wire rope, the main winch motor 5 being connect with the master winch, with the master file
The master winch proportion magnetic valve for raising the connection of motor 5, drives the power head 6 of the drilling rod spinning movement, connect with the power head
Power head hydraulic motor 7.The power head electro-hydraulic proportional valve being connect with the hydraulic motor, the pressurization being connect with the power head
Oil cylinder 8, the pressurization electro-hydraulic proportional valve being connect with the pressurization oil cylinder；The main hoisting tension connecting with the master winch steel wire rope passes
Sensor, for obtaining pulling force suffered by the wirerope；The depth sensor being connect with the master winch steel wire rope, for measuring
The length and speed of the wirerope decentralization, obtain the speed of drilling, the position of depth and drilling tool；It is connect with the power head
Power head torque sensor obtains the torsion of the power head by calculating for measuring the operating pressure of the power head motor
Square delta data；The moulding pressure sensor being connect with the pressurization oil cylinder, for measuring the pressure change of the pressurization oil cylinder,
The pressurization oil cylinder is obtained to the plus-pressure delta data of the power head, is sensed with the main hoisting tension sensor, depth measurement
The controller (CPU) that device, power head torque sensor, moulding pressure sensor connect is by collecting and analyzing the pull sensing
Device, depth sensor, power head torque sensor, the data of moulding pressure sensor and the analysis of combined data library drive described again
Master winch proportion magnetic valve, power head proportion magnetic valve and pressurization proportion magnetic valve movement, realize rotary drilling rig according to stratum certainly
Dynamic control drilling function.
Its described institute's controller includes: signal acquisition unit, logic control element A, logic control element B, Communication Control
Five parts of unit and proportioning valve driving unit.Wherein, the signal acquisition unit, for collect moulding pressure sensor,
The related data of main hoisting tension sensor, power head torque sensor and depth sensor；The logic control element A,
Judge that drilling tool actually creeps into stratum now for comparative analysis；The communication control unit, for will send information to display circle
Face；The logic control element B calls arrangement and method for construction for retrieving construction data-base, by the proportioning valve driving unit,
Control pressurization oil cylinder, power head motor and main winch motor movement.In the technical solution, the master winch drives the master file
It raises wirerope and transfers the drilling rod and drilling tool to hole bottom, start automatic drilling, master winch floats, in standard press power and standard
Rotary drilling rig starts to creep into work under torque；The variation of the power head torque sensor monitoring power head motor inlet pressure,
And the pressure change is transmitted into strong described control unit, so that described control unit is according to the power head motor inlet pressure
Variation calculates power head change in torque, according to the change in torque as the stratum for judging the drilling tool drilling according to it
One；The depth sensor monitors the lowering velocity of the master winch steel wire rope, i.e., the rate of penetration of the described drilling tool.And it will be described
Rate of penetration is transmitted to described control unit, so that the stratum that described control unit is crept into according to the rate of penetration as drilling tool
One of judgment basis；The moulding pressure sensor monitors the stressed variation of the pressurization oil cylinder, and by the plus-pressure
Variation be transmitted to described control unit so that described control unit changes the ground that creeps into as drilling tool according to the moulding pressure
One of interpretation foundation of layer；When the drilling tool is crept into, according to the power head change in torque, drilling tool rate of penetration, moulding pressure
The monitor database that variation and internal system integrate, can judge the formation information that the drilling tool is crept into now.
The method for building up of the rotary drilling rig control system of drilling is automatically controlled according to stratum, the method includes following steps
It is rapid:
1) construction data-base is established.For Mud Ground, artificial earth fill's layer, cohesive soil stratum, sandy soils, broken, pebble layer,
Mudstone stratum, conglomerate, sandstone formation, lime rock stratum, hard rock stratum etc., the most effective construction method of rotary drilling rig, respectively
Database is arranged and establishes, main first is monitor database (establishment process is as shown in Figure 2) there are two the content of aspect, is bored
How automatic measurement is constructed on that stratum to machine, and second is construction data-base (establishment process is as shown in Figure 3), for variously
The arrangement and method for construction of layer (arrangement and method for construction is from a large amount of experiment and summary of experience)；
Specific step is as follows in the step 1), 11) establishment process in monitoring data library, as shown in Figure 2:
(111) stratum characteristic is collected, each stratum character subset is formed,
(112) field experiment is built, diameter 5M, from the cylinder of earth's surface downward 5 to 10M, list is built up on every kind of one, stratum
One stratum experimental site, as Mud Ground field experiment, artificial earth fill layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment,
Broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment,
Hard rock stratum field experiment etc.;
(1113) experimental data is collected, churning driven is constructed in single stratum experimental site respectively, added in the standard of 100KN
Under the standard torque of pressure and 220KN.m: by the depth sensor, obtaining the speed data Δ V of drilling；By described dynamic
Power head torque sensor obtains the change in torque data Δ P of the power head；By the moulding pressure sensor, institute is obtained
Pressurization oil cylinder is stated to the plus-pressure delta data Δ N of the power head, by data acquisition module, into the letter of the controller
Number acquisition unit, formed change curve storage to corresponding stratum subdata base；
(1114) each stratum character subset and the subdata base on various stratum are combined into monitoring data library；
12) establishment process of construction data-base is as shown in Figure 3:
(121) field experiment is built, diameter 5M, from the cylinder of earth's surface downward 5 to 10M, every kind of one, stratum is built up single
Stratum experimental site, as Mud Ground field experiment, artificial earth fill layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment,
Broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment,
Hard rock stratum field experiment etc.；
(122) churning driven is constructed in single stratum experimental site respectively, in conjunction with construction, is manually adjusted by controller
The driving current data of three proportion magnetic valves are the master winch proportion magnetic valve connecting with the main winch motor, with the liquid
The power head electro-hydraulic proportional valve of pressure motor connection, the pressurization electro-hydraulic proportional valve being connect with the pressurization oil cylinder；Make rate of penetration and
Drilling quality is best, collects driving current data at this time, by data acquisition module, into the logic control of the controller
Unit B forms the drive scheme on corresponding stratum, and the drill mode subdata base on corresponding stratum is arrived in storage,
(123) the drill mode subdata base on various stratum forms construction data-base.
2) implant data library is into the control system of rotary drilling rig；
3) in work progress the power head torque, moulding pressure of real-time monitoring delta data Input Monitor Connector database, and
Judge automatically which kind of stratum creeping into is in conjunction with geologic report；
4) formation information that real-time monitoring goes out inputs construction data-base；
5) construction data-base calls corresponding arrangement and method for construction to drive power head, and pressurization oil cylinder and master file movement reach best brill
Into effect；
6) storage of complete machine items construction data is to central control portion, in case data analysis and system are improved.
The control method of the rotary drilling rig control system of drilling is automatically controlled according to stratum, the control method is as follows,
1) rotary drilling rig carries out preparation of construction；
2) electro-hydraulic proportional valve of master winch raising and lowering drives master winch lowering drill pipes drill bit, when master winch steel wire rope is hung
The pulling force of the tension sensor measurement of weight stops transferring less than 2 ton hours, and drill bit bottoms out；
3) start automatic drilling function on display interface；
4) system automatically enters: the standard press power of 100KN and the standard torque of 220KN.m, and drives pressurization ratio electric
Magnet valve and power head proportion magnetic valve start to creep into；
Real-time monitoring moulding pressure and power head torque in drilling process, and combine the data transmission faced in monitor database
The drilling tool currently constructed, which is calculated, to cpu logic control unit actually creeps into stratum now；
5) arrangement and method for construction in cpu logic control unit retrieval construction data-base, as shown in figure 3, what root was currently constructed
Drilling tool actually creeps into stratum now, selects drill mode, and call corresponding arrangement and method for construction；In cpu logic control unit point
It analyses in calculating process, result is transferred to display interface real-time display by CPU communication control unit in real time；
6) arrangement and method for construction for the most suitable current formation that CPU proportioning valve driving unit is provided according to cpu logic control unit,
Arrangement and method for construction is realized in driving pressurization oil cylinder, power head motor and main winch motor work；
7) during entire automatic drilling, because construction stratum is complicated and changeable, control system needs monitoring sensing in real time
The data variation of device judges drilling tool from a kind of stratum to another stratum, and formation variation control system automatic conversion is applied accordingly
Work scheme.Such as from artificial earth fill's layer drilling to mud, control system is needed to work automatically from artificial earth fill's layer as shown in Figure 3
Mode is transformed into mud operating mode, and corresponding arrangement and method for construction is also converted.In entire automatic drilling construction, more than circulation execution
Process.
It should be noted that above-described embodiment, is not intended to limit the scope of protection of the present invention, in above-mentioned technical proposal
On the basis of made equivalents or substitution each fall within the range that the claims in the present invention are protected.
Claims (5)
1. a kind of rotary drilling rig control system for automatically controlling drilling according to stratum, which is characterized in that the rotary drilling rig control
System includes drilling tool, drives the drilling rod of drilling tool drilling, the master winch steel wire rope for pulling the drilling rod to move up and down, and described
The master winch of master winch steel wire rope connection, the main winch motor being connect with the master winch, the master file being connect with main winch motor
Proportion magnetic valve is raised, the power head of the drilling rod spinning movement is driven, the power head hydraulic motor being connect with the power head, with
The power head electro-hydraulic proportional valve of hydraulic motor connection, the pressurization oil cylinder connecting with the power head are connect with the pressurization oil cylinder
Pressurization electro-hydraulic proportional valve；The main hoisting tension sensor being connect with the master winch steel wire rope, for obtaining the wirerope
Suffered pulling force；The depth sensor being connect with the master winch steel wire rope, for measure the length of wirerope decentralization with
Speed obtains the speed of drilling, the position of depth and drilling tool；The power head torque sensor connecting with the power head, is used for
The operating pressure for measuring the power head motor obtains the change in torque data of the power head by calculating；With the pressurization
The moulding pressure sensor of oil cylinder connection obtains the pressurization oil cylinder to institute for measuring the pressure change of the pressurization oil cylinder
The plus-pressure delta data for stating power head, with the main hoisting tension sensor, depth sensor, power head torque sensor,
The controller of moulding pressure sensor connection is by collecting and analyzing the tension sensor, depth sensor, power head torque
Sensor, the data of moulding pressure sensor and the analysis of combined data library drive the master winch proportion magnetic valve, power head again
Electro-hydraulic proportional valve and pressurization electric-hydraulic proportion valve events realize that rotary drilling rig automatically controls drilling function according to stratum.
2. the rotary drilling rig control system according to claim 1 for automatically controlling drilling according to stratum, controller include:
Five signal acquisition unit, logic control element A, logic control element B, communication control unit and proportioning valve driving unit portions
Point, wherein the signal acquisition unit is passed for collecting moulding pressure sensor, main hoisting tension sensor, power head torque
The related data of sensor and depth sensor；The logic control element A judges that drilling tool actually bores now for comparative analysis
Into stratum；The communication control unit, for will send information to display interface；The logic control element B is applied for retrieving
Work database calls arrangement and method for construction, passes through the proportioning valve driving unit, control pressurization oil cylinder, power head motor and master file
Raise motor action.
3. using the method for building up of the rotary drilling rig control system as claimed in claim 2 for automatically controlling drilling according to stratum,
It is characterized in that, the described method comprises the following steps:
1) construction data-base is established, for Mud Ground, artificial earth fill's layer, cohesive soil stratum, sandy soils, broken, pebble layer, mud stone
Stratum, conglomerate, sandstone formation, lime rock stratum, hard rock stratum, the most effective construction method of rotary drilling rig, arrange simultaneously respectively
Database is established, main there are two the content of aspect, first is monitor database, and how which kind of stratum is automatic measurement be on to drilling machine
Construction, second is construction data-base；
2) implant data library is into the control system of rotary drilling rig；
3) in work progress the power head torque, moulding pressure of real-time monitoring delta data Input Monitor Connector database, and combine
It is that geologic report judges automatically creeping into for which kind of stratum；
4) formation information that real-time monitoring goes out inputs construction data-base；
5) construction data-base calls corresponding arrangement and method for construction to drive power head, and pressurization oil cylinder and master file movement reach best drilling effect
Fruit；
6) storage of complete machine items construction data is to central control portion, in case data analysis and system are improved.
4. the method for building up of the rotary drilling rig control system according to claim 3 that drilling is automatically controlled according to stratum,
It is characterized in that, specific step is as follows in the step 1), 11) establishment process in monitoring data library,
(111) stratum characteristic is collected, each stratum character subset is formed,
(112) field experiment is built, diameter 5M, from the cylinder of earth's surface downward 5 to 10M, single stratum is built up on every kind of one, stratum
Experimental site,
(1113) collect experimental data, churning driven respectively single stratum experimental site construct, 100KN standard press power and
Under the standard torque of 220KN.m: by depth sensor, obtaining the speed data Δ V of drilling；Pass through power head torque sensing
Device obtains the change in torque data Δ P of the power head；By moulding pressure sensor, the pressurization oil cylinder is obtained to described
The plus-pressure delta data Δ N of power head forms variation into the signal acquisition unit of controller by data acquisition module
Curve stores the subdata base to corresponding stratum；
(1114) each stratum character subset and the subdata base on various stratum are combined into monitoring data library；
12) establishment process of construction data-base；
(121) field experiment is built, diameter 5M, from the cylinder of earth's surface downward 5 to 10M, single stratum is built up on every kind of one, stratum
Experimental site,
(122) churning driven is constructed in single stratum experimental site respectively, in conjunction with construction, manually adjusts three by controller
The driving current data of proportion magnetic valve are the master winch proportion magnetic valve connecting with main winch motor, are connect with hydraulic motor
Power head electro-hydraulic proportional valve, the pressurization electro-hydraulic proportional valve being connect with the pressurization oil cylinder；Keep rate of penetration and drilling quality best,
Driving current data at this time are collected, are formed accordingly by data acquisition module into the logic control element B of controller
The drill mode subdata base on corresponding stratum is arrived in the drive scheme of layer, storage,
(123) the drill mode subdata base on various stratum forms construction data-base.
5. using the control method of the rotary drilling rig control system as claimed in claim 2 for automatically controlling drilling according to stratum,
It being characterized in that, the control method is as follows,
1) rotary drilling rig carries out preparation of construction；
2) electro-hydraulic proportional valve of master winch raising and lowering drives master winch lowering drill pipes drill bit, when master winch steel wire rope hoist
The pulling force of tension sensor measurement stops transferring less than 2 ton hours, and drill bit bottoms out；
3) start automatic drilling function on display interface；
4) system automatically enters: the standard press power of 100KN and the standard torque of 220KN.m, and drives pressurization electro-hydraulic proportional valve
Start to creep into power head electro-hydraulic proportional valve；
Real-time monitoring moulding pressure and power head torque in drilling process, and the data in monitor database is combined to be transferred to CPU
Logic control element calculates the drilling tool currently constructed and actually creeps into stratum now；
5) arrangement and method for construction in cpu logic control unit retrieval construction data-base, is actually bored now according to the drilling tool currently constructed
Into stratum, drill mode is selected, and calls corresponding arrangement and method for construction；It is real during cpu logic control unit analytical calculation
When result is transferred to display interface real-time display by CPU communication control unit；
6) arrangement and method for construction for the most suitable current formation that CPU proportioning valve driving unit is provided according to cpu logic control unit, driving
Pressurize oil cylinder, power head motor and main winch motor work realization arrangement and method for construction；
7) during entire drilling automatically, because construction stratum is complicated and changeable, control system needs to monitor sensor in real time
Data variation judges drilling tool from a kind of stratum to another stratum, and stratum automatically controls the rotary drilling rig control system of drilling certainly
Turn changes corresponding arrangement and method for construction；
8) when the depth of depth sensor feedback reaches boring requirement, or when manually stopping, automatic drilling stops work
Make.
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