CN111720107A - Drilling machine propulsion control system and method and drill rod - Google Patents
Drilling machine propulsion control system and method and drill rod Download PDFInfo
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- CN111720107A CN111720107A CN202010605011.8A CN202010605011A CN111720107A CN 111720107 A CN111720107 A CN 111720107A CN 202010605011 A CN202010605011 A CN 202010605011A CN 111720107 A CN111720107 A CN 111720107A
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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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- 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
- E21B44/02—Automatic control of the tool feed
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a drilling machine propulsion control system, which comprises a working parameter module, a power supply module and a power supply module, wherein the working parameter module is used for acquiring current working parameters; then, judging whether the current working parameter is greater than a preset safety parameter by using a safety parameter judgment module, and if so, controlling the drill rod to retreat; if not, comparing the current working parameter with a preset working parameter; finally, judging whether the current working parameter is greater than a preset working parameter by using a propulsion speed adjusting module, if so, reducing the current propulsion speed and controlling the drill rod to propel at the current propulsion speed on the premise that the current propulsion speed is greater than the preset propulsion speed; and if not, increasing the current advancing speed and controlling the drill rod to advance at the current advancing speed. Therefore, the electric control mode is used for replacing the existing hydraulic control system or manual control system, the problem of control delay is avoided, and related parts are fewer, so that the control efficiency is higher and the production cost is lower. The invention also discloses a drilling machine comprising the drilling machine propulsion control system and a drilling machine propulsion control method.
Description
Technical Field
The invention relates to the technical field of mining equipment, in particular to a drilling machine propulsion control system and a drilling machine propulsion control method. The invention also relates to a drilling rig comprising a drilling rig propulsion control system.
Background
In the construction of tunnels with poor geology such as soft surrounding rocks, the drilling machine is mainly used for guaranteeing the tunnel construction by long-distance advanced geology forecast, outburst prevention, grouting water stop, pipe sheds, anchor cables, anchor rods and other methods. The existing drilling machine mostly utilizes a hydraulic valve or a manual operation valve and other modes to control the propelling speed of a drill rod. The hydraulic control and the manual control both relate to control components such as various control valves, the number and the types of related parts are large, the installation and maintenance difficulty is large, and the cost is high. In addition, the hydraulic valve has the defect of control delay, and the control difficulty of the manual control valve is high, so that the control efficiency of the conventional drilling machine is low.
Therefore, how to optimize the control system of the existing drilling machine to improve the control efficiency of the drilling machine and reduce the production cost thereof is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a drill propulsion control system and method, which utilize an electric control mode to replace the existing hydraulic control system or manual control system, thereby avoiding the problem of control delay, and involve some electric modules, thereby effectively improving the control efficiency and reducing the production cost. Another object of the present invention is to provide a drilling rig incorporating the above drilling rig propulsion control system with the same advantageous effects.
The specific scheme is as follows:
the invention provides a drill propulsion control system, comprising:
the working parameter acquisition module is used for acquiring the current working parameters;
the safety parameter judgment module is used for judging whether the current working parameter is greater than a preset safety parameter or not, and if so, controlling the drill rod to retreat; if not, comparing the current working parameter with a preset working parameter;
the propelling speed adjusting module is used for judging whether the current working parameter is greater than the preset working parameter, and if so, reducing the current propelling speed and controlling the drill rod to propel at the current propelling speed on the premise that the current propelling speed is greater than the preset propelling speed; and if not, increasing the current advancing speed and controlling the drill rod to advance at the current advancing speed.
Preferably, the method further comprises the following steps:
the acceleration increasing module is used for controlling the current acceleration of the drill rod to increase when the current working parameter is larger than the preset working parameter so as to quickly reduce the current propelling speed;
and the acceleration reducing module is used for controlling the current acceleration of the drill rod to be reduced so as to slowly increase the current propelling speed when the current working parameter is smaller than the preset working parameter.
Preferably, the method further comprises the following steps:
the current speed adjusting module is used for judging whether the current propelling speed is greater than the preset propelling speed or not when the current working parameter is greater than the preset working parameter, and if so, controlling the drill rod to propel at the current propelling speed; if not, controlling the drill rod to retreat.
Preferably, the method further comprises the following steps:
the backspacing distance adjusting module is used for judging whether the current backspacing distance of the drill rod is larger than zero, and if so, controlling the drill rod to continue backspacing until the current backspacing distance is larger than a preset backspacing distance so as to restart the drill rod; if not, the drill rod is controlled to stop acting.
The invention also provides a drilling machine, which comprises the drill rod advancing control system.
The invention also provides a drill rod advancing control method, which comprises the following steps:
acquiring current working parameters;
judging whether the current working parameters are larger than preset safety parameters or not, and if so, controlling the drill rod to retreat; if not, comparing the current working parameter with a preset working parameter;
judging whether the current working parameters are larger than preset working parameters or not, if so, reducing the current propelling speed and controlling the drill rod to propel at the current propelling speed on the premise that the current propelling speed is larger than the preset propelling speed; and if not, increasing the current advancing speed and controlling the drill rod to advance at the current advancing speed.
Preferably, the determining whether the current working parameter is greater than the preset working parameter includes:
when the current working parameters are larger than the preset working parameters, controlling the current acceleration of the drill rod to increase so as to quickly reduce the current propelling speed;
and when the current working parameter is smaller than the preset working parameter, controlling the current acceleration of the drill rod to be reduced so as to slowly increase the current advancing speed.
Preferably, the lowering the current advancing speed and controlling the drill rod to advance at the current advancing speed on the premise that the current advancing speed is greater than the preset advancing speed includes:
judging whether the current propelling speed is greater than a preset propelling speed, if so, controlling the drill rod to propel at the current propelling speed; if not, controlling the drill rod to retreat.
Preferably, the controlling of the drill rod retraction comprises:
judging whether the current backspacing distance of the drill rod is larger than zero, if so, controlling the drill rod to continue backspacing until the current backspacing distance is larger than a preset backspacing distance so as to restart the drill rod; if not, the drill rod is controlled to stop acting.
Compared with the background technology, the drilling machine propulsion control system provided by the invention comprises a working parameter acquisition module, a safety parameter judgment module and a propulsion speed regulation module. Firstly, acquiring current working parameters by using a working parameter module; then, judging whether the current working parameter is greater than a preset safety parameter by using a safety parameter judgment module, and if so, controlling the drill rod to retreat; if not, comparing the current working parameter with a preset working parameter; finally, judging whether the current working parameter is greater than the preset working parameter by using a propulsion speed adjusting module, if so, reducing the current propulsion speed and controlling the drill rod to propel at the current propulsion speed on the premise that the current propulsion speed is greater than the preset propulsion speed; and if not, increasing the current advancing speed and controlling the drill rod to advance at the current advancing speed.
Therefore, the drill rod is controlled to automatically advance or retract by using an electric control mode, the existing hydraulic control system or manual control system is replaced, the problem of control delay is avoided, and the control efficiency is high; the invention only relates to part of the electric appliance modules, and is beneficial to reducing the processing cost. Therefore, the drilling machine propulsion control system provided by the invention can effectively improve the control efficiency and reduce the production cost.
The technical scheme of the drilling machine comprising the drilling machine propulsion control system and the drilling machine propulsion control method provided by the invention is essentially the same as that of the drilling machine propulsion control system, and has the same beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a block diagram of a drill propulsion control system according to an embodiment of the present invention;
FIG. 2 is a simplified flow diagram of a method for controlling the propulsion of a drilling rig in accordance with an embodiment of the present invention;
fig. 3 is a detailed flowchart of a drill propulsion control method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific examples.
Referring to fig. 1, fig. 1 is a schematic diagram of a drill propulsion control system according to an embodiment of the present invention.
The embodiment of the invention discloses a drilling machine propulsion control system which comprises three virtual modules, namely a working parameter acquisition module, a safety parameter judgment module and a propulsion speed regulation module.
The working parameter acquisition module is connected with a plurality of acquisition sensors, the acquisition sensors are used for acquiring signals such as load, rotating speed and acceleration of the drill rod, and the types and the setting positions of the acquisition sensors are set according to acquisition targets.
The plurality of acquisition sensors send acquired signals to the working parameter acquisition module so as to acquire current working parameters.
The safety parameter judging module is used for judging whether the current working parameter is larger than a preset safety parameter, wherein the preset safety parameter is set according to design requirements. When the current working parameter is larger than the preset safety parameter, the controller controls the drill rod to retreat; otherwise, the current working parameter is continuously compared with the preset working parameter.
The propulsion speed adjusting module is used for judging whether the current working parameters are larger than preset working parameters or not, wherein the preset working parameters can be adjusted according to the geological conditions of the site. On the premise that the current propelling speed is greater than the preset propelling speed, when the current working parameter is greater than the preset safety parameter, the controller reduces the current propelling speed of the drill rod and controls the drill rod to propel at the current propelling speed; otherwise, the controller increases the current advancing speed of the drill rod and controls the drill rod to advance at the current advancing speed.
It should be noted that the preset propulsion speed herein refers to the minimum value of the current propulsion speed. When the current advance speed of the drill rod is greater than the maximum value, the drill rod is drilled at the maximum current advance speed.
It should be noted that the controller is connected to the drill rod driving member, so that the controller controls the current advancing speed of the drill rod through the rotating speed of the drill rod driving member. The drill rod driver may be a servo motor, but is not limited thereto.
Therefore, the drilling machine propulsion control system provided by the invention can control the drill rod to automatically propel or retract by utilizing an electric control mode, replaces the existing hydraulic control system or manual control system, avoids the problem of control delay and has higher control efficiency; the invention only relates to part of the electric appliance modules, and is beneficial to reducing the processing cost. Therefore, the drilling machine propulsion control system provided by the invention can effectively improve the control efficiency and reduce the production cost.
The invention also comprises two virtual modules, namely an acceleration increasing module and an acceleration reducing module. When the current working parameter is larger than the preset working parameter, the acceleration increasing module controls the current acceleration of the drill rod to increase by utilizing a PID control algorithm so as to rapidly reduce the current propelling speed. When the current working parameter is smaller than the preset working parameter, the acceleration reducing module controls the current acceleration of the drill rod to be reduced by utilizing a PID control algorithm so as to slowly increase the current propelling speed. Meaning that the controller of the present invention contains at least two sets of PID tuning parameters.
The invention also comprises a current speed adjusting module, on the premise that the current working parameter is greater than the preset working parameter, namely, on the premise that the current propelling speed is reduced, the current speed adjusting module is used for judging whether the current propelling speed is greater than the preset propelling speed, if so, the controller controls the drill rod to propel at the current propelling speed; if not, the controller controls the drill rod to retreat. Therefore, the current speed adjusting module is utilized to prevent the current advancing speed of the drill rod from being too low, and the safety is high.
The invention also comprises a backspacing distance adjusting module, wherein the backspacing distance adjusting module is used for judging whether the current backspacing distance of the drill rod is larger than zero, if so, the drill rod is controlled to continue backspacing until the current backspacing distance is larger than the preset backspacing distance, and the control system is restarted, namely, the drill rod is controlled to restart; if not, the situation that the back-off is possibly failed due to reasons such as jamming and the like in the back-off process of the drill rod is meant, and the controller controls the drill rod to stop acting at the moment.
The invention also provides a drilling machine comprising the drill rod propulsion control system, and the technical scheme of the drilling machine and the drill rod propulsion control system is the same, and the drilling machine has the same beneficial effects.
Referring to fig. 2 and fig. 3, fig. 2 is a simplified flow chart of a drilling machine propulsion control method according to an embodiment of the present invention; fig. 3 is a detailed flowchart of a drill propulsion control method according to an embodiment of the present invention.
The invention also provides a drill rod advancing control method, which comprises the following steps:
the first step is as follows: and acquiring the current working parameters, and specifically referring to the above contents.
The second step is that: judging whether the current working parameters are larger than preset safety parameters or not, and if so, controlling the drill rod to retreat; if not, comparing the current working parameter with the preset working parameter.
The third step: judging whether the current working parameters are larger than preset working parameters or not, if so, reducing the current propelling speed and controlling the drill rod to propel at the current propelling speed on the premise that the current propelling speed is larger than the preset propelling speed; and if not, increasing the current advancing speed and controlling the drill rod to advance at the current advancing speed.
Wherein, the step of judging whether the current working parameter is larger than the preset working parameter comprises: when the current working parameters are larger than the preset working parameters, controlling the current acceleration of the drill rod to increase so as to quickly reduce the current propelling speed; and when the current working parameter is smaller than the preset working parameter, controlling the current acceleration of the drill rod to be reduced so as to slowly increase the current advancing speed.
The step of lowering the current advancing speed and controlling the drill rod to advance at the current advancing speed on the premise that the current advancing speed is greater than the preset advancing speed comprises the following steps: judging whether the current propelling speed is greater than a preset propelling speed, if so, controlling the drill rod to propel at the current propelling speed; if not, controlling the drill rod to retreat.
The step of controlling the drill rod to retreat comprises the following steps: judging whether the current backspacing distance of the drill rod is larger than zero, if so, controlling the drill rod to continue backspacing until the current backspacing distance is larger than a preset backspacing distance so as to restart the drill rod; if not, the drill rod is controlled to stop acting.
The drill rod propelling control method provided by the invention has the same beneficial effects.
The present invention provides a drill rig propulsion control system and method, and a drill rod, which are described in detail above, and the principle and the implementation of the present invention are explained in the present text by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. A drilling rig propulsion control system, comprising:
the working parameter acquisition module is used for acquiring the current working parameters;
the safety parameter judgment module is used for judging whether the current working parameter is greater than a preset safety parameter or not, and if so, controlling the drill rod to retreat; if not, comparing the current working parameter with a preset working parameter;
the advancing speed adjusting module is used for judging whether the current working parameter is greater than the preset working parameter or not, and if so, reducing the current advancing speed and controlling the drill rod to advance at the current advancing speed on the premise that the current advancing speed is greater than the preset advancing speed; and if not, increasing the current advancing speed and controlling the drill rod to advance at the current advancing speed.
2. The drilling rig propulsion control system of claim 1, further comprising:
the acceleration increasing module is used for controlling the current acceleration of the drill rod to increase when the current working parameter is larger than the preset working parameter so as to quickly reduce the current propelling speed;
and the acceleration reducing module is used for controlling the current acceleration of the drill rod to be reduced so as to slowly increase the current propelling speed when the current working parameter is smaller than the preset working parameter.
3. The drilling rig propulsion control system of claim 2, further comprising:
the current speed adjusting module is used for judging whether the current propelling speed is greater than the preset propelling speed or not when the current working parameter is greater than the preset working parameter, and if so, controlling the drill rod to propel at the current propelling speed; and if not, controlling the drill rod to retreat.
4. The drilling rig propulsion control system of claim 3, further comprising:
the backspacing distance adjusting module is used for judging whether the current backspacing distance of the drill rod is larger than zero, and if so, controlling the drill rod to continue backspacing until the current backspacing distance is larger than a preset backspacing distance so as to restart the drill rod; if not, controlling the drill rod to stop acting.
5. A drilling rig comprising a drill rod advancement control system as claimed in any one of claims 1 to 4.
6. A drill rod advancing control method, characterized by comprising the steps of:
acquiring current working parameters;
judging whether the current working parameter is greater than a preset safety parameter, if so, controlling the drill rod to retreat; if not, comparing the current working parameter with a preset working parameter;
judging whether the current working parameter is greater than the preset working parameter, if so, reducing the current propelling speed and controlling the drill rod to propel at the current propelling speed on the premise that the current propelling speed is greater than the preset propelling speed; and if not, increasing the current advancing speed and controlling the drill rod to advance at the current advancing speed.
7. The drill rod advancing control method as recited in claim 6, wherein the determining whether the current operating parameter is greater than the preset operating parameter comprises:
when the current working parameter is larger than the preset working parameter, controlling the current acceleration of the drill rod to increase so as to rapidly reduce the current propelling speed;
and when the current working parameter is smaller than the preset working parameter, controlling the current acceleration of the drill rod to be reduced so as to slowly increase the current advancing speed.
8. The drill rod advancing control method according to claim 7, wherein the lowering the current advancing speed and controlling the drill rod to advance at the current advancing speed on the premise that the current advancing speed is greater than a preset advancing speed comprises:
judging whether the current propelling speed is greater than the preset propelling speed, if so, controlling the drill rod to propel at the current propelling speed; and if not, controlling the drill rod to retreat.
9. The drill rod advancing control method according to claim 8, wherein the controlling of the drill rod retraction comprises:
judging whether the current backspacing distance of the drill rod is larger than zero, if so, controlling the drill rod to continue backspacing until the current backspacing distance is larger than a preset backspacing distance so as to restart the drill rod; if not, controlling the drill rod to stop acting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010605011.8A CN111720107B (en) | 2020-06-29 | 2020-06-29 | Drill rod propulsion control system and method and drilling machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010605011.8A CN111720107B (en) | 2020-06-29 | 2020-06-29 | Drill rod propulsion control system and method and drilling machine |
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| CN111720107A true CN111720107A (en) | 2020-09-29 |
| CN111720107B CN111720107B (en) | 2023-06-30 |
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Cited By (1)
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| CN116335624A (en) * | 2023-05-29 | 2023-06-27 | 湖南创远智能发展有限责任公司 | Control method and device of raise boring machine, storage medium and raise boring machine |
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| CN111720107B (en) | 2023-06-30 |
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