CN111948532B - An experimental system and control method for simulating bidirectional torsion control of a turntable motor - Google Patents
An experimental system and control method for simulating bidirectional torsion control of a turntable motor Download PDFInfo
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Abstract
An experimental system and a control method for simulating bidirectional torsion control of a turntable motor. The experimental system mainly comprises a main control unit, an operation control unit and a power unit, wherein the main control unit is used as an upper computer of the whole system, the operation control unit mainly comprises a programmable controller and two frequency converters, and the power unit mainly comprises a main motor, a load motor, a braking device, a speed reducer, a torque sensor and an encoder. The control method comprises the steps that the main control unit performs angle bidirectional torsion or torque bidirectional torsion control on a main motor of the power unit through the operation control unit, and the programmable controller acquires system operation parameters in real time, wherein the system operation parameters mainly comprise feedback signals such as bidirectional torsion speed, torsion angle and torsion torque, and an angle or torque torsion control closed loop is formed. The method is simple, convenient and feasible, simulates the structure of the field electric turntable transmission system to the greatest extent, and the main control unit and the programmable controller have low cost, high reliability and high communication rate, and ensure the control precision of the system.
Description
Technical field:
The invention relates to the technical field of petroleum engineering, in particular to an experimental system and a control method for simulating bidirectional torsion control of a turntable motor.
The background technology is as follows:
the turntable is an important part of the petroleum drilling machine and is commonly called one of eight parts of the drilling machine. In the drilling process, the rotary table drives the drill string, the bottom hole assembly, the drill bit and the like to break the rock in a rotary mode so as to realize the well construction of the oil-gas well, and the rotary table is an important power source of the drilling machine. With the technical progress of drilling equipment, in recent years, a drilling machine turntable is generally developed into a motor independent drive by mechanical drive, and the motor independent drive turntable has the advantages of simple structure, convenience in control and the like.
In the directional sliding drilling process of the long horizontal section horizontal well and the large displacement well, the drill string does not rotate, and the drill bit is driven by the bottom hole power drilling tool to rotate for breaking the rock, so that the drilling footage is realized. The well inclination angle and the azimuth angle of the well hole are changed through the sliding guide tool, so that the track of the well hole is controlled, but because the drill string does not rotate, static friction is formed between the drill string and the well wall, the friction resistance is high, the pressure is easily supported, the drilling efficiency is low, and the operation risk is high. With the increase of well deviation and displacement, the defect of sliding drilling is more obvious.
Therefore, by utilizing the principle that dynamic friction is lower than static friction coefficient, the bidirectional torsion automatic control technology of the sliding drilling drill string is developed at home and abroad successively, and the bidirectional torsion amplitude of the drill string is controlled accurately, the effects of not affecting the underground tool face and reducing friction as much as possible are achieved, so that the drilling efficiency is improved, and the drilling cost is reduced.
The Chinese patent CN102022083B discloses a rotary steering drilling tool, which comprises a rotary mandrel, an upper bearing, an induction coil, an inclinometer nipple and a control unit, a non-rotary jacket, a hydraulic control system module, a rib plate, a lower bearing and a lower joint, wherein the rotary mandrel comprises a body and an outer boss, the outer boss is fixed with the body from top to bottom, the outer side of the upper end of the body is fixedly arranged with the inner side of the upper bearing, the outer side of the lower end of the body is fixedly arranged with the inner side of the upper end of the lower joint, the outer side of the upper end of the lower joint is fixedly arranged with the inner side of the lower bearing, the non-rotary jacket comprises an upper jacket body, a lower jacket body and a middle jacket body with an outer diameter larger than that of the upper jacket body, the middle jacket body and the lower jacket body are sequentially fixed together from top to bottom, the inner side of the upper bearing is fixedly arranged with the outer side of the upper jacket body, a cavity is arranged between the upper jacket body and the lower bearing, the induction coil and the control unit are fixedly arranged in the cavity, the inner cavity is fixedly arranged in the inner cavity of the middle jacket body, the inner cavity is fixedly arranged with the inner side of the upper end of the lower joint, the upper end of the lower joint is connected with the inner side of the lower bearing, the upper jacket body is provided with an oil hole, the upper end of the upper jacket body is correspondingly arranged with the hydraulic control unit, the inner side of the upper jacket body is correspondingly connected with the hydraulic control unit and the hydraulic control unit, the inner side is connected with the hydraulic control unit through the hydraulic control unit, the upper wire is connected with the upper wire and the upper wire is in the cavity and the upper end of the upper control unit, and the upper pipe sleeve is connected with the upper end and the lower unit. The hydraulic control system module can comprise a hydraulic pump, a coupler, a motor, a balance plunger and a telescopic plunger, wherein the telescopic plunger which can be propped against the outer side of the central line of the inner convex head and can move the baffle outwards is arranged at the upper end of the hydraulic pump. The inclinometry nipple and the control unit can comprise an inclinometry body, a control circuit, a rectifying circuit and an inclinometry module, wherein the control circuit, the rectifying circuit and the inclinometry module are arranged on the inclinometry body. The invention drills horizontal wells, large-extension wells and large-inclination wells in a rotary drilling mode and can effectively guide the horizontal wells, so that the drilling efficiency is greatly improved, and the equipment cost is reduced.
However, the technology is researched based on top drive at present, and has not been developed on an electric turntable. Therefore, in the process of researching the bidirectional torsion control technology of the sliding drilling string based on the electric turntable, a set of experimental system for simulating bidirectional torsion control of the turntable motor needs to be established, the research of a turntable motor torsion control method is carried out, and after the experimental system tests that the field application conditions are met, the experimental system can be tested and popularized and applied on the field.
The invention comprises the following steps:
The invention aims to solve the problems in the prior art and provides an experimental system and a control method for simulating bidirectional torsion control of a turntable motor.
The invention is realized by the following technical scheme:
The experimental system for simulating the bidirectional torsion control of the turntable motor mainly comprises a main control unit, an operation control unit and a power unit, wherein the operation control unit mainly comprises a programmable controller, a No. 1 frequency converter and a No. 2 frequency converter, and the power unit mainly comprises a No. 1 motor, a No. 2 motor, a braking device, a speed reducer, a torque sensor and an encoder. In the power unit, a No. 1 motor is connected with the input end of a brake device, the output end of the brake device is connected with the input end of a torque sensor, the output end of the torque sensor is connected with one end of an input shaft of a speed reducer, an encoder is arranged at the other end of the input shaft of the speed reducer, the output shaft of the speed reducer is connected with a No. 2 motor, and the rotation directions of the No. 1 motor and the No. 2 motor are opposite.
The operation control unit main loop mainly comprises a main power supply, a main breaker, a breaking circuit, a programmable controller and a sensor loop, a No. 1 motor heat dissipation fan loop, a No. 2 motor heat dissipation fan loop, a No. 1 frequency converter, a No. 1 motor loop, a No. 2 frequency converter and a No. 2 motor loop.
The programmable controller mainly comprises a power supply module, a CPU module, a digital quantity input module, a digital quantity output module, an analog quantity input module, an analog quantity output module and a counter module.
The encoder is an incremental photoelectric encoder, the motor # 1 and the motor # 2 are both alternating current variable frequency speed regulating motors, and the speed reducing device can be any one of a gear speed reducing device, a chain speed reducing device or other speed reducing devices.
The experimental system for simulating the bidirectional torsion control of the turntable motor comprises the following torsion control method:
a. In the power unit, a 1# motor simulates a main motor of a turntable and is a torsion control object, a 2# motor is a load motor, underground torque load in the drilling process is simulated, the output torque of the 2# motor is set in the experimental system and is in direct proportion to the number of rotations, a brake device simulates the inertial brake of a turntable clutch, a speed reducer simulates a turntable chain box, a main control unit performs bidirectional torsion control on the 1# motor of the power unit through an operation control unit and comprises angle bidirectional torsion control and torque bidirectional torsion control, and a programmable controller acquires signals of a torque sensor and an encoder in real time and performs logic operation and output in the torsion control process, so that accurate closed-loop control of bidirectional torsion is realized.
B. The main control unit is an upper computer of the experimental system for simulating the bidirectional torsion control of the turntable motor, is not only an access and display unit for system operation data, but also realizes the issuing of control instructions of the operation control unit through interaction of a human-computer interface.
C. the programmable controller is a lower computer of an experiment system, the lower computer is communicated with the main control unit through an Ethernet by a CPU module, the CPU module is communicated with the No. 1 frequency converter through an RS485 port and is used for controlling the rotating speed of the No. 1 motor through the No. 1 frequency converter, the digital quantity input module is used for collecting braking signals of a braking device and fault signals of the No. 1 frequency converter and the No. 2 frequency converter, the digital quantity output module is used for controlling the on-off of a contactor, the analog quantity input module is used for collecting currents of the No. 1 motor and the No. 2 motor from the No. 1 frequency converter and the No. 2 frequency converter respectively and collecting torque signals of a torque sensor, the analog quantity output module is used for outputting the torque signals and controlling the torque of the No. 2 motor through the No. 2 frequency converter, and the counter module is used for collecting speed and angle signals of an encoder.
D. The experimental steps of simulating the bidirectional torsion control of the turntable motor are respectively described as follows according to the bidirectional torsion control of the angle and the bidirectional torsion control of the torque:
(a) Angular bidirectional torsion control:
I. and switching on a main power supply, closing a main circuit breaker and a breaking circuit breaker, powering up the system, and completing initialization by a programmable controller.
And II, setting angle torsion control operation parameters of the No. 1 motor, mainly including a bidirectional torsion speed and a torsion angle, wherein the bidirectional torsion angle is a clockwise rotation maximum angle theta 1 and a counterclockwise rotation maximum angle theta 2 in man-machine interaction software of a main control unit, pressing a start button, and enabling a programmable controller to control a contactor to be closed through a digital quantity output module so that the No. 1 motor cooling fan loop, the No. 2 motor cooling fan loop, the No. 1 frequency converter and the No. 1 motor loop, the No. 2 frequency converter and the No. 2 motor loop start to operate. The motor # 1 starts rotating clockwise firstly, when the motor # 1 rotates clockwise to the maximum angle value theta 1, the motor # 1 stops rotating clockwise, then starts rotating anticlockwise reversely, when the motor # 1 rotates anticlockwise to the maximum angle value theta 2, the motor # 1 stops rotating anticlockwise, then starts rotating clockwise reversely, and accordingly the motor # 1 is twisted bidirectionally according to the set angle value.
The motor #1 runs according to the set angle torsion parameters, the counter module collects angle and speed signals of the encoder in real time to form a torsion angle and speed control closed loop, control accuracy is guaranteed, the analog quantity input module collects current signals of the frequency converter #1 and the frequency converter #2 in real time, and all data are displayed and stored in real time in man-machine interaction software;
When the IV.1# motor is twisted according to an angle, if a handle of the brake device is manually operated, the digital quantity input module detects a brake signal and the system is automatically stopped, and when the digital quantity input module detects a fault signal of the 1# frequency converter or the 2# frequency converter, the system is also automatically stopped;
And V, if the angle bidirectional torsion control test is completed, in man-machine interaction software of the main control unit, pressing a stop button, stopping the system, and then turning off the main control unit, the breaking circuit breaker, the total circuit breaker and the total power supply in sequence, so that the angle bidirectional torsion control experiment is finished.
(B) Torque bidirectional torsion control:
I. switching on a main power supply, closing a main breaker and a breaking breaker, powering up a system, and completing initialization by a programmable controller;
Setting a bidirectional torsion speed of a 1# motor and a bidirectional torsion torque value of a 2# motor in man-machine interaction software of a main control unit, namely, a clockwise rotation maximum torque value T1 and a counterclockwise rotation maximum torque value T2, pressing a start button, controlling a contactor to be closed by a programmable controller through a digital output module, so that a 1# motor heat dissipation fan loop, a 2# motor heat dissipation fan loop, a 1# frequency converter, a 1# motor loop, a 2# frequency converter and a 2# motor loop operate, wherein the 1# motor starts clockwise firstly, stops clockwise rotation when the clockwise rotation reaches the 2# motor output maximum torque value T2, then starts counterclockwise rotation reversely, and stops counterclockwise rotation when the counterclockwise rotation reaches the 2# motor output maximum torque value T1, and then starts clockwise rotation reversely, so that the motor always rotates bidirectionally according to the set torque value.
In the process of controlling bidirectional torsion according to torque, the analog input module acquires torque signals of the torque sensor in real time, current signals of the No. 1 frequency converter and the No. 2 frequency converter are displayed and stored in real time in man-machine interaction software, and a torque control closed loop is formed through torque feedback signals of the acquired torque sensor, so that control accuracy is guaranteed.
In the torque torsion control operation of the No. 1 motor, if a handle of a brake device is manually operated, a digital quantity input module detects a brake signal and the system is automatically stopped, and when the digital quantity input module detects a fault signal of a No. 1 frequency converter or a No. 2 frequency converter, the system is also automatically stopped;
And V, if the torque bidirectional torsion control test is completed, pressing a stop button in man-machine interaction software of the main control unit, stopping the system, and turning off the main control unit, the breaking circuit breaker, the total circuit breaker and the total power supply in sequence, so that the torque bidirectional torsion control experiment is finished.
The experimental system and the control method for simulating the bidirectional torsion control of the turntable motor have the following advantages:
(1) The method is simple and feasible, one motor simulates the main motor of the electric turntable, and the other motor simulates the load of the drill string in the drilling process. Meanwhile, a speed reducing device, a brake device and the like are added, so that the structure of the field electric turntable transmission system is simulated to the greatest extent;
(2) In the experimental system, the mobile server is used as an upper computer, the programmable controller is used as a lower computer, the upper computer and the lower computer are communicated by adopting Ethernet, the Ethernet is the most common communication protocol standard, the experimental system has the advantages of low cost, high reliability and high communication rate, and the programmable controller collects feedback signals of the torque sensor and the encoder in real time to form a torque torsion and angle torsion control closed loop, so that the experimental system is ensured to have higher control precision.
Description of the drawings:
fig. 1 is a schematic diagram of the experimental system for simulating bidirectional torsion control of a turntable motor.
Fig. 2 is a control loop diagram of the operation control unit of the present invention.
Fig. 3 is a main circuit diagram of the operation control unit of the present invention.
The specific embodiment is as follows:
The invention will be further described with reference to fig. 1, fig. 2, fig. 3 and specific examples.
Example 1:
The experimental system for simulating bidirectional torsion control of a turntable motor mainly comprises a main control unit 1, an operation control unit 2 and a power unit 3, wherein the operation control unit 2 mainly comprises a programmable controller 4, a No. 1 frequency converter 5 and a No. 2 frequency converter 6, and the power unit 3 mainly comprises a No. 1 motor 7, a No. 2 motor 8, a braking device 9, a speed reducer 10, a torque sensor 11 and an encoder 12.
In the power unit 3, a No.1 motor 7 is connected with an input end of a brake device 9, an output end of the brake device 9 is connected with an input end of a torque sensor 11, an output end of the torque sensor 11 is connected with one end of an input shaft of a speed reducer 10, an encoder 12 is mounted at the other end of the input shaft of the speed reducer 10, and an output shaft of the speed reducer 10 is connected with a No.2 motor 8.
Example 2:
on the basis of embodiment 1, further comprising:
the main circuit of the operation control unit 2 mainly comprises a main power supply 21, a main breaker 22, a breaking breaker 23, a programmable controller and sensor circuit 24, a No. 1 motor cooling fan circuit 25, a No.2 motor cooling fan circuit 26, a No. 1 frequency converter and No. 1 motor circuit 27, a No.2 frequency converter and a No.2 motor circuit 28.
The programmable controller 4 mainly comprises a power supply module 13, a CPU module 14, a digital quantity input module 15, a digital quantity output module 16, an analog quantity input module 17, an analog quantity output module 18 and a counter module 19.
The encoder 12 is an incremental photoelectric encoder, the 1# motor 7 and the 2# motor 8 are both alternating current variable frequency speed regulating motors, the rotation directions of the 1# motor 7 and the 2# motor 8 are opposite, and the speed reducing device 10 can be any one of a gear speed reducing device, a chain speed reducing device or other speed reducing devices.
Example 3:
The control method of the experimental system for the simulation turntable motor bidirectional torsion control of embodiment 1 is as follows:
a. In the power unit 3, a 1# motor 7 simulates a main motor of a turntable and is a torsion control object, a 2# motor 8 is a load motor, underground torque load in the drilling process is simulated, an output torque of the 2# motor 8 is set in the experimental system and is in direct proportion to the number of rotations, a brake device 9 simulates a turntable clutch inertial brake, a speed reduction device 10 simulates a turntable chain box, a main control unit 1 performs bidirectional torsion control on the 1# motor 7 of the power unit 3 through an operation control unit 2 and comprises angle bidirectional torsion control and torque bidirectional torsion control, and in the torsion control process, a programmable controller 4 acquires signals of a torque sensor 11 and an encoder 12 to perform logic operation and output, so that accurate closed loop control of bidirectional torsion is realized.
B. The main control unit 1 is an upper computer of an experimental system for simulating bidirectional torsion control of a turntable motor, is not only an access and display unit for system operation data, but also realizes the issuing of control instructions of the operation control unit 2 through interaction of a human-computer interface.
C. The programmable controller 4 is a lower computer of the experimental system, and is communicated with the main control unit 1 through an Ethernet by the CPU module 14, the CPU module 14 is communicated with the No. 1 frequency converter 5 through an RS485 port and is used for controlling the rotating speed of the No. 1 motor 7 through the No. 1 frequency converter 5, the digital quantity input module 15 is used for collecting braking signals of the braking device 9 and fault signals of the No. 1 frequency converter 5 and the No.2 frequency converter 6, the digital quantity output module 16 is used for controlling the on-off of the contactor 20, the analog quantity input module 17 is used for collecting currents of the No. 1 motor 7 and the No.2 motor 8 from the No. 1 frequency converter 5 and the No.2 frequency converter 6 respectively and simultaneously collecting torque signals of the torque sensor 11, the analog quantity output module 18 is used for outputting torque signals and controlling the torque of the No.2 motor 8 through the No.2 frequency converter 6, and the counter module 19 is used for collecting speed and angle signals of the encoder 12.
Example 4:
The control method of the experimental system for the simulation turntable motor bidirectional torsion control of example 2 is as follows:
a. In the power unit 3, a 1# motor 7 simulates a main motor of a turntable and is a torsion control object, a 2# motor 8 is a load motor, underground torque load in the drilling process is simulated, an output torque of the 2# motor 8 is set in the experimental system and is in direct proportion to the number of rotations, a brake device 9 simulates a turntable clutch inertial brake, a speed reduction device 10 simulates a turntable chain box, a main control unit 1 performs bidirectional torsion control on the 1# motor 7 of the power unit 3 through an operation control unit 2 and comprises angle bidirectional torsion control and torque bidirectional torsion control, and in the torsion control process, a programmable controller 4 acquires signals of a torque sensor 11 and an encoder 12 to perform logic operation and output, so that accurate closed loop control of bidirectional torsion is realized.
B. The main control unit 1 is an upper computer of an experimental system for simulating bidirectional torsion control of a turntable motor, is not only an access and display unit for system operation data, but also realizes the issuing of control instructions of the operation control unit 2 through interaction of a human-computer interface.
C. The programmable controller 4 is a lower computer of the experimental system, and is communicated with the main control unit 1 through an Ethernet by the CPU module 14, the CPU module 14 is communicated with the No. 1 frequency converter 5 through an RS485 port and is used for controlling the rotating speed of the No. 1 motor 7 through the No. 1 frequency converter 5, the digital quantity input module 15 is used for collecting braking signals of the braking device 9 and fault signals of the No. 1 frequency converter 5 and the No.2 frequency converter 6, the digital quantity output module 16 is used for controlling the on-off of the contactor 20, the analog quantity input module 17 is used for collecting currents of the No. 1 motor 7 and the No.2 motor 8 from the No. 1 frequency converter 5 and the No.2 frequency converter 6 respectively and simultaneously collecting torque signals of the torque sensor 11, the analog quantity output module 18 is used for outputting torque signals and controlling the torque of the No.2 motor 8 through the No.2 frequency converter 6, and the counter module 19 is used for collecting speed and angle signals of the encoder 12.
D. The experimental steps of simulating the bidirectional torsion control of the turntable motor are respectively described as follows according to the bidirectional torsion control of the angle and the bidirectional torsion control of the torque:
(a) Angular bidirectional torsion control:
I. the main power supply 21 is switched on, the main circuit breaker 22 and the breaking circuit breaker 23 are closed, the system is electrified, and the programmable controller 4 completes initialization.
And II, setting the angle torsion control operation parameters of the No. 1 motor 7 in man-machine interaction software of the main control unit 1, wherein the angle torsion control operation parameters mainly comprise a bidirectional torsion speed and a torsion angle, the bidirectional torsion angle is a clockwise rotation maximum angle theta 1 and a counterclockwise rotation maximum angle theta 2, pressing a start button, and the programmable controller 4 controls the contactor 20 to be closed through the digital output module 16 so that the No. 1 motor heat dissipation fan loop 25, the No. 2 motor heat dissipation fan loop 26, the No. 1 frequency converter and No. 1 motor loop 27, the No. 2 frequency converter and the No. 2 motor loop 28 start to operate. The 1# motor 7 starts to rotate clockwise first, and when the clockwise rotation reaches the maximum angle value theta 1, the 1# motor 7 stops rotating clockwise, then starts to rotate counterclockwise reversely, and when the counterclockwise rotation reaches the maximum angle value theta 2, the 1# motor 7 stops rotating counterclockwise, and then starts to rotate clockwise reversely, so that the motor is always twisted bidirectionally according to the set angle value.
The motor No. 17 runs according to the set angle torsion parameters, the counter module 19 collects angle and speed signals of the encoder 12 in real time to form a torsion angle and speed control closed loop, control accuracy is guaranteed, the analog quantity input module 17 collects current signals of the frequency converter No. 15 and the frequency converter No. 26 in real time, and all data are displayed and stored in real time in man-machine interaction software;
In the angular torsion operation of the No.1 motor 7, if a handle of the brake device 9 is manually operated, the digital quantity input module 15 detects a brake signal, and the system is automatically stopped, and when the digital quantity input module 15 detects a fault signal of the No.1 frequency converter 5 or the No. 2 frequency converter 6, the system is also automatically stopped;
And V, if the angle bidirectional torsion control test is completed, in man-machine interaction software of the main control unit 1, a stop button is pressed, the system is stopped, and then the main control unit 1, the breaking circuit breaker 23, the total circuit breaker 22 and the total power supply 21 are sequentially turned off, so that the angle bidirectional torsion control experiment is finished.
(B) Torque bidirectional torsion control:
I. Switching on a main power supply 21, closing a main breaker 22 and a breaking breaker 23, powering up the system, and completing initialization by a programmable controller 4;
In man-machine interaction software of the main control unit 1, setting a bidirectional torsion speed of the 1# motor 7 and a bidirectional torsion torque value of the 2# motor 8, namely a clockwise rotation maximum torque value T1 and a counterclockwise rotation maximum torque value T2, pressing a start button, controlling the contactor 20 to be closed by the programmable controller 4 through the digital output module 16, so that the 1# motor cooling fan circuit 25, the 2# motor cooling fan circuit 26, the 1# frequency converter, the 1# motor circuit 27, the 2# frequency converter and the 2# motor circuit 28 operate, and starting the 1# motor 7 by clockwise rotation, stopping the clockwise rotation of the 1# motor 7 when the clockwise rotation reaches the 2# motor 8 to output the maximum torque value T2, starting the counterclockwise rotation reversely, stopping the counterclockwise rotation of the 1# motor 7 when the counterclockwise rotation reaches the 2# motor 8 to output the maximum torque value T1, and starting the clockwise rotation reversely, so that the 1# motor 7 is bidirectionally twisted according to the set torque value.
In the process of controlling bidirectional torsion according to torque, the analog input module 17 acquires torque signals of the torque sensor 11 in real time, current signals of the No. 1 frequency converter 5 and the No.2 frequency converter 6 are displayed and stored in real time in man-machine interaction software, and a torque control closed loop is formed through the acquired torque feedback signals of the torque sensor 11, so that control accuracy is guaranteed.
In the torque torsion control operation of the No. 1 motor 7, if a handle of the brake device 9 is manually operated, the digital quantity input module 15 detects a brake signal, and the system is automatically stopped;
And V, if the torque bidirectional torsion control test is completed, in man-machine interaction software of the main control unit 1, a stop button is pressed, the system is stopped, the main control unit 1, the breaking circuit breaker 23, the total circuit breaker 22 and the total power supply 21 are turned off in sequence, and the torque bidirectional torsion control experiment is finished.
The simulation experiment system adopts the idea of double motor torsion to simulate the electric turntable driving and underground load, the method is simple, convenient and feasible, the speed reducing device and the brake device are added in the power unit, the structure of the field electric turntable transmission system is simulated to the greatest extent, the main control unit and the programmable controller are communicated by adopting the Ethernet, the advantages of low cost, high reliability and high communication rate are achieved, and meanwhile, the high-precision torque sensor and the encoder are used, so that the control precision of the system is ensured.
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| CN102384769A (en) * | 2011-11-25 | 2012-03-21 | 温州大学 | Method and system for testing novel contra-rotating dual-rotor motor driver |
| CN210222208U (en) * | 2019-05-17 | 2020-03-31 | 中石化石油工程技术服务有限公司 | An Experimental System for Simulating Bidirectional Torsion Control of Turntable Motors |
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| CN111948532A (en) | 2020-11-17 |
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