CN112593916A - Drilling regulation and control method and device and rotary drilling equipment - Google Patents
Drilling regulation and control method and device and rotary drilling equipment Download PDFInfo
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- 238000005553 drilling Methods 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 78
- 230000008569 process Effects 0.000 claims abstract description 42
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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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- 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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
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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
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
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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
- E21B45/00—Measuring the drilling time or rate of penetration
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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
- E21B47/00—Survey of boreholes or wells
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Abstract
The embodiment of the application provides a drilling regulation method, a drilling regulation device and rotary drilling equipment, wherein the method comprises the steps of acquiring the current rotating speed of a winch and the relative distance between two adjacent sections of sleeved rods which move relatively in the process of lowering a drill rod in real time when the rotary drilling equipment enters a drilling process and is in a winch constant speed control mode; carrying out parameter adjustment on a winch related control mechanism based on a PID algorithm according to a target rotating speed for constant speed control and the current rotating speed so as to enable the actual rotating speed to approach the target rotating speed; in the process of lowering the drill rod, if the situation that the rear section of the sleeving rod enters the preset buffer area of the front section of the sleeving rod is judged, the current rotating speed of the winch is reduced, so that the rear section of the sleeving rod completes flexible lapping. According to the technical scheme, on the basis of automatic cruising, the rotating speed of the winch is monitored and adjusted in real time, flexible transition overlapping is carried out when the drill rod is placed, and the reliability, the service life and the like of the rotary excavating equipment can be improved from multiple aspects.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a drilling regulation and control method, a drilling regulation and control device and rotary drilling equipment.
Background
Engineering equipment such as a rotary drilling rig generally comprises structures such as a winch, wherein under the condition that a steel wire rope is lifted, steel wire rope loads such as a drill rod and a drill bit move at a constant speed, and the working stability of each module of a host system is facilitated. However, in the actual construction process, the speed of the steel wire rope is difficult to keep in a constant speed state all the time due to other factors such as instability of the control valve assembly, and the like, which may cause adverse effects on the main machine and may cause problems such as abrasion or damage of the assembly in the long term. Meanwhile, in the process of lowering the drill rod, especially, two sets of extension rods are in the lapping process, if the speed of the steel wire rope is too high, large impact force can be generated on the connecting component of the drill rod, and therefore damage is caused.
Disclosure of Invention
In view of this, the present application provides a drilling control method, a drilling control device and a rotary drilling apparatus to overcome the defects in the prior art.
An embodiment of the present application provides a drilling regulation method, including:
when the rotary drilling equipment enters a drilling process and is in a winch constant speed control mode, acquiring the current rotating speed of a winch and the relative distance between two adjacent sections of sleeved rods moving relatively in a drilling rod lowering process in real time;
carrying out parameter adjustment on a winch related control mechanism based on a PID algorithm according to the stored target rotating speed for constant speed control and the current rotating speed so as to enable the actual rotating speed of the winch to approach the target rotating speed;
and in the process of lowering the drill rod, if the situation that the rear section of the sleeve rod enters a preset buffer area of the front section of the sleeve rod is judged according to the relative distance, the current rotating speed of the winch is reduced, so that the rear section of the sleeve rod and the front section of the sleeve rod are flexibly overlapped in the preset buffer area.
In some embodiments, the drilling regulation method further comprises:
and after the flexible lapping of the sleeved rod is completed each time, the parameters of the related control mechanism of the winch are readjusted so that the actual rotating speed of the winch approaches the target rotating speed again.
In some embodiments, the performing parameter adjustment on the winch-related control mechanism based on the PID algorithm according to the stored target rotation speed for constant speed control and the current rotation speed to make the actual rotation speed of the winch approach the target rotation speed includes:
calculating the parameter adjustment amount corresponding to the winch related control mechanism according to the difference value between the current rotating speed and the target rotating speed of the winch;
adjusting corresponding parameters of the winch related control mechanism based on the parameter adjustment amount;
and after adjustment, feeding back the adjusted actual rotating speed to judge whether the difference value between the actual rotating speed and the target rotating speed is within a preset error range.
In some embodiments, the rotary drilling equipment comprises a drill bit, a fixing rod and a power head, wherein the power head is arranged on the fixing rod, the drill bit is arranged at the tail end of the drill rod, and the power head is used for being lapped on a first section of sleeving rod of the drill rod in the process of lowering the drill rod; the acquisition of relative distance between two adjacent sections of socket joint pole of relative movement includes:
after the first section of the sleeving rod is lapped on the power head, the position of the drill bit or the hole depth is obtained in real time by taking the position of the first section of the sleeving rod as a relative reference so as to obtain the relative extension length of the second section of the sleeving rod;
and calculating the relative extension length of the next section of the sleeved rod relative to the previous section of the sleeved rod from the third section of the sleeved rod according to the self rod length of each sleeved rod and the drill bit position or hole depth acquired in real time.
In some embodiments, the entering of the drawworks cruise control mode comprises:
after the rotary drilling equipment enters a drilling process, acquiring parameter information of a winch-related control mechanism and rotation speed information of the winch in real time;
when a constant speed control starting signal is received, respectively calculating the mean value of the parameters and the mean value of the rotating speeds according to the parameter information and the rotating speed information in a specified time range before the constant speed control starting signal, wherein the mean value of the rotating speeds is used as the target rotating speed for constant speed control;
setting the initial value of the parameters of the winch related control mechanism according to the stored mean value of the parameters, and starting to execute the winch constant speed control operation.
In some embodiments, the drilling regulation method further comprises:
and responding to a winch constant speed control stopping instruction, stopping the winch constant speed control operation and switching to a manual operation mode.
In some embodiments, the winch-related control mechanism comprises a pilot control handle for controlling a winch, and the electrical signal or the pressure signal of the pilot control handle is controlled to realize the rotation speed adjustment of the winch;
and if the winch related control mechanism further comprises a driving assembly for the winch and/or a main pump for the winch, selecting at least one regulated object from the pilot control handle, the driving assembly for the winch and/or the main pump for the winch, and performing parameter adjustment on the selected regulated object to realize the rotation speed regulation of the winch.
Another embodiment of the present application provides a drilling regulation device, comprising:
the acquisition module is used for acquiring the current rotating speed of the winch and the relative distance between two adjacent sections of sleeved rods which move relatively in the process of lowering the drill rod in real time when the rotary drilling equipment enters the drilling process and is in a winch constant speed control mode;
the adjusting module is used for carrying out parameter adjustment on a winch related control mechanism based on a PID algorithm according to a stored target rotating speed for constant speed control and the current rotating speed so as to enable the actual rotating speed of the winch to approach the target rotating speed;
and the adjusting module is also used for reducing the current rotating speed of the winch if judging that a rear section of the sleeving rod enters a preset buffer area of a front section of the sleeving rod according to the relative distance in the process of lowering the drill rod, so that the rear section of the sleeving rod and the front section of the sleeving rod are flexibly overlapped in the preset buffer area.
Another embodiment of the present application provides a rotary drilling device, which performs winch constant speed control by using the drilling regulation and control method.
In some embodiments, the rotary drilling rig is a rotary drilling rig or a rotary drilling rig.
The embodiment of the application has the following advantages:
according to the drilling regulation and control method, under the winch constant speed control mode, the relative distance between two adjacent sections of sleeved rods of relative movement in the process of lowering the winch rotating speed and the drill rod is monitored, the sleeve rods are used for PID rotating speed adjustment and flexible lap joint of the extension rods in a preset buffer area, and the like, closed-loop control is performed on the winch rotating speed, so that the winch can keep constant-speed motion, automatic flexible transition is performed through the drill rod when the drill rod is lowered, large impact force and the like caused by too fast winch rotating speed are avoided, and the reliability, the service life and the like of the rotary drilling equipment can be improved from multiple aspects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 illustrates a first flow diagram of a method of drilling regulation according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating entering of a constant speed control mode of a drilling regulation method according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a relative distance calculation flow of a drilling regulation method according to an embodiment of the present application;
FIG. 4 illustrates a drill pipe lowering schematic of the drilling regulation method of an embodiment of the present application;
FIG. 5 illustrates a PID tuning flow diagram of a drilling tuning method of an embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating an application of the drilling regulation method of the present application;
fig. 7 shows a schematic structural diagram of a drilling regulation device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the templates is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1, the present embodiment provides a drilling regulation method, which enables a rotary drilling apparatus to perform closed-loop regulation on the rotation speed of a winch during a drilling process, so as to keep the rotation speed of the winch constant; meanwhile, in the process of lowering the drill rod to be lapped, the drill rod is flexibly lapped through speed reduction, the phenomenon that the winch is too fast in rotating speed to generate collision and the like is effectively avoided, and therefore the intellectualization, the multifunctionality and the like of the rotary excavating equipment are integrally realized.
Generally, the rotary drilling equipment comprises a winch (also called a main winch or a winch), a drill rod, a fixed rod (also called a mast), a power head and a drill bit, wherein the drill rod is connected with the winch through a steel wire rope, the power head is installed on the fixed rod, the drill bit is arranged at the tail end of the drill rod, and the winch can control the lifting or descending operation of the drill rod by loosening or tightening the steel wire rope, so that the drilling operations at different depths and the like are realized. Wherein, the first section bell and spigot joint pole of drilling rod is fixed cover and connects the pole and be located outermost, and other bell and spigot joint poles are telescopic activity bell and spigot joint pole.
The drilling control method of the rotary drilling equipment is explained below.
And S110, when the rotary drilling equipment enters the drilling process and is in a winch constant speed control mode, acquiring the current rotating speed of the winch and the relative distance between two adjacent sections of sleeved rods which move relatively in the drill rod lowering process in real time.
Exemplarily, when the rotary drilling equipment is in a drilling process, if the rotary drilling equipment enters a winch constant speed control mode, the rotating speed of the winch is acquired in real time so as to be used for judging whether the actual rotating speed of the winch rotates according to the target rotating speed. And if the actual rotating speed is not equal to the target rotating speed, judging that the rotating speed is not constant at the moment, and adjusting the rotating speed.
The winch constant speed control mode is also called a winch cruise mode, and means that the rotation speed of the winch is automatically controlled without manual operation so as to realize the uniform lifting or descending operation of the winch. In an embodiment, after the rotary drilling apparatus enters the drilling process, as shown in fig. 2, the process of the rotary drilling apparatus entering the winch constant speed control mode includes:
and S101, acquiring parameter information of a winch-related control mechanism and rotation speed information of the winch in real time.
Illustratively, the winch-related control mechanism may include, but is not limited to including, a pilot control handle for controlling the winch, for example, the pilot control handle may be an electrically controlled type handle, a hydraulic type handle, or the like. Correspondingly, the adjustment of the rotational speed of the drawworks can be achieved by controlling a parameter, which is an electrical signal (e.g., current or voltage) or a pressure signal, applied to the pilot control handle. Generally, increasing the electrical signal or pressure signal may increase the drawworks rotational speed, whereas decreasing the electrical signal or pressure signal may decrease the drawworks rotational speed, etc.
If the winch-related control mechanism further comprises a driving component for driving the winch, such as a motor and the like; and a main pump, such as a hydraulic pump, for energizing the winch for rotation. If the driving component for the winch is taken as the adjusted object, the parameter can be the displacement of the driving component; if the main pump is the object to be regulated, the parameters are the output oil quantity of the main pump and the like.
And S102, when the winch constant speed control starting signal is received, respectively calculating the mean value of the parameter and the mean value of the rotating speed according to the parameter information and the rotating speed information in the specified time range before the winch constant speed control starting signal. The average value of the rotation speeds is used as the target rotation speed for constant speed control stored this time.
Exemplarily, the specified time range may be a period of time before the moment of receiving the winch constant speed control starting signal, such as 1-3 s, or a period of time with a minute as a minimum unit time. Taking the parameters of the winch-related control mechanism as an example, during the period of time, multiple sets of data of the parameters of the winch-related control mechanism can be acquired, and then the average value of the multiple sets of data is calculated to obtain the average value of the parameters. Similarly, based on the multiple sets of rotational speed information in the period of time, the average value of the rotational speeds of the winches in the period of time can be calculated.
And step S103, setting an initial value of the parameter of the winch related control mechanism according to the stored mean value of the parameter, and starting to execute the winch constant speed control operation.
It can be understood that, by performing the averaging process, especially when the speed at a certain moment before the constant speed control is started is changed due to the influence of external factors, the influence of the external factors which may exist can be eliminated as much as possible, so that the smaller or larger rotating speed before the winch constant speed control is started is avoided as the target rotating speed, and the deviation from the ideal rotating speed can be reduced. In addition, the method of the embodiment also sets initial data through field cruise data learning, has good real-time performance compared with a mode of pre-storing and directly calling after the winch constant speed control is started, and can be applied to different occasions and the like.
After entering the winch constant speed control mode, the embodiment also monitors the winch rotating speed in the winch constant speed control process in real time, and adjusts the winch rotating speed when the winch rotating speed deviates from the target rotating speed so as to ensure that loads such as a drill rod and the like move at a constant speed. Further optionally, the operator may exit the winch constant speed control mode at any time according to an actual demand, and the drilling regulation and control method further includes:
and step S104, responding to the winch constant speed control stop instruction, stopping the winch constant speed control operation and switching to a manual operation mode.
The winch constant speed control stop command may be generated by any operation input by the operator in the winch constant speed control mode, and may be, for example, a closing operation directly to a constant speed start key or a manual control operation of an amount of application to a pilot control handle. When the constant speed control stop signal is detected, the manual control mode is immediately switched to. It will be appreciated that in this manual operating mode, the winch related control mechanisms will be fully manually controlled by the operator, i.e. responsive to operating instructions. By allowing the winch constant speed control mode to be exited at any time, particularly in some emergency situations, better response can be achieved, thereby further ensuring the safety of work and the like.
Meanwhile, in the drilling process, when the hole depth is deep, a drill rod needs to be lowered to reach the required hole depth. As shown in fig. 4, since the drill rod extends outward one section by one section, the drill rod starts to extend from the outermost fixed sleeve rod, and after the fixed sleeve rod is lowered and lapped on the power head, the drill rod starts to sequentially lower the second section, the third section, the fourth section and the like of the inner layer. Before obtaining the relative position between two adjacent sections of the sleeved rods, the first section of the drill rod is firstly buffered and lapped on the power head, and after the position of the first section of the sleeved rod is fixed, the buffered and lapped joints among the inner sleeved rods are carried out.
Preferably, a buffer transition is also possible for the overlapping of the first fixed socket rod. For example, the relative position between the first section of the sleeved rod of the drill rod and the power head can be obtained in real time; when the overlapped area of the first section of the sleeving rod and the power head is judged to be in the preset buffer area according to the relative position, the current rotating speed of the winch is controlled to be reduced, so that the first section of the sleeving rod is in buffer lapping on the power head in the preset buffer area.
Furthermore, after the first section of the sleeved rod is lapped, in order to determine whether the next section of sleeved rod enters the preset buffer area of the previous section of sleeved rod, in an embodiment, as shown in fig. 3, the method for determining the relative distance between two adjacent sections of sleeved rods that move relatively in the step S110 includes:
and step S111, after the first section of the sleeving rod is lapped on the power head, taking the position of the first section of the sleeving rod as a relative reference, and acquiring the position or the hole depth of the drill bit in real time to acquire the relative extension length of the second section of the sleeving rod.
After the position of the first section of sleeving rod is fixed, the position of the power head at the moment is used as the initial position when the first section of sleeving rod is fixed, as shown in fig. 4, the drill rod of the inner layer is continuously lowered along with the increasing depth of the drilled hole, and the second section of sleeving rod is located on the inner layer and is adjacent to the first section of sleeving rod. Exemplarily, when the relative position of the second section of the sleeved rod relative to the first section of the sleeved rod is solved, the real-time extension length of the second section of the sleeved rod can be obtained according to the real-time position or the hole depth of the drill bit after the initial position is obtained, wherein the real-time position or the hole depth of the drill bit can be determined by the length of the lowered steel wire rope. It will be appreciated that the hole depth is correlated to the real time position of the drill bit.
And step S112, calculating the relative extension length of the next section of the sleeved rod relative to the previous section of the sleeved rod according to the self rod length of each drill rod and the drill bit position or the hole depth acquired in real time from the third section of the sleeved rod.
Taking the third section of the sleeved rod as an example, when the position of the first section of the sleeved rod after being fixed is taken as a reference, the real-time extension length of the third section of the sleeved rod relative to the second section of the sleeved rod is equal to the real-time position or the hole depth of the drill bit at the moment minus the self rod length of the outer rod of the drill rod, wherein the real-time position of the drill bit at the moment has a corresponding relation with the length of the steel wire rope which is placed below. The calculation modes of other drill rods are similar, namely the real-time extension length of the next section of sleeved rod relative to the previous section of sleeved rod, namely the relative position of the next section of sleeved rod and the previous section of sleeved rod can be calculated through the self rod length of each drill rod and the real-time position and hole depth of the drill bit. By knowing the relative distance between the two sections and the length of the corresponding sleeved rod, whether the overlapping area of the two adjacent sections of sleeved rods which move relatively enters the preset buffer area can be judged.
In step S110, after the rotating speed of the winch is obtained in real time, closed-loop control of the rotating speed is performed to ensure constant-speed control of the winch.
And step S120, carrying out parameter adjustment on a winch related control mechanism based on a PID algorithm according to the stored target rotating speed for constant speed control and the current rotating speed so as to enable the actual rotating speed of the winch to approach the target rotating speed.
The approximation means that the difference between the actual rotating speed and the target rotating speed is within an allowable preset error range, and the preset error range can be selected according to the actually required precision. In one embodiment, the control will be by a PID (proportional-integral-derivative) regulator. Exemplarily, as shown in fig. 5, the adjusting process includes:
and step S121, calculating parameter adjustment amount corresponding to the winch related control mechanism according to the difference value between the current rotating speed and the target rotating speed of the winch.
And step S122, adjusting corresponding parameters of the winch related control mechanism based on the parameter adjustment amount.
And S123, after adjustment, feeding back the adjusted actual rotating speed to judge whether the difference value between the actual rotating speed and the target rotating speed is within a preset error range.
For example, taking the signal control quantity F of the pilot control handle as an example, if the current winch rotation speed is v1Target rotational speed v0Then, the difference Δ v between the two rotational speeds (Δ v ═ v) can be used0-v1) To calculate the signal adjustment quantity delta F at the pilot control handle, and then the current signal quantity is F0The adjustment of Δ F is performed on the basis of (1). It will be appreciated that the adjusted drawworks speed will vary, and typically the varied speed will tend towards the target speed or the error between the two will be within an allowable range.
It can be understood that if the winch-related control mechanism further includes the above-mentioned driving assembly and/or main pump, as shown in fig. 6, when the rotation speed of the winch is adjusted, at least one object to be adjusted may be selected from the pilot control handle, the driving assembly and/or the main pump, and the like, and corresponding parameter adjustment may be performed on the selected object to be adjusted, so as to adjust the rotation speed of the winch.
Considering that the drill rod is lowered section by section in the drilling process, wherein when two adjacent sections of the sleeved rods are overlapped, the rotating speed of the winch can be controlled to prevent the components at the bottoms of the corresponding sleeved rods from being damaged during high-speed overlapping.
And S130, in the process of lowering the drill rod, if the situation that the next section of the sleeve rod enters the preset buffer area of the previous section of the sleeve rod is judged according to the obtained relative distance, the current rotating speed of the winch is reduced, so that the next section of the sleeve rod and the previous section of the sleeve rod are flexibly overlapped in the preset buffer area.
Usually, when producing relative extension length between the adjacent drilling rod, lean on outer socket joint pole inside bottom all to be equipped with limit structure such as step, this limit structure is used for fixing the overlap joint to the adjacent inlayer socket joint pole of transferring. It can be understood that the preset buffering area refers to an area for lapping buffering, which is arranged in the sleeving rod and has a certain distance with the limiting structure. For example, a preset buffer area of a first section of the sleeved rod of the drill rod is arranged at one end close to the connecting steel wire rope; the preset buffer area of the second section of the sleeving rod is arranged at one end far away from the steel wire rope, and the like.
In the flexible lapping process, the rotation speed of the winch is reduced as a leading factor, and corresponding parameters of a winch related control mechanism are adjusted, so that the rotation speed of the actual winch is reduced, and the drill rod can be buffered and lapped in a specified interval without generating large impact force. Exemplarily, if the winch-related control mechanism comprises a plurality of control mechanisms, as shown in fig. 6, for example, one object may be randomly selected or selected according to a preset priority order from the pilot control handle, the driving motor and/or the main pump, etc., and the object may be subjected to parameter adjustment to reduce the current winch rotation speed. Of course, if the winch-related control mechanism includes only the above-described pilot control handle, the control amount of the pilot control handle can be directly adjusted.
It can be understood that for other areas of the sleeved rod except the preset buffer area, the rotating speed of the winch is usually controlled at a fixed speed by the target rotating speed, and the damage to the drill rod can be reduced to the maximum extent, and the working efficiency can be improved by controlling different rotating speeds aiming at different areas. Further, after step S130, the method further includes readjusting the current parameters of the winch-related control mechanism after each time the flexible overlapping of the sleeved rod is completed, so that the actual rotation speed of the winch approaches the target rotation speed again.
According to the drilling regulation and control method, the rotation speed of the winch is subjected to closed-loop regulation on the basis of winch cruising in the drilling process of the rotary drilling equipment, so that the rotation speed of the winch is kept constant; simultaneously, in the process of lowering the drill rod to be lapped, the flexible lapping of the sleeved rods in the drill rod is realized through speed reduction, the collision problem caused by the overhigh rotating speed of the winch can be effectively avoided, and the service life of the drill rod is prolonged. Because each assembly is in a stable working state, the service life of each component can be prolonged in a long term, the overall performance of the rotary excavating equipment can be improved from multiple layers, and the intellectualization, the multifunctionality and the like of the rotary excavating equipment are realized.
Example 2
Referring to fig. 7, based on the method of the above embodiment 1, the present embodiment provides a drilling control device 10, and exemplarily, the drilling control device 10 includes:
the obtaining module 110 is configured to obtain a current rotation speed of the winch and a relative distance between two adjacent sleeved rods that move relatively in the drill rod lowering process in real time when the rotary drilling equipment enters the drilling process and is in the winch constant speed control mode.
And the adjusting module 120 is configured to perform parameter adjustment on the winch related control mechanism based on the PID algorithm according to the stored target rotation speed for constant speed control and the current rotation speed, so that the actual rotation speed of the winch approaches the target rotation speed.
The adjusting module 120 is further configured to reduce the current rotation speed of the winch if it is determined that the next section of the sleeved rod enters the preset buffer area of the previous section of the sleeved rod according to the relative distance in the drill rod lowering process, so that the next section of the sleeved rod and the previous section of the sleeved rod complete the flexible lap joint in the preset buffer area.
It is to be understood that the modules of the present embodiment correspond to the method steps of the above embodiments, and the alternatives of the above embodiments are also applicable to the present embodiment, so that they are not described in detail herein.
The application also provides a rotary drilling device, wherein the rotary drilling device comprises mechanisms such as a winch, and the rotary drilling device adopts the drilling regulation and control method of the embodiment 1 to carry out drilling regulation and control. Exemplarily, the rotary drilling equipment can include, but is not limited to, a rotary drilling rig or a rotary drilling rig.
The present application also proposes a readable storage medium, which stores a computer program, which when executed implements the drilling regulation method of the above-mentioned embodiments.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.
Claims (10)
1. A method of regulating drilling, comprising:
when the rotary drilling equipment enters a drilling process and is in a winch constant speed control mode, acquiring the current rotating speed of a winch and the relative distance between two adjacent sections of sleeved rods moving relatively in a drilling rod lowering process in real time;
carrying out parameter adjustment on a winch related control mechanism based on a PID algorithm according to the stored target rotating speed for constant speed control and the current rotating speed so as to enable the actual rotating speed of the winch to approach the target rotating speed;
and in the process of lowering the drill rod, if the situation that the rear section of the sleeve rod enters a preset buffer area of the front section of the sleeve rod is judged according to the relative distance, the current rotating speed of the winch is reduced, so that the rear section of the sleeve rod and the front section of the sleeve rod are flexibly overlapped in the preset buffer area.
2. The drilling regulation method of claim 1, further comprising:
and after the flexible lapping of the sleeved rod is completed each time, the parameters of the related control mechanism of the winch are readjusted so that the actual rotating speed of the winch approaches the target rotating speed again.
3. The drilling regulation and control method as claimed in claim 1 or 2, wherein the parameter adjustment of the winch-related control mechanism based on the PID algorithm according to the stored target rotation speed for constant speed control and the current rotation speed to make the actual rotation speed of the winch approach the target rotation speed comprises:
calculating the parameter adjustment amount corresponding to the winch related control mechanism according to the difference value between the current rotating speed and the target rotating speed of the winch;
adjusting corresponding parameters of the winch related control mechanism based on the parameter adjustment amount;
and after adjustment, feeding back the adjusted actual rotating speed to judge whether the difference value between the actual rotating speed and the target rotating speed is within a preset error range.
4. The drilling regulation and control method according to claim 1 or 2, wherein the rotary drilling equipment comprises a drill bit, a fixed rod and a power head, the power head is arranged on the fixed rod, the drill bit is arranged at the tail end of the drill rod, and the power head is used for being lapped on a first section of sleeving rod of the drill rod in the process of lowering the drill rod; the acquisition of relative distance between two adjacent sections of socket joint pole of relative movement includes:
after the first section of the sleeving rod is lapped on the power head, the position of the drill bit or the hole depth is obtained in real time by taking the position of the first section of the sleeving rod as a relative reference so as to obtain the relative extension length of the second section of the sleeving rod;
and calculating the relative extension length of the next section of the sleeved rod relative to the previous section of the sleeved rod from the third section of the sleeved rod according to the self rod length of each sleeved rod and the drill bit position or hole depth acquired in real time.
5. The method as claimed in claim 1, wherein the entering of the winch constant speed control mode comprises:
after the rotary drilling equipment enters a drilling process, acquiring parameter information of a winch-related control mechanism and rotation speed information of the winch in real time;
when a constant speed control starting signal is received, respectively calculating the mean value of the parameters and the mean value of the rotating speeds according to the parameter information and the rotating speed information in a specified time range before the constant speed control starting signal, wherein the mean value of the rotating speeds is used as the target rotating speed for constant speed control;
setting the initial value of the parameters of the winch related control mechanism according to the stored mean value of the parameters, and starting to execute the winch constant speed control operation.
6. The drilling regulation method of claim 5, further comprising:
and responding to a winch constant speed control stopping instruction, stopping the winch constant speed control operation and switching to a manual operation mode.
7. The method as claimed in claim 1, wherein the winch-related control mechanism comprises a pilot control handle for controlling a winch, and the electrical signal or the pressure signal of the pilot control handle is controlled to realize the rotation speed adjustment of the winch;
and if the winch related control mechanism further comprises a driving assembly for the winch and/or a main pump for the winch, selecting at least one regulated object from the pilot control handle, the driving assembly for the winch and/or the main pump for the winch, and performing parameter adjustment on the selected regulated object to realize the rotation speed regulation of the winch.
8. A drilling conditioning device, comprising:
the acquisition module is used for acquiring the current rotating speed of the winch and the relative distance between two adjacent sections of sleeved rods which move relatively in the process of lowering the drill rod in real time when the rotary drilling equipment enters the drilling process and is in a winch constant speed control mode;
the adjusting module is used for carrying out parameter adjustment on a winch related control mechanism based on a PID algorithm according to a stored target rotating speed for constant speed control and the current rotating speed so as to enable the actual rotating speed of the winch to approach the target rotating speed;
and the adjusting module is also used for reducing the current rotating speed of the winch if judging that a rear section of the sleeving rod enters a preset buffer area of a front section of the sleeving rod according to the relative distance in the process of lowering the drill rod, so that the rear section of the sleeving rod and the front section of the sleeving rod are flexibly overlapped in the preset buffer area.
9. A rotary drilling device is characterized in that the rotary drilling device adopts the drilling regulation and control method according to any one of claims 1 to 7 to control the constant speed of a winch.
10. The rotary drilling rig according to claim 9, wherein the rotary drilling rig is a rotary drilling rig or a rotary drilling rig.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011438247.3A CN112593916A (en) | 2020-12-07 | 2020-12-07 | Drilling regulation and control method and device and rotary drilling equipment |
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| CN202011438247.3A CN112593916A (en) | 2020-12-07 | 2020-12-07 | Drilling regulation and control method and device and rotary drilling equipment |
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