CN111948532A - Experimental system for simulating bidirectional torsion control of turntable motor and control method - Google Patents
Experimental system for simulating bidirectional torsion control of turntable motor and control method 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; 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 brake device, a speed reducer, a torque sensor and an encoder. The control method comprises the following steps: the main control unit implements 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, mainly including feedback signals of bidirectional torsion speed, torsion angle, torsion torque and the like, so as to form an angle or torque torsion control closed loop. The method is simple, convenient and feasible, and the structure of the field electric turntable transmission system is simulated to the greatest extent; the main control unit and the programmable controller have low cost, high reliability and high communication speed, and ensure the control precision of the system.
Description
The technical field is as follows:
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.
Background art:
the rotary table is an important part of an oil drilling machine and is commonly called one of eight large parts of the drilling machine. In the drilling process, the rotary table drives a drill column, a bottom hole drilling tool, a drill bit and the like to rotate to break rocks so as to realize well construction of an oil-gas well, and the rotary table is an important power source of a drilling machine. With the technical progress of drilling equipment, in recent years, a drilling machine turntable is generally developed into a motor independent drive mode from a mechanical drive mode, and the motor independent drive turntable has the advantages of being simple in structure, convenient to control and the like.
In the directional sliding drilling process of the long horizontal section horizontal well and the extended reach well, the drill column does not rotate, and only the well bottom power drilling tool is used for driving the drill bit to rotate to break rock, so that the drilling footage is realized. The well inclination angle and the azimuth angle of the well are changed through the sliding guide tool, so that the track of the well is controlled, but because the drill string does not rotate, static friction exists between the drill string and the well wall, the friction resistance value is high, the supporting and the pressing are easy, the drilling efficiency is low, and the operation risk is large. With the increase of well deviation and displacement, the defect of sliding drilling becomes more obvious.
Therefore, by utilizing the principle that the dynamic friction coefficient is lower than the static friction coefficient, the automatic control technology for the bidirectional torsion of the sliding drilling drill column is developed at home and abroad one after another, and the effect of reducing the friction resistance as far as possible without influencing the underground tool surface is achieved by accurately controlling the bidirectional torsion amplitude of the drill column, so that the drilling efficiency is improved, and the drilling cost is reduced.
Chinese patent CN102022083B discloses a rotary steering drilling tool, which comprises a rotary mandrel, an upper bearing, an induction coil, an inclinometer nipple, a control unit, a non-rotating outer sleeve, a hydraulic control system module, a ribbed plate, a lower bearing and a lower joint; the rotating 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 an upper bearing, the outer side of the lower end of the body is fixedly arranged with the inner side of the upper end of a 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-rotating jacket comprises an upper jacket body, a lower jacket body and a middle jacket body, the outer diameter of the middle jacket body is 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 end of the upper jacket body is fixedly arranged with the outer side of the upper bearing, the inner side of the lower jacket body is fixedly arranged with the outer side of the lower bearing, a cavity is arranged between the upper jacket body and the body, an induction coil, a, the inner cavity of the middle sleeve body corresponding to the long opening is hinged with a ribbed plate which can be propped by the hydraulic control system module to rotate outwards, a hydraulic oil hole communicated with the cavity is formed in the rotating mandrel, a lead is arranged in the hydraulic oil hole and electrically connected with the induction coil, the induction coil is electrically connected with the inclination measuring short section and the control unit through the lead, the middle sleeve body is provided with a hydraulic oil hole communicated with the cavity and the inner cavity of the middle sleeve body, and the inclination measuring short section, the control unit and the hydraulic control system module are electrically connected with the lead through the hydraulic oil hole. The hydraulic control system module can comprise a hydraulic pump, a coupler, a motor, a balance plunger and a telescopic plunger; the upper end of the hydraulic pump is provided with a telescopic plunger which can be pressed against the outer side of the central line of the inner convex head and can enable the baffle to move outwards. The inclination measuring short section and the control unit can comprise an inclination measuring body, a control circuit, a rectifying circuit and an inclination measuring module, wherein the control circuit, the rectifying circuit and the inclination measuring module are installed on the inclination measuring body. The rotary drilling method disclosed by the invention can be used for drilling horizontal wells, large extension wells and highly-deviated wells in a rotary drilling mode and effectively guiding, so that the drilling efficiency is greatly improved, and the equipment cost is also reduced.
However, the technology is researched based on top drive at present, and the attack and customs are not developed on the electric turntable. Therefore, in the process of researching the sliding drilling drill column bidirectional torsion control technology based on the electric turntable, a set of experiment system for simulating the turntable motor bidirectional torsion control needs to be established, the research of the turntable motor torsion control method needs to be carried out, and after the experiment system tests that the turntable motor bidirectional torsion control method meets the field application conditions, the turntable motor bidirectional torsion control method can be tested on the field and popularized and applied.
The invention content is as follows:
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:
an experimental system for simulating bidirectional torsion control of a turntable motor mainly comprises a main control unit, an operation control unit and a power unit; the operation control unit mainly comprises a programmable controller, a 1# frequency converter and a 2# frequency converter; the power unit mainly comprises a 1# motor, a 2# motor, a brake device, a speed reducer, a torque sensor and an encoder. In the power unit, the 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 installed at the other end of the input shaft of the speed reducer, an output shaft of the speed reducer is connected with the 2# motor, and the rotation directions of the 1# motor and the 2# motor are opposite.
The operation control unit main loop mainly comprises a main power supply, a main circuit breaker, a breaking circuit device, a programmable controller, a sensor loop, a 1# motor cooling fan loop, a 2# motor cooling fan loop, a 1# frequency converter, a 1# motor loop, a 2# frequency converter and a 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 1# motor and the 2# motor 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 torsion control method of the experimental system for simulating the bidirectional torsion control of the turntable motor comprises the following steps:
a. in the power unit, a main motor of a 1# motor simulation turntable 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 to be in direct proportion to the number of rotation turns in the experiment system, a brake device simulates an inertial brake of a turntable clutch, and a speed reducer simulates a turntable chain box; the main control unit performs bidirectional torsion control on a No. 1 motor of the power unit through the operation control unit, wherein the bidirectional torsion control comprises angle bidirectional torsion control and torque bidirectional torsion control; in the process of torsion control, the programmable controller collects signals of the torque sensor and the encoder in real time to carry out logic operation and output, and accurate closed-loop control of bidirectional torsion is realized.
b. The main control unit is an upper computer of an experimental system for simulating bidirectional torsion control of the turntable motor, is not only a storage and display unit of system operation data, but also realizes 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 the experimental system and is communicated with the main control unit through the Ethernet through the CPU module; the CPU module is communicated with the 1# frequency converter through an RS485 port, and the 1# motor is subjected to rotating speed control through the 1# frequency converter; the digital quantity input module acquires a brake signal of the brake device and fault signals of the 1# frequency converter and the 2# frequency converter; the digital quantity output module controls the on-off of the contactor; the analog quantity input module collects the current of the 1# motor and the current of the 2# motor from the 1# frequency converter and the 2# frequency converter respectively, and collects the torque signal of the torque sensor at the same time; the analog quantity output module outputs a torque signal, and the 2# motor is subjected to torque control through the 2# frequency converter; the counter module collects speed and angle signals of the encoder.
d. The experimental steps of simulating the bidirectional torsion control of the turntable motor are respectively explained as follows according to the angle bidirectional torsion control and the torque bidirectional torsion control:
(a) angle bidirectional torsion control:
and I, switching on a main power supply, closing a main breaker and a breaking breaker, electrifying the system and finishing initialization by the programmable controller.
And II, setting 1# motor angle torsion control operation parameters which are mainly a bidirectional torsion speed and a torsion angle in the main control unit man-machine interaction software, wherein the bidirectional torsion angle refers to a clockwise rotation maximum angle theta 1 and an anticlockwise rotation maximum angle theta 2, pressing a start button, and controlling the contactor to be closed by the programmable controller through the digital quantity output module to enable the 1# motor cooling fan loop, the 2# motor cooling fan loop, the 1# frequency converter and 1# motor loop, and the 2# frequency converter and 2# motor loop to start to operate. The 1# motor starts to rotate clockwise, when the clockwise rotation reaches a maximum angle value theta 1, the 1# motor stops rotating clockwise, then starts rotating anticlockwise in a reverse direction, when the anticlockwise rotation reaches a maximum angle value theta 2, the 1# motor stops rotating anticlockwise, then starts rotating clockwise in a reverse direction, and then bidirectional torsion is performed according to the set angle value.
The 1# motor operates 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, the control precision is guaranteed, the analog input module collects current signals of the 1# frequency converter and the 2# frequency converter in real time, and all data are displayed and stored in the human-computer interaction software in real time;
when the 1# motor is twisted according to an angle, if a handle of the brake device is manually operated, the digital input module detects a brake signal, and the system is automatically stopped; when the digital quantity input module detects a fault signal of the 1# frequency converter or the 2# frequency converter, the system is automatically stopped;
and V, if the angle bidirectional torsion control test is finished, in the man-machine interaction software of the main control unit, pressing a stop button, stopping the system, then sequentially turning off the main control unit, the breaking circuit breaker, the main circuit breaker and the main power supply, and finishing the angle bidirectional torsion control experiment.
(b) Controlling the torque bidirectional torsion:
i, switching on a main power supply, closing a main breaker and a breaking breaker, electrifying the system, and finishing initialization by a programmable controller;
setting a bidirectional torsion speed of the 1# motor and bidirectional torsion torque values of the 2# motor, namely a clockwise rotation maximum torque value T1 and a counterclockwise rotation maximum torque value T2, in the man-machine interaction software of the main control unit, pressing a start button, and controlling a contactor to be closed by a programmable logic controller through a digital quantity output module to enable a 1# motor cooling fan loop, a 2# motor cooling fan loop, a 1# frequency converter and 1# motor loop, and a 2# frequency converter and 2# motor loop to operate; the 1# motor starts to rotate clockwise, when the motor rotates clockwise to the 2# motor output maximum torque value T2, the 1# motor stops rotating clockwise, then starts to rotate anticlockwise in the reverse direction, when the motor rotates anticlockwise to the 2# motor output maximum torque value T1, the 1# motor stops rotating anticlockwise, then starts to rotate clockwise in the reverse direction, and therefore bidirectional torsion is conducted according to the set torque value all the time.
In the process that the 1# motor controls bidirectional torsion according to torque, an analog input module collects torque signals of a torque sensor and current signals of a 1# frequency converter and a 2# frequency converter in real time, and all data are displayed and stored in human-computer interaction software in real time; and a torque control closed loop is formed through the collected torque feedback signals of the torque sensor, so that the control precision is ensured.
When the 1# motor is controlled to operate according to torque torsion, 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; when the digital quantity input module detects a fault signal of the 1# frequency converter or the 2# frequency converter, the system is automatically stopped;
and V, if the torque bidirectional torsion control test is finished, in the man-machine interaction software of the main control unit, pressing a stop button, stopping the system, sequentially turning off the main control unit, the breaking circuit breaker, the main circuit breaker and the main power supply, and finishing the torque bidirectional torsion control experiment.
The experimental system and the control method for simulating the bidirectional torsion control of the turntable motor have the following advantages:
(1) the idea of double-motor torque-to-torque is adopted in a power unit to simulate the driving of an electric turntable and underground load, the method is simple and feasible, one motor simulates a main motor of the electric turntable, and the other motor simulates the load of a drill string in the drilling process. Meanwhile, a speed reducing device, a brake device and the like are added, so that the structure of a field electric turntable transmission system is simulated to the greatest extent;
(2) in an experimental system, a mobile server is used as an upper computer, a programmable logic controller is used as a lower computer, Ethernet communication is adopted between the upper computer and the lower computer, the Ethernet communication is the most universal communication protocol standard, and the experimental system has the advantages of low cost, high reliability and high communication rate; 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, and the experimental system is guaranteed to have high control precision.
Description of the drawings:
fig. 1 is a schematic diagram of the composition of an experimental system for simulating the bidirectional torsion control of a turntable motor.
Fig. 2 is a control circuit 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.
Detailed Description
The invention will be further described with reference to fig. 1, fig. 2, fig. 3 and the following detailed description of the invention.
Example 1:
an 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; the operation control unit 2 mainly comprises a programmable controller 4, a 1# frequency converter 5 and a 2# frequency converter 6; the power unit 3 mainly comprises a 1# motor 7, a 2# motor 8, a brake device 9, a speed reducer 10, a torque sensor 11 and an encoder 12.
In the power unit 3, the 1# motor 7 is connected with the input end of the brake device 9, the output end of the brake device 9 is connected with the input end of the torque sensor 11, the output end of the torque sensor 11 is connected with one end of the input shaft of the speed reducer 10, the encoder 12 is installed at the other end of the input shaft of the speed reducer 10, and the output shaft of the speed reducer 10 is connected with the 2# motor 8.
Example 2:
on the basis of the embodiment 1, the method further comprises the following steps:
the operation control unit 2 mainly comprises a main power supply 21, a main circuit breaker 22, a breaking circuit breaker 23, a programmable controller and sensor circuit 24, a 1# motor cooling fan circuit 25, a 2# motor cooling fan circuit 26, a 1# frequency converter and 1# motor circuit 27, a 2# frequency converter and 2# motor circuit 28.
The programmable controller 4 mainly comprises a power module 13, a CPU module 14, a digital input module 15, a digital output module 16, an analog input module 17, an analog 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 ac variable-frequency adjustable-speed motors, the rotation directions of the 1# motor 7 and the 2# motor 8 are opposite, and the speed reducer 10 can be any one of a gear speed reducer, a chain speed reducer or other speed reducers.
Example 3:
the control method of the experimental system for simulating the bidirectional torsion control of the turntable motor in the embodiment 1 is as follows:
a. in the power unit 3, a 1# motor 7 simulates a main motor of a rotary table and is a torsion control object, a 2# motor 8 is a load motor and simulates underground torque load in the drilling process, the output torque of the 2# motor 8 is set to be in direct proportion to the number of rotation turns in the experiment system, a brake device 9 simulates an inertial brake of a rotary table clutch, and a speed reducer 10 simulates a rotary table chain box; the main control unit 1 performs bidirectional torsion control on a No. 1 motor 7 of the power unit 3 through the operation control unit 2, wherein the bidirectional torsion control comprises angle bidirectional torsion control and torque bidirectional torsion control; in the process of torsion control, the programmable controller 4 collects signals of the torque sensor 11 and the encoder 12 to carry out logic operation and output, and 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 a storage and display unit of system operation data, but also realizes 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 the CPU module 14 through the Ethernet; the CPU module 14 is communicated with the 1# frequency converter 5 through an RS485 port, and controls the rotating speed of the 1# motor 7 through the 1# frequency converter 5; the digital quantity input module 15 acquires a brake signal of the brake device 9 and fault signals of the 1# frequency converter 5 and the 2# frequency converter 6; the digital quantity output module 16 controls the on-off of the contactor 20; the analog quantity input module 17 collects the currents of the 1# motor 7 and the 2# motor 8 from the 1# frequency converter 5 and the 2# frequency converter 6 respectively, and collects the torque signals of the torque sensor 11; the analog quantity output module 18 outputs a torque signal, and the 2# motor 8 is subjected to torque control through the 2# frequency converter 6; the counter module 19 collects the speed and angle signals of the encoder 12.
Example 4:
the control method of the experimental system for simulating the bidirectional torsion control of the turntable motor in the embodiment 2 is as follows:
a. in the power unit 3, a 1# motor 7 simulates a main motor of a rotary table and is a torsion control object, a 2# motor 8 is a load motor and simulates underground torque load in the drilling process, the output torque of the 2# motor 8 is set to be in direct proportion to the number of rotation turns in the experiment system, a brake device 9 simulates an inertial brake of a rotary table clutch, and a speed reducer 10 simulates a rotary table chain box; the main control unit 1 performs bidirectional torsion control on a No. 1 motor 7 of the power unit 3 through the operation control unit 2, wherein the bidirectional torsion control comprises angle bidirectional torsion control and torque bidirectional torsion control; in the process of torsion control, the programmable controller 4 collects signals of the torque sensor 11 and the encoder 12 to carry out logic operation and output, and 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 a storage and display unit of system operation data, but also realizes 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 the CPU module 14 through the Ethernet; the CPU module 14 is communicated with the 1# frequency converter 5 through an RS485 port, and controls the rotating speed of the 1# motor 7 through the 1# frequency converter 5; the digital quantity input module 15 acquires a brake signal of the brake device 9 and fault signals of the 1# frequency converter 5 and the 2# frequency converter 6; the digital quantity output module 16 controls the on-off of the contactor 20; the analog quantity input module 17 collects the currents of the 1# motor 7 and the 2# motor 8 from the 1# frequency converter 5 and the 2# frequency converter 6 respectively, and collects the torque signals of the torque sensor 11; the analog quantity output module 18 outputs a torque signal, and the 2# motor 8 is subjected to torque control through the 2# frequency converter 6; the counter module 19 collects the speed and angle signals of the encoder 12.
d. The experimental steps of simulating the bidirectional torsion control of the turntable motor are respectively explained as follows according to the angle bidirectional torsion control and the torque bidirectional torsion control:
(a) angle bidirectional torsion control:
and I, switching on a main power supply 21, closing a main circuit breaker 22 and a breaker 23, electrifying the system, and finishing initialization by the programmable controller 4.
And II, setting angle torsion control operation parameters of the 1# motor 7 in the man-machine interaction software of the main control unit 1, wherein the angle torsion control operation parameters are mainly a bidirectional torsion speed and a bidirectional torsion angle, the bidirectional torsion angle refers to a clockwise rotation maximum angle theta 1 and a counterclockwise rotation maximum angle theta 2, pressing a start button, and 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 loop 25, the 2# motor cooling fan loop 26, the 1# frequency converter and 1# motor loop 27, and the 2# frequency converter and 2# motor loop 28 start to operate. The 1# motor 7 starts to rotate clockwise, when the clockwise rotation reaches a maximum angle value theta 1, the 1# motor 7 stops rotating clockwise, then starts to rotate anticlockwise in a reverse direction, when the anticlockwise rotation reaches a maximum angle value theta 2, the 1# motor 7 stops rotating anticlockwise, then starts to rotate clockwise in a reverse direction, and then the two-way torsion is performed according to the set angle value all the time.
The 1# motor 7 operates according to the set angle torsion parameters, the counter module 19 collects the angle and speed signals of the encoder 12 in real time to form a torsion angle and speed control closed loop, the control precision is ensured, the analog input module 17 collects the current signals of the 1# frequency converter 5 and the 2# frequency converter 6 in real time, and all data are displayed and stored in the man-machine interaction software in real time;
IV, when the 1# motor 7 operates in an angle torsion mode, if a handle of the brake device 9 is manually operated, the digital input module 15 detects a brake signal, and the system is automatically stopped; when the digital quantity input module 15 detects a fault signal of the 1# frequency converter 5 or the 2# frequency converter 6, the system is automatically stopped;
and V, if the angle bidirectional torsion control test is finished, in the man-machine interaction software of the main control unit 1, pressing a stop button, stopping the system, then sequentially turning off the main control unit 1, the breaking circuit breaker 23, the main circuit breaker 22 and the main power supply 21, and finishing the angle bidirectional torsion control experiment.
(b) Controlling the torque bidirectional torsion:
i, switching on a main power supply 21, closing a main breaker 22 and a breaker 23, electrifying the system, and finishing initialization by the programmable controller 4;
II, setting a bidirectional torsion speed of the No. 1 motor 7 and bidirectional torsion torque values of the No. 2 motor 8, namely a clockwise rotation maximum torque value T1 and a counterclockwise rotation maximum torque value T2, in the man-machine interaction software of the main control unit 1, pressing a start button, and controlling the contactor 20 to be closed by the programmable controller 4 through the digital output module 16 so that the No. 1 motor cooling fan loop 25, the No. 2 motor cooling fan loop 26, the No. 1 frequency converter and the No. 1 motor loop 27, and the No. 2 frequency converter and the No. 2 motor loop 28 run; the 1# motor 7 starts to rotate clockwise, when the motor 8 outputs the maximum torque value T2 from the clockwise rotation to the 2# motor 7, the 1# motor 7 stops rotating clockwise, then starts to rotate anticlockwise from the reverse direction, when the motor 8 outputs the maximum torque value T1 from the anticlockwise rotation to the 2# motor 8, the motor 7 stops rotating anticlockwise from the reverse direction, then starts to rotate clockwise from the reverse direction, and thus the motor is twisted bidirectionally according to the set torque value.
In the process that the 1# motor 7 controls bidirectional torsion according to the torque, an analog input module 17 collects the torque signal of the torque sensor 11 and the current signals of the 1# frequency converter 5 and the 2# frequency converter 6 in real time, and all data are displayed and stored in the man-machine interaction software in real time; and a torque control closed loop is formed through the collected torque feedback signal of the torque sensor 11, so that the control precision is ensured.
IV, in the operation of the 1# motor 7 under torque torsion control, if a handle of the brake device 9 is manually operated, the digital input module 15 detects a brake signal, and the system is automatically stopped; when the digital quantity input module 15 detects a fault signal of the 1# frequency converter 5 or the 2# frequency converter 6, the system is automatically stopped;
and V, if the torque bidirectional torsion control test is finished, in the man-machine interaction software of the main control unit 1, pressing a stop button, stopping the system, sequentially turning off the main control unit 1, the breaking circuit breaker 23, the main circuit breaker 22 and the main power supply 21, and finishing the torque bidirectional torsion control experiment.
The simulation experiment system adopts the idea of double-motor torque-to-torque to simulate the driving of the electric turntable and underground load, the method is simple, convenient and feasible, and the structure of a field electric turntable transmission system is simulated to the greatest extent by adding a speed reducer and a brake device in a power unit; the main control unit and the programmable controller adopt Ethernet communication, so that the system has the advantages of low cost, high reliability and high communication rate, and meanwhile, the high-precision torque sensor and the encoder are used, so that the control precision of the system is ensured.
Claims (10)
1. The utility model provides an experimental system of two-way torsion control of simulation carousel motor which characterized in that: mainly comprises a main control unit (1), an operation control unit (2) and a power unit (3); the operation control unit (2) mainly comprises a programmable controller (4), a 1# frequency converter (5) and a 2# frequency converter (6); the power unit (3) mainly comprises a No. 1 motor (7), a No. 2 motor (8), a brake device (9), a speed reducer (10), a torque sensor (11) and an encoder (12); the motor speed reducer is characterized in that the 1# motor (7) is connected with the input end of the brake device (9), the output end of the brake device (9) is connected with the input end of the torque sensor (11), the output end of the torque sensor (11) is connected with one end of the input shaft of the speed reducer (10), the encoder (12) is installed at the other end of the input shaft of the speed reducer (10), the output shaft of the speed reducer (10) is connected with the 2# motor (8), and the rotation directions of the 1# motor (7) and the 2# motor (8) are opposite.
2. The experimental system for simulating the bidirectional torsion control of the turntable motor according to claim 1, wherein: the programmable controller (4) mainly comprises a power supply module (13), a CPU module (14), a digital input module (15), a digital output module (16), an analog input module (17), an analog output module (18) and a counter module (19).
3. An experimental system for simulating the bidirectional torque control of a turntable motor according to claims 1 and 2, characterized in that: the operation control unit (2) also comprises a main loop which mainly comprises a main power supply (21), a main circuit breaker (22), a breaker (23), a programmable controller and sensor loop (24), a 1# motor heat dissipation fan loop (25), a 2# motor heat dissipation fan loop (26), a 1# frequency converter and 1# motor loop (27), a 2# frequency converter and a 2# motor loop (28).
4. An experimental system for simulating the bidirectional torque control of a turntable motor according to claims 1 and 2, characterized in that: 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, and the speed reducer (10) comprises a gear speed reducer or a chain speed reducer.
5. The experimental system for simulating the bidirectional torsion control of the turntable motor according to claim 3, wherein: 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, and the speed reducer (10) comprises a gear speed reducer or a chain speed reducer.
6. A method for controlling an experimental system for simulating the bidirectional torque control of a turntable motor according to claim 1 or 2, comprising:
a. in the power unit (3), a 1# motor (7) simulates a main motor of a rotary table and is a torsion control object, a 2# motor (8) is a load motor and simulates underground torque load in the drilling process, the output torque of the 2# motor (8) is set in the experiment system to be in direct proportion to the number of rotation turns, a brake device (9) simulates inertial braking of a rotary table clutch, and a speed reducer (10) simulates a rotary table chain box; the main control unit (1) performs bidirectional torsion control on a No. 1 motor (7) of the power unit (3) through the operation control unit (2), wherein the bidirectional torsion control comprises angle bidirectional torsion control and torque bidirectional torsion control; in the torsion control process, the programmable controller (4) collects feedback signals of the torque sensor (11) and the encoder (12) in real time to carry out 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 a storage and display unit of system operation data, but also realizes 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 the Ethernet through a CPU module (14); the CPU module (14) is communicated with the 1# frequency converter (5) through an RS485 port, and controls the rotating speed of the 1# motor (7) through the 1# frequency converter (5); the digital quantity input module (15) collects brake signals of a brake device (9) and fault signals of a 1# frequency converter (5) and a 2# frequency converter (6); the digital quantity output module (16) controls the on-off of the contactor (20); the analog quantity input module (17) respectively collects the current of a 1# motor (7) and the current of a 2# motor (8) from a 1# frequency converter (5) and a 2# frequency converter (6), and simultaneously collects a torque signal of a torque sensor (11); the analog quantity output module (18) outputs a torque signal, and the 2# motor (8) is subjected to torque control through the 2# frequency converter (6); a counter module (19) collects speed and angle signals of the encoder (12).
7. A method for controlling an experimental system for simulating the bidirectional torque control of a turntable motor according to claim 3, wherein the method comprises the following steps:
a. in the power unit (3), a 1# motor (7) simulates a main motor of a rotary table and is a torsion control object, a 2# motor (8) is a load motor and simulates underground torque load in the drilling process, the output torque of the 2# motor (8) is set in the experiment system to be in direct proportion to the number of rotation turns, a brake device (9) simulates inertial braking of a rotary table clutch, and a speed reducer (10) simulates a rotary table chain box; the main control unit (1) performs bidirectional torsion control on a No. 1 motor (7) of the power unit (3) through the operation control unit (2), wherein the bidirectional torsion control comprises angle bidirectional torsion control and torque bidirectional torsion control; in the torsion control process, the programmable controller (4) collects feedback signals of the torque sensor (11) and the encoder (12) in real time to carry out 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 a storage and display unit of system operation data, but also realizes 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 the Ethernet through a CPU module (14); the CPU module (14) is communicated with the 1# frequency converter (5) through an RS485 port, and controls the rotating speed of the 1# motor (7) through the 1# frequency converter (5); the digital quantity input module (15) collects brake signals of a brake device (9) and fault signals of a 1# frequency converter (5) and a 2# frequency converter (6); the digital quantity output module (16) controls the on-off of the contactor (20); the analog quantity input module (17) respectively collects the current of a 1# motor (7) and the current of a 2# motor (8) from a 1# frequency converter (5) and a 2# frequency converter (6), and simultaneously collects a torque signal of a torque sensor (11); the analog quantity output module (18) outputs a torque signal, and the 2# motor (8) is subjected to torque control through the 2# frequency converter (6); a counter module (19) collects speed and angle signals of the encoder (12).
8. The method for controlling the experimental system for simulating the bidirectional torsion control of the turntable motor as claimed in claim 7, wherein: the angle bidirectional torsion control and the torque bidirectional torsion control are specifically as follows:
(a) angle bidirectional torsion control:
i, a main power supply (21) is connected, a main breaker (22) and a breaker (23) are closed, the system is electrified, and the PLC (4) completes initialization;
and II, setting angle torsion control operation parameters of the 1# motor (7) in man-machine interaction software of the main control unit (1), wherein the angle torsion control operation parameters are mainly a bidirectional torsion speed and a torsion angle, the bidirectional torsion angle refers to a clockwise rotation maximum angle theta 1 and a counterclockwise rotation maximum angle theta 2, pressing a start button, and controlling a contactor (20) to be closed by a programmable controller (4) through a digital quantity output module (16) so that a 1# motor cooling fan loop (25), a 2# motor cooling fan loop (26), a 1# frequency converter and 1# motor loop (27), and a 2# frequency converter and 2# motor loop (28) start to operate. The 1# motor (7) starts to rotate clockwise, when the clockwise rotation reaches a maximum angle value theta 1, the 1# motor (7) stops rotating clockwise, then starts to rotate anticlockwise in a reverse direction, when the anticlockwise rotation reaches a maximum angle value theta 2, the 1# motor (7) stops rotating anticlockwise, then starts to rotate clockwise in a reverse direction, and therefore bidirectional torsion is performed according to the set angle value;
the 1# motor (7) runs according to a set angle torsion parameter, 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 precision is guaranteed, the analog input module (17) collects current signals of the 1# frequency converter (5) and the 2# frequency converter (6) in real time, and all data are displayed and stored in human-computer interaction software in real time;
when the 1# motor (7) operates in an angle torsion mode, if a handle of the brake device (9) is operated manually, the digital input module (15) detects a brake signal, and the system is automatically stopped; when the digital quantity input module (15) detects fault signals of the 1# frequency converter (5) and the 2# frequency converter, the system is automatically stopped;
if the angle bidirectional torsion control test is finished, a stop button is pressed in man-machine interaction software of the main control unit (1), the system is stopped, then the main control unit (1), the breaking circuit breaker (23), the main circuit breaker (22) and the main power supply (21) are sequentially turned off, and the angle bidirectional torsion control test is finished;
(b) controlling the torque bidirectional torsion:
i, a main power supply (21) is connected, a main breaker (22) and a breaker (23) are closed, the system is electrified, and the PLC (4) completes initialization;
II, setting a bidirectional torsion speed of a 1# motor (7) and bidirectional torsion torque values of a 2# motor (8), namely a clockwise rotation maximum torque value T1 and a counterclockwise rotation maximum torque value T2, in man-machine interaction software of a main control unit (1), pressing a start button, and controlling a contactor (20) to be closed by a programmable controller (4) through a digital quantity output module (16) so that a 1# motor cooling fan loop (25), a 2# motor cooling fan loop (26), a 1# frequency converter and 1# motor loop (27), a 2# frequency converter and 2# motor loop (28) run; the 1# motor (7) starts to rotate clockwise, when the motor (8) rotates clockwise to output the maximum torque value T2, the 1# motor (7) stops rotating clockwise, then starts to rotate anticlockwise in the reverse direction, when the motor (8) rotates anticlockwise to output the maximum torque value T1, the motor (7) stops rotating anticlockwise, then starts to rotate clockwise in the reverse direction, and then the motor (7) is twisted bidirectionally according to the set torque value;
in the process that a 1# motor (7) controls bidirectional torsion according to torque, an analog input module (17) collects torque signals of a torque sensor (11) and current signals of a 1# frequency converter (5) and a 2# frequency converter (6) in real time, and all data are displayed and stored in human-computer interaction software in real time; a torque control closed loop is formed through a torque feedback signal of the collected torque sensor (11);
IV, in the torque torsion control operation of the 1# motor (7), if a handle of a brake device (9) is manually operated, a digital input module (15) detects a brake signal, and the system is automatically stopped; when the digital quantity input module (15) detects fault signals of the 1# frequency converter (5) and the 2# frequency converter (6), the system is automatically stopped;
and V, if the torque bidirectional torsion control test is finished, in the man-machine interaction software of the main control unit (1), pressing a stop button, stopping the system, sequentially turning off the main control unit (1), the breaking circuit breaker (23), the main circuit breaker (22) and the main power supply (21), and finishing the torque bidirectional torsion control test.
9. A method for controlling an experimental system for simulating bidirectional torque control of a turntable motor according to claim 5, comprising:
a. in the power unit (3), a 1# motor (7) simulates a main motor of a rotary table and is a torsion control object, a 2# motor (8) is a load motor and simulates underground torque load in the drilling process, the output torque of the 2# motor (8) is set in the experiment system to be in direct proportion to the number of rotation turns, a brake device (9) simulates inertial braking of a rotary table clutch, and a speed reducer (10) simulates a rotary table chain box; the main control unit (1) performs bidirectional torsion control on a No. 1 motor (7) of the power unit (3) through the operation control unit (2), wherein the bidirectional torsion control comprises angle bidirectional torsion control and torque bidirectional torsion control; in the torsion control process, the programmable controller (4) collects feedback signals of the torque sensor (11) and the encoder (12) in real time to carry out 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 a storage and display unit of system operation data, but also realizes 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 the Ethernet through a CPU module (14); the CPU module (14) is communicated with the 1# frequency converter (5) through an RS485 port, and controls the rotating speed of the 1# motor (7) through the 1# frequency converter (5); the digital quantity input module (15) collects brake signals of a brake device (9) and fault signals of a 1# frequency converter (5) and a 2# frequency converter (6); the digital quantity output module (16) controls the on-off of the contactor (20); the analog quantity input module (17) respectively collects the current of a 1# motor (7) and the current of a 2# motor (8) from a 1# frequency converter (5) and a 2# frequency converter (6), and simultaneously collects a torque signal of a torque sensor (11); the analog quantity output module (18) outputs a torque signal, and the 2# motor (8) is subjected to torque control through the 2# frequency converter (6); a counter module (19) collects speed and angle signals of the encoder (12).
10. The method for controlling the experimental system for simulating the bidirectional torsion control of the turntable motor as claimed in claim 9, wherein: the angle bidirectional torsion control and the torque bidirectional torsion control are specifically as follows:
(a) angle bidirectional torsion control:
i, a main power supply (21) is connected, a main breaker (22) and a breaker (23) are closed, the system is electrified, and the PLC (4) completes initialization;
and II, setting angle torsion control operation parameters of the 1# motor (7) in man-machine interaction software of the main control unit (1), wherein the angle torsion control operation parameters are mainly a bidirectional torsion speed and a torsion angle, the bidirectional torsion angle refers to a clockwise rotation maximum angle theta 1 and a counterclockwise rotation maximum angle theta 2, pressing a start button, and controlling a contactor (20) to be closed by a programmable controller (4) through a digital quantity output module (16) so that a 1# motor cooling fan loop (25), a 2# motor cooling fan loop (26), a 1# frequency converter and 1# motor loop (27), and a 2# frequency converter and 2# motor loop (28) start to operate. The 1# motor (7) starts to rotate clockwise, when the clockwise rotation reaches a maximum angle value theta 1, the 1# motor (7) stops rotating clockwise, then starts to rotate anticlockwise in a reverse direction, when the anticlockwise rotation reaches a maximum angle value theta 2, the 1# motor (7) stops rotating anticlockwise, then starts to rotate clockwise in a reverse direction, and therefore bidirectional torsion is performed according to the set angle value;
the 1# motor (7) runs according to a set angle torsion parameter, 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 precision is guaranteed, the analog input module (17) collects current signals of the 1# frequency converter (5) and the 2# frequency converter (6) in real time, and all data are displayed and stored in human-computer interaction software in real time;
when the 1# motor (7) operates in an angle torsion mode, if a handle of the brake device (9) is operated manually, the digital input module (15) detects a brake signal, and the system is automatically stopped; when the digital quantity input module (15) detects fault signals of the 1# frequency converter (5) and the 2# frequency converter, the system is automatically stopped;
if the angle bidirectional torsion control test is finished, a stop button is pressed in man-machine interaction software of the main control unit (1), the system is stopped, then the main control unit (1), the breaking circuit breaker (23), the main circuit breaker (22) and the main power supply (21) are sequentially turned off, and the angle bidirectional torsion control test is finished;
(b) controlling the torque bidirectional torsion:
i, a main power supply (21) is connected, a main breaker (22) and a breaker (23) are closed, the system is electrified, and the PLC (4) completes initialization;
II, setting a bidirectional torsion speed of a 1# motor (7) and bidirectional torsion torque values of a 2# motor (8), namely a clockwise rotation maximum torque value T1 and a counterclockwise rotation maximum torque value T2, in man-machine interaction software of a main control unit (1), pressing a start button, and controlling a contactor (20) to be closed by a programmable controller (4) through a digital quantity output module (16) so that a 1# motor cooling fan loop (25), a 2# motor cooling fan loop (26), a 1# frequency converter and 1# motor loop (27), a 2# frequency converter and 2# motor loop (28) run; the 1# motor (7) starts to rotate clockwise, when the motor (8) rotates clockwise to output the maximum torque value T2, the 1# motor (7) stops rotating clockwise, then starts to rotate anticlockwise in the reverse direction, when the motor (8) rotates anticlockwise to output the maximum torque value T1, the motor (7) stops rotating anticlockwise, then starts to rotate clockwise in the reverse direction, and then the motor (7) is twisted bidirectionally according to the set torque value;
in the process that a 1# motor (7) controls bidirectional torsion according to torque, an analog input module (17) collects torque signals of a torque sensor (11) and current signals of a 1# frequency converter (5) and a 2# frequency converter (6) in real time, and all data are displayed and stored in human-computer interaction software in real time; a torque control closed loop is formed through a torque feedback signal of the collected torque sensor (11);
IV, in the torque torsion control operation of the 1# motor (7), if a handle of a brake device (9) is manually operated, a digital input module (15) detects a brake signal, and the system is automatically stopped; when the digital quantity input module (15) detects fault signals of the 1# frequency converter (5) and the 2# frequency converter (6), the system is automatically stopped;
and V, if the torque bidirectional torsion control test is finished, in the man-machine interaction software of the main control unit (1), pressing a stop button, stopping the system, sequentially turning off the main control unit (1), the breaking circuit breaker (23), the main circuit breaker (22) and the main power supply (21), and finishing the torque bidirectional torsion control test.
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