CN114412849B - Control method of loading rotary system of large-inertia rotary drilling rig with independently controlled load port - Google Patents
Control method of loading rotary system of large-inertia rotary drilling rig with independently controlled load port Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract
The invention discloses a control method of a loading rotary system of a high-inertia rotary drilling rig with independently controlled load ports. Initializing system parameters; constructing a large-inertia rotary drilling rig boarding rotation system with a load port independently controlled, and acquiring effective system signals; establishing a physical model of an upper turning system of the high-inertia rotary drilling rig, further establishing a hydraulic system model for identification, and identifying in real time by using effective system signals to obtain system parameters; obtaining a desired pressure difference between two chambers of the hydraulic motor according to system parameters and effective system signal processing; and determining expected pressures of two cavities of the hydraulic motor, and controlling input flows of the oil inlet path proportional control valve and the oil return path proportional control valve according to the expected pressures. The invention cancels the complex mechanical-hydraulic control structure of the original system, improves the dynamic response performance of the system, completes high-precision motion control and controls the back pressure of the system at the same time, effectively reduces the hydraulic impact of the system and ensures the stable pressure of the system.
Description
Technical Field
The invention relates to a control method of a loading rotary system of a rotary drilling rig, in particular to a control method of a hydraulic loading rotary system of a large-inertia rotary drilling rig based on load port independent control.
Background
The rotary drilling rig is an engineering machine widely applied to foundation engineering construction to complete various hole forming operations, and the most important application fields are construction of cast-in-place piles, continuous walls, foundation reinforcement and the like. The rotary drilling rig is widely applied due to the advantages of flexible movement, high drilling efficiency, good hole forming quality, small environmental pollution and the like. In addition, the rotary drilling rig has strong adaptability to external conditions, can be conveniently applied to various domestic soil geologies, and has a wide application range.
The positioning of the rotary system of the rotary drilling rig is the most basic and most used construction action in the construction process, and the positioning precision of the rotary drilling rig directly determines the quality of a formed hole, so that the rotary drilling rig has important significance for the positioning research of the rotary system of the rotary drilling rig. The upper turning system of the rotary drilling rig mainly comprises a turning motor, a buffering balance valve, a main control valve, a hydraulic pump and the like. However, as the inertial load of the upper turning system of the rotary drilling rig is large, the starting and braking are frequent, and the hydraulic impact phenomenon can be generated when the control valve is suddenly closed or the load movement is suddenly reversed. The hydraulic impact seriously affects the stable operation of the system, reduces the service life of components, even causes the actuator to generate misoperation, and causes safety accidents. The main mode of reducing the hydraulic impact of the system at present is to utilize a buffer balance valve to adjust the back pressure of the system, but the mode has the disadvantages of complex mechanical structure, low precision and limited effect. Therefore, it is necessary to develop a new control method for the getting-on swing system, which can more precisely adjust the back pressure of the system, thereby reducing the hydraulic shock of the system.
Electro-hydraulic systems are widely favored in the industry due to their high power-to-weight ratio, high load capacity, and high durability. Hydraulic valve flow control systems are a common choice in order to achieve high control accuracy. However, the conventional four-way valve cannot adjust the back pressure of the hydraulic system at the same time when controlling the movement of the hydraulic system, which is caused by the mechanical coupling of the oil inlet and the oil outlet. Unlike conventional four-way valve control systems, the inlet and outlet flows are separated in a load port independent system. In the system, independent chamber pressure regulation becomes possible, the introduction of independent control of the load port improves the control freedom degree, the back pressure of the hydraulic boarding rotation system can be regulated and controlled independently, the pressure stability of the whole system can be ensured, and the hydraulic impact is reduced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the control method of the turning system on the vehicle of the large-inertia rotary drilling rig with the load port independently controlled, the dynamic response performance of the system is improved, the backpressure of the system is controlled while high-precision motion control is finished, and the pressure stability of the system is ensured.
The invention adopts the following technical scheme:
(1) Initializing a real-time signal sampling period T and initializing system parameters;
the initial values and the upper and lower bounds of the parameters can be obtained through the prior knowledge of the system and the offline identification of the system.
(2) Establishing a physical model of an upper turning system of the high-inertia rotary drilling rig;
(3) Constructing a loading rotary system of a high-inertia rotary drilling rig with a load port independently controlled, and acquiring effective system signals of two-cavity pressure of a hydraulic motor, pressure of an outlet of a hydraulic pump, a rotation angle and an angular speed of a load in the system once every other sampling period T through a sensing system in the loading rotary system of the high-inertia rotary drilling rig with the load port independently controlled;
(4) Then according to the physical model, establishing a hydraulic system model for identification, and carrying out real-time identification on the hydraulic system model for identification by using effective system signals of two-cavity pressure of a hydraulic motor, a rotation angle of a load and an angular speed to obtain system parameters;
(5) According to the system parameters and effective system signals of the rotation angle and the angular speed of the load, processing to obtain an expected pressure difference between an oil inlet cavity and an oil return cavity of the hydraulic motor;
(6) And determining the expected pressure of an oil inlet cavity and an oil return cavity of the hydraulic motor according to the expected pressure difference obtained in the previous step, and controlling the flow of the oil inlet proportional control valve and the oil return proportional control valve according to the expected pressure.
In the step (2), the physical model of the hydraulic boarding rotation system is expressed by the following formula:
wherein, J c The getting-on posture is converted into the rotational inertia on a hydraulic motor shaft, and the getting-on posture refers to the posture that the hydraulic motor is connected to a getting-on system consisting of a cab, an engine, a movable arm and the like and drives the hydraulic motor to rotate;
is J c Derivative of (A), J cβ Is the moment of inertia of the end load translated to the hydraulic motor shaft,
is moment of inertia J cβ M is the mass of the end load, theta m And
is the rotation angle and angular velocity of the hydraulic motor, D m Is the displacement of the hydraulic motor, P 1 And P 2 Is the pressure of two chambers of the hydraulic motor, B is the viscous friction coefficient, A f Is the coefficient of the coulomb friction force,
is a smooth function, T, used to fit the sign function g Due to a swinging moment, T, produced by gravity acting on the slope l Is the load moment, d is the lumped model uncertainty and disturbance on the hydraulic motor model, V 1 The volume V of the oil inlet cavity and the oil way of the hydraulic motor 2 Is the volume of the oil return cavity of the hydraulic motor together with the oil circuit, beta e Is the bulk modulus of elasticity, C, of the oil im Is the internal leakage coefficient of the hydraulic motor, C m Is the external leakage factor, Q, of the hydraulic motor 1d And Q 2d Indicating nominal flow rates of the first proportional control valve and the second proportional control valve,
and
representing lumped model uncertainty and disturbance for both the inlet and return.
In the step (4), the hydraulic system model for identification is as follows:
wherein, y 1 Is the first prediction output, y 2 Is a second prediction output, obtained according to the following equation:
wherein, J c Is the moment of inertia converted from the getting-on posture to the hydraulic motor shaft,
is J c Derivative of (A), J cβ Is the moment of inertia of the end load translated into the hydraulic motor shaft, j cβ Is moment of inertia J cβ M is the mass of the end load, theta m And
is the rotation angle and angular velocity of the hydraulic motor, D m Is the displacement of the hydraulic motor, P 1 And P 2 Is the pressure of two chambers of the hydraulic motor, B is the viscous friction coefficient, A f Is the coefficient of the coulomb friction force,
is a smooth function, T, used to fit the sign function g Is a swinging moment, T, generated by gravity acting on the slope l Is the load moment, d is the lumped model uncertainty and disturbance on the hydraulic motor model, V 1 The volume V of the oil inlet cavity and the oil way of the hydraulic motor 2 Is the volume of the oil return cavity of the hydraulic motor together with the oil circuit, beta e Is the bulk modulus of elasticity, C, of the oil im Is the internal leakage coefficient of the hydraulic motor, C em Is the external leakage factor, Q, of the hydraulic motor 1d And Q 2d Indicating nominal flow rates of the first proportional control valve and the second proportional control valve,
and
representing the uncertainty and the interference of lumped models of an oil inlet path and an oil return path;
and solving the hydraulic system model for identification in a recursive least square mode to obtain system parameters.
The system parameters comprise load moment of inertia J c Derivative of moment of inertia J cβ Mass m of end load, coulomb friction coefficient A f Viscous friction coefficient B, bulk modulus beta of oil e Internal leakage coefficient of hydraulic motor im And coefficient of external leakage C em 。
In the step (5), according to the effective system signals of the rotation angle and the angular speed of the load obtained in the step (3) and the system parameters obtained in the step (4), performing feedforward compensation and feedback regulation on a hydraulic motor in the system by using Adaptive Robust Control (ARC), wherein a desired pressure difference between an oil inlet cavity and an oil return cavity of the hydraulic motor is obtained, so that the hydraulic motor drives the load to move according to a preset desired motion track under the action of the desired pressure difference.
The specific steps of the step (6) are as follows:
establishing a desired pressure of an oil inlet chamber of a hydraulic motor as p b +P ld ，P ld Is the desired pressure difference, p, between the oil inlet chamber and the oil return chamber obtained in the step b Indicating a preset desired pressure of the return chamber, and then:
controlling the input flow of the oil inlet proportional control valve according to the expected pressure of the oil inlet cavity of the hydraulic motor and the actual oil inlet cavity pressure signal obtained in the step (3), so that the actual oil inlet cavity pressure signal of the hydraulic motor is in accordance with the expected pressure p b +P ld (ii) a change;
controlling the input flow of the oil return path proportional control valve according to the expected pressure of an oil return cavity of the hydraulic motor and the oil return cavity pressure signal obtained in the step (3), so that the oil return cavity pressure signal of the hydraulic motor can be kept at the expected pressure p of the oil return cavity b 。
The upper turning system of the large-inertia rotary drilling rig with the independently controlled load port comprises a pump station part mainly composed of an engine and a hydraulic pump, a flow control part mainly composed of a first proportional control valve and a second proportional control valve, and an actuator part mainly composed of a hydraulic motor and a load; the output shaft of the engine is connected with the input shaft of the hydraulic pump, the oil inlet of the hydraulic pump is communicated with the oil tank, the oil outlet of the hydraulic pump is connected between two cavities of the hydraulic motor through a first proportional control valve and a second proportional control valve respectively, and the first proportional control valve and the second proportional control valve are used as an oil inlet path proportional control valve and an oil outlet path proportional control valve respectively to control the flow of an oil inlet cavity and an oil return cavity of the hydraulic motor; the load is connected to an output shaft of the hydraulic motor, which rotates in synchronism with the load.
The first proportional control valve and the second proportional control valve are both three-position four-way proportional control valves; the ports P of the first proportional control valve and the second proportional control valve are communicated with an oil inlet of a hydraulic pump, the ports T of the first proportional control valve and the second proportional control valve are communicated with an oil tank, and the ports A of the first proportional control valve and the second proportional control valve are respectively connected to an oil inlet cavity and an oil outlet cavity of a hydraulic motor.
The oil supplementing system comprises a first check valve and a second check valve, and the safety valve system comprises a first overflow valve and a second overflow valve; two cavities of the hydraulic motor are communicated with the oil tank after passing through the first one-way valve and the second one-way valve respectively; two cavities of the hydraulic motor are communicated with the oil tank through a first overflow valve and a second overflow valve respectively.
The hydraulic pump also comprises a third overflow valve, and the outlet of the hydraulic pump is communicated with the oil tank through the third overflow valve.
The hydraulic motor is characterized in that outlets of two cavities of the hydraulic motor are respectively connected with a first pressure sensor and a second pressure sensor, a pressure sensor PS is installed at an outlet of the hydraulic pump, and an angle sensor and an angular speed sensor are arranged beside a load.
The invention initializes the real-time signal sampling period and the system parameter; collecting effective system signals such as two-cavity pressure of a hydraulic motor, pressure of an outlet of a hydraulic pump, operating angle and angular speed of a load and the like in the upper turning system of the large-inertia rotary drilling rig independently controlled by the load port according to a sensing system in the upper turning system of the large-inertia rotary drilling rig independently controlled by the load port; establishing a physical model for identification of a large-inertia hydraulic boarding rotation system independently controlled by a load port; inputting effective system signals into a hydraulic system model for identification, and identifying to obtain system parameters and the like; the motion and back pressure of the rotary platform are controlled by using a load port independent control method, so that the purposes of quick start, stable operation and accurate braking are realized.
The invention provides a large-inertia rotary drilling rig rotation control system based on load port independent control, a complex machine liquid control structure of an original system is cancelled, an oil inlet path proportional control valve controls rotation speed and an oil return path proportional control valve adjusts rotation pressure through a pressure flow composite control strategy, the control precision of the system can be improved, and the hydraulic impact of the system can be effectively reduced.
The beneficial effects of the invention are as follows:
the invention can complete the high-efficiency and high-precision motion control of the actuator, and realizes the independent control of the pressure of the oil inlet cavity and the oil return cavity of the load hydraulic motor by independently controlling the flow through the load port, thereby controlling the back pressure of the system, reducing the hydraulic impact and improving the stability of the system. And a feedback control mode is adopted, so that high-precision motion error compensation of the actuator can be realized.
The pressure signal and the load displacement and speed signal of the hydraulic motor used by the method are measured in the existing high-precision hydraulic motion control system, and the method does not need to add additional sensors, signal acquisition systems and other equipment. The method is an iteration method, has the characteristics of small calculation amount, easiness in implementation, low requirement on computing hardware and the like, can be implemented in the existing upper computer software, and does not need to add other hardware computing equipment. Compared with a traditional control method of the turning system on the vehicle of the large-inertia rotary drilling rig, the control method has the advantages that a complex mechanical mechanism is cancelled through electric control, the implementation cost is reduced, and the operation workload is reduced.
The invention utilizes the oil return path proportional control valve to adjust and control the back pressure of the system, compared with the traditional mode of utilizing a rotary valve or an overflow valve to control the back pressure, the technical precision is higher, the pressure is more stable and controllable, and the mechanical mechanism is greatly simplified.
The invention realizes an online hydraulic system parameter identification algorithm according to the sensor signal, and is used for feedforward compensation of a control system. Compared with the traditional method of firstly measuring the characteristics of the hydraulic system by a special instrument and then installing the hydraulic system, the method has stronger real-time performance, and more effectively assists constructors to adjust parameters and know the running state of the hydraulic system.
The method can rapidly cope with the modeling uncertainty caused by the parameter change of the hydraulic system by updating the control parameters in real time, continuously updates the system parameter model to describe the hydraulic system more accurately, and performs feedforward compensation on the system in the control process.
Drawings
Fig. 1 is a hydraulic schematic of the present invention.
In the figure: 1. a hydraulic motor; 2. a first pressure sensor; 3. a second pressure sensor; 4. a first overflow valve; 5. a second overflow valve; 6. a first check valve; 7. a second one-way valve; 8. a first four-way proportional control valve; 9. a second four-way proportional control valve; 10. a third pressure sensor; 11. a third overflow valve; 12. a hydraulic pump; 13. an engine; 14. and an oil tank.
FIG. 2 is a schematic diagram of the components of the present invention.
Fig. 3 is a diagram of the effect of the hydraulic system motion control of the method of the present invention.
Detailed Description
The invention is further described in detail below with reference to the drawings and specific embodiments.
As shown in fig. 1, the upper turning system of the high-inertia rotary drilling rig comprises a system flow providing part mainly composed of an engine 13 and a hydraulic pump 12, a flow control part mainly composed of a first four-way proportional control valve 8 and a second four-way proportional control valve 9, an actuator part mainly composed of a hydraulic motor 1 and a load, an oil supplementing part mainly composed of a first check valve 6 and a second check valve 7, and a safety valve part mainly composed of a first overflow valve 4 and a second overflow valve 5.
An output shaft of an engine 13 is connected with an input shaft of a hydraulic pump 12, an oil inlet of the hydraulic pump 12 is communicated with an oil tank 14, an oil outlet of the hydraulic pump 12 is connected between two cavities of the hydraulic motor 1 through a first proportional control valve 8 and a second proportional control valve 9 respectively, the first proportional control valve 8 and the second proportional control valve 9 are used as an oil inlet path proportional control valve and an oil outlet path proportional control valve respectively to control the flow of an oil inlet cavity and an oil return cavity of the hydraulic motor, and therefore the flow of the two cavities of the hydraulic motor 1 is controlled independently; the load is connected to the output shaft of the hydraulic motor 1, and the output shaft of the hydraulic motor 1 and the load rotate synchronously. In specific implementation, an engine of the flow supply part is connected with the hydraulic pump through a coupler to drive the hydraulic pump to provide flow for the hydraulic system. The valve control flow control part comprises two proportional control valves which respectively control the flow of the oil inlet cavity and the oil return cavity of the hydraulic motor.
The first proportional control valve 8 and the second proportional control valve 9 are both three-position four-way proportional control valves; the P ports of the first proportional control valve 8 and the second proportional control valve 9 are communicated with an oil inlet of a hydraulic pump 12, the T ports of the first proportional control valve 8 and the second proportional control valve 9 are communicated with an oil tank 14, the A ports of the first proportional control valve 8 and the second proportional control valve 9 are respectively connected to an oil inlet cavity and an oil outlet cavity of the hydraulic motor 1, and the B ports of the first proportional control valve 8 and the second proportional control valve 9 are vacant.
The oil supplementing system comprises a first check valve 6 and a second check valve 7, and the safety valve system comprises a first overflow valve 4 and a second overflow valve 5; two cavities of the hydraulic motor 1 are respectively communicated with an oil tank 14 after passing through a first check valve 6 and a second check valve 7, and oil can be supplemented to an oil cavity of the hydraulic motor from the oil tank in a one-way mode; two cavities of the hydraulic motor 1 are communicated with the oil tank 14 through the first overflow valve 4 and the second overflow valve 5 respectively, so that overload of the hydraulic motor 1 is prevented.
And the hydraulic pump further comprises a third overflow valve 11, and the outlet of the hydraulic pump 12 is communicated with an oil tank 14 through the third overflow valve 11.
The outlets of two cavities of the hydraulic motor 1 are respectively connected with a first pressure sensor 2 and a second pressure sensor 3, the outlet of the hydraulic pump 12 is provided with a pressure sensor PS10, and an angle sensor and an angular velocity sensor for detecting the angle and the angular velocity of a load are arranged beside the load.
The first pressure sensor 2 and the second pressure sensor 3 detect two-chamber pressure of the hydraulic motor 1, the pressure sensor PS10 detects pressure at an outlet of the hydraulic pump 12, and the angle sensor and the angular velocity sensor detect a rotation angle and an angular velocity of a load, respectively.
Auxiliary components such as filters, check valves, on-off valves, etc., necessary between the outlets of the hydraulic pumps 12 and the first proportional control valves 8, respectively. Specifically, the outlet of the hydraulic pump 12 and the oil tank 14 are communicated through the third relief valve 6. The system is provided with other hydraulic elements such as a hydraulic safety valve, a filter, a thermometer, a one-way valve and the like to ensure the normal work of the system.
The invention provides hydraulic flow and pressure by an engine and a pump, calculates the flow required by two cavities of the hydraulic motor by a valve control flow control part through identification hydraulic system models and feedback regulation, and performs motion error compensation and pressure error compensation to complete high-precision motion control and back pressure control required by a hydraulic system. By the quick dynamic response control of the valve, high-performance motion control can be realized. Meanwhile, the load port independent system can simultaneously adjust the pressure of two cavities of the hydraulic motor and keep the back pressure, thereby reducing the hydraulic impact of the system.
As shown in fig. 2, the specific implementation process of the present invention is as follows:
(1) Initializing a real-time signal sampling period T, initializing system parameters, including initial values, upper and lower boundaries of the system parameters, a gamma matrix related to parameter updating speed in recursive least squares, a forgetting factor alpha related to parameter estimation forgetting rate, a regularization coefficient v, bandwidth of a filter through which signals pass, and the like;
the system parameters include load moment of inertia J c 、J cβ Mass m of end load, coulomb friction coefficient A f Viscous friction coefficient B, bulk modulus beta of oil e Internal leakage coefficient of hydraulic motor im And coefficient of external leakage C em 。
(2) Establishing an upper turning system of the high-inertia rotary drilling rig with the load port independently controlled, acquiring effective system signals such as two-cavity pressure of the hydraulic motor 1, pressure of an outlet of the hydraulic pump 7, a rotation angle and an angular speed of a load and the like according to a sensing system in the upper turning system, and recording control input flow applied to a proportional control valve;
(3) Establishing a physical model of a large-inertia hydraulic boarding rotation system;
wherein, J c Is converted into the moment of inertia on a hydraulic motor shaft from the getting-on posture,
is J c Derivative of (J), J cβ Is the moment of inertia of the end load translated to the hydraulic motor shaft,
is J cβ M is the mass of the end load, theta m And
is the angle of rotation and angular velocity of the hydraulic motor, D m Is the displacement of the hydraulic motor, P 1 And P 2 Is the pressure of two cavities of the hydraulic motor, B is the damping viscous friction coefficient, A f Is the coefficient of the coulomb friction force,
is a smooth function, T, used to fit the sign function g Is a swinging moment, T, generated by gravity acting on the slope l Is the load moment, d is the lumped model uncertainty and disturbance on the hydraulic motor model, V 1 The volume V of the oil inlet cavity and the oil way of the hydraulic motor 2 Is the volume of the oil return cavity of the hydraulic motor together with the oil circuit, beta e Is the bulk modulus of elasticity, C, of the oil im Is the internal leakage coefficient of the hydraulic motor, C em Is the external leakage factor, Q, of the hydraulic motor 1d And Q 2d Indicating nominal flow rates of the first proportional control valve and the second proportional control valve,
and
representing lumped model uncertainty and disturbance for both the inlet and return.
(4) Establishing a hydraulic system model for identification according to the physical model, and identifying system parameters in real time by using a recursive least square algorithm;
the hydraulic system model for identification is as follows:
wherein, y 1 Is the first prediction output, y 2 Is a second prediction output, obtained according to the following equation:
and solving the hydraulic system model for identification in a recursive least square mode to obtain system parameters.
(5) And (4) performing feed-forward compensation and feedback regulation on a hydraulic motor in the system by using Adaptive Robust Control (ARC) according to the effective system signals of the rotation angle and the angular speed of the load obtained in the step 2 and the system parameters obtained in the step 4, wherein a desired pressure difference between an oil inlet cavity and an oil return cavity of the hydraulic motor is obtained, so that the hydraulic motor drives the load to move according to a preset desired motion track under the action of the desired pressure difference.
(6) Establishing a desired pressure of an oil inlet chamber of a hydraulic motor as p b +P ld ，P ld Is the desired pressure difference, p, between the oil inlet chamber and the oil return chamber obtained in step 5 b Indicating a preset desired pressure of the return chamber, and then:
controlling the flow of the oil inlet path proportional control valve according to the expected pressure of the oil inlet chamber of the hydraulic motor and the actual oil inlet chamber pressure signal obtained in the step 2, so that the actual oil inlet chamber pressure signal of the hydraulic motor is in accordance with the expected pressure p b +P ld (ii) a change;
controlling the flow of the oil return path proportional control valve according to the expected pressure of the oil return cavity of the hydraulic motor and the oil return cavity pressure signal obtained in the step 2, so that the oil return cavity pressure signal of the hydraulic motor can be kept at the expected pressure p of the oil return cavity b 。
Therefore, the high-precision motion control of the hydraulic motor can be realized, the system back pressure is kept, and the hydraulic impact of the hydraulic motor is reduced.
Specific implementation in order to describe the effectiveness of the proposed control method, simulations were performed on a computer, the results are shown in fig. 3, where the trajectory diagram represents the preset desired trajectory of the hydraulic motor and the actual movement trajectory of the hydraulic motor; the tracking error graph shows that the tracking error of the proposed control method can be controlled within 0.0015rad, and the control precision is good; a pressure diagram of a cavity 1 (an oil inlet cavity) and a pressure diagram of a cavity 2 (an oil return cavity) of the hydraulic motor show that the pressure change is stable while high-precision motion control is realized, and hydraulic impact is effectively reduced.
Claims (8)
1. A control method of a loading rotary system of a high-inertia rotary drilling rig with independently controlled load port is characterized by comprising the following steps: the method comprises the following steps:
(1) Initializing a real-time signal sampling period T and initializing system parameters; the system parameters comprise load moment of inertia J c Derivative of moment of inertia J cβ Mass m of end load, coulomb friction coefficient A f Viscous friction coefficient B, bulk modulus beta of oil e Internal leakage coefficient of hydraulic motor im And coefficient of external leakage C em ；
(2) Establishing a physical model of an upper turning system of the high-inertia rotary drilling rig;
(3) Constructing an upper turning system of the high-inertia rotary drilling rig with independently controlled load ports, and acquiring effective system signals of two-cavity pressure of a hydraulic motor, pressure of an outlet of a hydraulic pump (7), a rotation angle and an angular speed of a load in the system once every other sampling period T;
(4) Establishing an identification hydraulic system model according to the physical model, and carrying out real-time identification on the identification hydraulic system model by using a least square algorithm by using effective system signals to obtain system parameters;
(5) According to the system parameters and effective system signals, processing to obtain an expected pressure difference between an oil inlet cavity and an oil return cavity of the hydraulic motor;
(6) According to the expected pressure difference obtained in the previous step, the expected pressure of an oil inlet cavity and an oil return cavity of the hydraulic motor is determined, and the input flow of an oil inlet path proportional control valve and the input flow of an oil return path proportional control valve are controlled according to the expected pressure;
in the step (2), the physical model of the upper turning system of the high-inertia rotary drilling rig is represented by the following formula:
wherein, J c Is the moment of inertia converted from the getting-on posture to the hydraulic motor shaft,
is J c Derivative of (A), J cβ Is the end load translated into the moment of inertia on the hydraulic motor shaft,
is moment of inertia J cβ M is the mass of the end load, θ m And
is the rotation angle and angular velocity of the hydraulic motor, D m Is the displacement of the hydraulic motor, P 1 And P 2 Is the pressure of two chambers of the hydraulic motor, B is the viscous friction coefficient, A f Is the coefficient of the coulomb friction force,
is a smooth function, T, used to fit the sign function g Is a swinging moment, T, generated by gravity acting on the slope l Is the load moment, d is the lumped model uncertainty and disturbance on the hydraulic motor model, V 1 The volume V of the oil inlet cavity and the oil way of the hydraulic motor 2 Is the volume of the oil return cavity and the oil way of the hydraulic motor, beta is the bulk modulus of the oil, C im Is the internal leakage coefficient of the hydraulic motor, C em Is the external leakage factor, Q, of the hydraulic motor 1d And Q 2d Indicates nominal flow rates of the first proportional control valve and the second proportional control valve,
and
representing lumped model uncertainty and interference of an oil inlet path and an oil return path;
in the step (4), the hydraulic system model for identification is as follows:
wherein, y 1 Is the first prediction output, y 2 Is a second prediction output, obtained according to the following equation:
wherein, J c Is the moment of inertia converted from the getting-on posture to the hydraulic motor shaft,
is J c Derivative of (A), J cβ Is the end load translated into the moment of inertia on the hydraulic motor shaft,
is moment of inertia J cβ M is the mass of the end load, θ m And
is the rotation angle and angular velocity of the hydraulic motor, D m Is the displacement of the hydraulic motor, P 1 And P 2 Is the pressure of two chambers of the hydraulic motor, B is the viscous friction coefficient, A f Is the coefficient of the coulomb friction force,
is a smooth function, T, used to fit the sign function g Due to a swinging moment, T, produced by gravity acting on the slope l Is the load moment, d is the lumped model uncertainty and disturbance on the hydraulic motor model, V 1 The volume V of the oil inlet cavity and the oil way of the hydraulic motor 2 Is the volume of the oil return cavity of the hydraulic motor together with the oil circuit, beta e Is the bulk modulus of elasticity, C, of the oil im Is the internal leakage coefficient, C, of the hydraulic motor em Is the external leakage factor, Q, of the hydraulic motor 1d And Q 2d Indicating nominal flow rates of the first proportional control valve and the second proportional control valve,
and
lumped model uncertainty and disturbance representing oil inlet and return；
And solving the hydraulic system model for identification in a recursive least square mode to obtain system parameters.
2. The method for controlling the loading rotary system of the high-inertia rotary drilling rig with the load port independently controlled according to claim 1, wherein the method comprises the following steps: in the step (5), according to the effective system signals of the rotation angle and the angular speed of the load obtained in the step (3) and the system parameters obtained in the step (4), performing feedforward compensation and feedback regulation on a hydraulic motor in the system by using adaptive robust control, wherein a desired pressure difference between an oil inlet cavity and an oil return cavity of the hydraulic motor is obtained, so that the hydraulic motor drives the load to move according to a desired motion track under the action of the desired pressure difference.
3. The method for controlling the loading rotary system of the high-inertia rotary drilling rig with the load port independently controlled according to claim 1, wherein the method comprises the following steps: the specific steps of the step (6) are as follows:
establishing a desired pressure of an oil inlet chamber of a hydraulic motor as p b +P ld ，P ld Is the expected pressure difference, p, between the oil inlet cavity and the oil return cavity obtained in the step (5) b Indicating a preset desired pressure of the return chamber, and then:
controlling the input flow of the oil inlet proportional control valve according to the expected pressure of the oil inlet cavity of the hydraulic motor and the actual oil inlet cavity pressure signal obtained in the step (3), so that the actual oil inlet cavity pressure signal of the hydraulic motor is in accordance with the expected pressure p b +P ld Changing;
controlling the input flow of the oil return path proportional control valve according to the expected pressure of an oil return cavity of the hydraulic motor and the oil return cavity pressure signal obtained in the step (3), so that the oil return cavity pressure signal of the hydraulic motor can be kept at the expected pressure p of the oil return cavity b 。
4. The method for controlling the turning system of the high-inertia rotary drilling rig with the load port independently controlled for the upper part of the train according to claim 1, characterized by comprising the following steps: the upper-vehicle rotary system of the high-inertia rotary drilling rig with the independently controlled load port comprises a pump station part mainly composed of an engine (13) and a hydraulic pump (12), a flow control part mainly composed of a first proportional control valve (8) and a second proportional control valve (9), and an actuator part mainly composed of a hydraulic motor (1) and a load; an output shaft of an engine (13) is connected with an input shaft of a hydraulic pump (12), an oil inlet of the hydraulic pump (12) is communicated with an oil tank (14), an oil outlet of the hydraulic pump (12) is connected between two cavities of a hydraulic motor (1) through a first proportional control valve (8) and a second proportional control valve (9) respectively, and the first proportional control valve (8) and the second proportional control valve (9) are used as an oil inlet path proportional control valve and an oil outlet path proportional control valve respectively to control the flow of an oil inlet cavity and an oil return cavity of the inlet and outlet hydraulic motor; the load is connected to the output shaft of the hydraulic motor (1), and the output shaft of the hydraulic motor (1) and the load rotate synchronously.
5. The method for controlling the turning system of the high-inertia rotary drilling rig with the load port independently controlled for the upper part of the train according to claim 4, wherein the method comprises the following steps: the first proportional control valve (8) and the second proportional control valve (9) are both three-position four-way proportional control valves; the P ports of the first proportional control valve (8) and the second proportional control valve (9) are communicated with the oil inlet of the hydraulic pump (12), the T ports of the first proportional control valve (8) and the second proportional control valve (9) are communicated with the oil tank (14), and the A ports of the first proportional control valve (8) and the second proportional control valve (9) are respectively connected to the oil inlet cavity and the oil outlet cavity of the hydraulic motor (1).
6. The method for controlling the turning system of the rotary drilling rig on the vehicle with the large inertia and the independently controlled load port according to claim 4, wherein the method comprises the following steps: the oil supplementing system comprises a first check valve (6) and a second check valve (7), and the safety valve system comprises a first overflow valve (4) and a second overflow valve (5); two cavities of the hydraulic motor (1) are communicated with an oil tank (14) after passing through a first one-way valve (6) and a second one-way valve (7) respectively; two cavities of the hydraulic motor (1) are communicated with an oil tank (14) through a first overflow valve (4) and a second overflow valve (5) respectively.
7. The method for controlling the turning system of the high-inertia rotary drilling rig with the load port independently controlled for the upper part of the train according to claim 4, wherein the method comprises the following steps: the hydraulic pump further comprises a third overflow valve (11), and an outlet of the hydraulic pump (12) is communicated with the oil tank (14) through the third overflow valve (11).
8. The method for controlling the turning system of the rotary drilling rig on the vehicle with the large inertia and the independently controlled load port according to claim 4, wherein the method comprises the following steps: the hydraulic control system is characterized in that outlets of two cavities of the hydraulic motor (1) are respectively connected with a first pressure sensor (2) and a second pressure sensor (3), an outlet of the hydraulic pump (12) is provided with a pressure sensor PS (10), and an angle sensor and an angular velocity sensor are arranged beside a load.
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