CN115977610A - System and method for controlling power head to truly control ground pressure - Google Patents
System and method for controlling power head to truly control ground pressure Download PDFInfo
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Abstract
The invention belongs to the technical field of piling machinery control, and particularly relates to a system and a method for controlling the real ground pressure of a power head. Calculating the real ground pressure of the power head based on the pressure of the pressurizing oil cylinder, and adjusting the pressure of the pressurizing oil cylinder to enable the real ground pressure of the power head to reach the preset real ground pressure value corresponding to the current stratum and the current drilling tool; the pressurizing oil cylinder stops pressurizing and starts drilling; and adjusting the real ground pressure of the power head in real time during drilling, wherein the real ground pressure of the power head is adjusted through a pressurizing oil cylinder based on the rotating speed of the power head, the torque of the power head and the load rate of an engine. The invention obtains the real ground pressure through the information fusion of the multiple sensors, greatly reduces the operation difficulty of the drilling machine, gets rid of the excessive dependence on the experience of a manipulator, and can be suitable for the stratum with complex change and improve the construction efficiency.
Description
Technical Field
The invention belongs to the technical field of piling machinery control, and particularly relates to a system and a method for controlling the real ground pressure of a power head.
Background
The rotary drilling rig is a hole forming machine for cast-in-place pile construction in pile foundation engineering, and is widely applied to construction of engineering pile foundations of roads, bridges, wharfs, high-rise buildings and the like.
Due to the complexity of the construction stratum and the diversity of drilling tools, the hole forming operation difficulty of the rotary drilling rig is high. For different strata or drilling tools, if the torque or the pressurizing force of the power head applied by a manipulator is not proper, the construction efficiency is seriously influenced, and even the hole forming quality is affected. In the prior art, the operation of the rotary drilling rig still depends on the construction experience of a manipulator, great uncertainty exists in the drilling process, and a reliable drilling strategy aiming at the real ground pressure of a power head does not exist.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a system and a method for controlling the real ground pressure of the power head, the real ground pressure is obtained through information fusion of multiple sensors, the operation difficulty of a drilling machine is greatly reduced, excessive dependence on the experience of a manipulator is eliminated, the system and the method can be suitable for stratums with complicated changes, and the construction efficiency is improved.
In order to solve the defects of the prior art, the technical scheme provided by the invention is as follows:
a method for controlling the real ground pressure of a power head comprises,
s1: calculating the real ground pressure of the power head based on the pressurizing force of the pressurizing oil cylinder, and adjusting the pressurizing force of the pressurizing oil cylinder to enable the real ground pressure of the power head to reach the real ground pressure preset value corresponding to the current stratum and the current drilling tool;
s2: the pressurizing oil cylinder stops pressurizing and starts drilling;
s3: the real ground pressure of the power head is adjusted in real time during drilling, including,
the rotating speed of the power head, the torque of the power head and the load rate of the engine are monitored in real time, and based on the rotating speed of the power head, the torque of the power head and the load rate of the engine, the real ground pressure of the power head is adjusted through the pressurizing oil cylinder.
Preferably, the real ground pressure of the power head is adjusted through the pressurizing oil cylinder based on the rotating speed of the power head, the torque of the power head and the load rate of the engine, and the method comprises the following steps,
when the rotating speed of the power head is greater than the current stratum and the rotating speed preset upper limit value corresponding to the current drilling tool, the torque of the power head is smaller than the current stratum and the torque preset lower limit value corresponding to the current drilling tool, the load rate of the engine is smaller than the current stratum and the load rate preset lower limit value corresponding to the current drilling tool and lasts for a first preset time, judging that the real ground pressure of the current power head is smaller than the real ground pressure preset value corresponding to the current stratum and the current drilling tool, and adjusting the pressurizing force of the pressurizing oil cylinder to enable the real ground pressure of the power head to reach the real ground pressure preset value;
when the rotating speed of the power head is smaller than a preset lower limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is larger than a preset upper limit value of the torque corresponding to the current stratum and the current drilling tool, the load rate of the engine is larger than the preset upper limit value of the load rate corresponding to the current stratum and the current drilling tool, and the second preset time is continued, the real ground pressure of the power head is judged to be larger than the preset real ground pressure corresponding to the current stratum and the current drilling tool, and the real ground pressure of the power head is enabled to reach the preset real ground pressure value by adjusting the pressurizing force of the pressurizing oil cylinder;
and when the rotating speed of the power head is 0, the torque of the power head is greater than the current stratum and the torque design limit value corresponding to the current drilling tool, judging that the drilling is suppressed, and reducing the pressurizing force of the pressurizing oil cylinder to enable the real ground pressure of the power head to reach the real ground pressure preset value.
Preferably, the real ground pressure of the power head is adjusted in real time during drilling, the real ground pressure of the power head is monitored in real time, and when the real ground pressure of the power head is smaller than the lower limit value of the real ground pressure adjustment corresponding to the current stratum and the current drilling tool, the real ground pressure of the power head is adjusted to reach the preset value of the real ground pressure by adjusting the pressurizing force of the pressurizing oil cylinder.
Preferably, the calculation formula of the real ground pressure of the power head is as follows:
P dijt ＝F 1j +F 2 +P ijt -F ijt
wherein, P dijt When the stratum is i, the drilling tool is j, and the real ground pressure of the power head at the moment t is measured; i =1,2,3, \ 8230, A, A is the total number of types of the stratum; j =1,2,3, \ 8230, B, B is the total number of types of drilling tools;
F 1j when the drilling tool is j, the pressure increase value of the power head to the ground caused by the weight of the drilling tool of the drill rod is increased;
F 2 the pressure increase value of the power head to the ground caused by the weight of the power head;
P ijt when the stratum is i, the drilling tool is j, and the pressure of the pressure oil cylinder at the moment t is applied;
F ijt when the stratum is i, the drilling tool is j, and the main winding tension at the time t is obtained.
Preferably, said F 1j And F 2 The calculation process is as follows:
selecting a drilling tool as j, and recording the main roll tension as F when a drilling rod of the drilling tool does not touch a power head and is in a standby state 1j The pressure of the pressurizing cylinder at this time is denoted as F 2 。
Preferably, the real ground pressure preset value satisfies the following formula:
P dij0 ∈[P dijmin ,P dijmax ]
wherein, P dij0 The real ground pressure preset value is the real ground pressure preset value when the drilling tool is j and the stratum is i; p dijmax Presetting an upper limit value for the real ground pressure when the drilling tool is j and the stratum is i; p dijmin Presetting lower limit for real earth pressure when the drilling tool is j and the stratum is iA value;
P dijmax and P dijmin The solution process of (2) is as follows:
selecting a drilling tool j and a stratum i, performing pressurized drilling, and recording the torque of the power head, the rotating speed of the power head and the load rate of an engine corresponding to the real ground pressure of different power heads during drilling;
when the torque of the power head at the same moment meets M ijmin ≤M ijt ≤M ijmax The rotating speed of the power head meets N ijmin ≤N ijt ≤N ijmax And the load factor of the engine satisfies eta ijmin ≤η ijt ≤η ijmax Then, the real ground pressure of the power head at the moment is marked as the real ground pressure to be selected;
wherein M is ijt When the stratum is i, the drilling tool is j, and the torque of the power head at the moment t is obtained; m ijmax Presetting an upper limit value for the torque when the stratum is i and the drilling tool is j; m ijmin Presetting a lower limit value for the torque when the stratum is i and the drilling tool is j;
wherein N is ijt When the stratum is i, the drilling tool is j, and the rotating speed of the power head at the moment t is determined; n is a radical of ijmax Presetting an upper limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j; n is a radical of ijmin Presetting a lower limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j;
wherein eta is ijt When the stratum is i, the drilling tool is j, and the load rate of the engine at the moment t is obtained; eta ijmax Presetting an upper limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j; eta ijmin Presetting a lower limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j;
summarizing all the real ground pressure to be selected to obtain the real ground pressure range to be selected when the drilling tool is j and the stratum is i, marking the upper limit of the real ground pressure range to be selected as the preset upper limit P of the real ground pressure when the drilling tool is j and the stratum is i dijmax The lower limit is marked as the lower limit P preset by the real ground pressure when the drilling tool is j and the stratum is i dijmin 。
A real ground pressure control system of a power head comprises a controller, a first pressurizing pressure sensor, a second pressurizing pressure sensor, a main roll pin shaft sensor, a power head pressure sensor, a rotating speed sensor, a power head rotary valve and a pressurizing valve;
the first pressurizing pressure sensor is connected with the large cavity of the pressurizing oil cylinder and the controller;
the second pressurizing pressure sensor is connected with the small cavity of the pressurizing oil cylinder and the small cavity of the pressurizing oil cylinder;
the main winding pin shaft sensor is used for measuring the main winding tension and uploading the main winding tension to the controller;
the power head pressure sensor is used for measuring the torque of the power head and uploading the torque of the power head to the controller;
the rotation speed sensor is used for measuring the rotation speed of the power head and uploading the rotation speed of the power head to the controller;
the controller is connected with the engine;
the controller is used for receiving the load rate of the engine uploaded by the transmitter; sending a pressurization command to a pressurization valve before drilling; calculating the pressurizing force of the pressurizing oil cylinder based on the pressure values uploaded by the first pressurizing pressure sensor and the second pressurizing pressure sensor; calculating the real ground pressure of the power head based on the pressure of the pressure oil cylinder; when the real ground pressure of the power head reaches the current stratum and the real ground pressure preset value corresponding to the current drilling tool, starting a power head rotary valve to enable the power head to start drilling; obtaining a turn-up instruction or a turn-down instruction based on the rotating speed of the power head, the torque of the power head and the load rate of the engine during drilling, and sending the turn-up instruction or the turn-down instruction to the pressurizing valve;
the pressurizing valve is connected with the controller and the pressurizing oil cylinder, the pressurizing force of the pressurizing oil cylinder is increased according to a pressurizing instruction or a turn-up instruction issued by the controller until the real ground pressure of the power head reaches a real ground pressure preset value, and the pressurizing force of the pressurizing oil cylinder is reduced according to a turn-down instruction issued by the controller until the real ground pressure of the power head reaches the real ground pressure preset value;
the power head rotary valve is connected with the controller and used for controlling the rotation of the power head.
Preferably, the controller is specifically configured to,
when the rotating speed of the power head is greater than the preset upper limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is smaller than the preset lower limit value of the torque corresponding to the current stratum and the current drilling tool, and the load rate of the engine is smaller than the preset lower limit value of the load rate corresponding to the current stratum and the current drilling tool and lasts for a first preset time, an increase instruction is sent to the pressurizing valve;
when the rotating speed of the power head is smaller than a preset lower limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is larger than a preset upper limit value of the torque corresponding to the current stratum and the current drilling tool, and the load rate of the engine is larger than the preset upper limit value of the load rate corresponding to the current stratum and the current drilling tool and lasts for a second preset time, a turn-down instruction is sent to the pressurizing valve;
and when the rotating speed of the power head is 0, the torque of the power head is greater than the current stratum and the current torque design limit value corresponding to the drilling tool, sending a turn-down instruction to the pressurizing valve.
Preferably, the controller is further configured to send an increase instruction to the pressurization valve when the actual ground pressure of the power head is smaller than the actual ground pressure adjustment lower limit value corresponding to the current formation and the current drilling tool.
Preferably, the controller is specifically configured to calculate the true ground pressure of the powerhead based on the following equation:
P dijt ＝F 1j +F 2 +P ijt -F ijt
wherein, P dijt When the stratum is i, the drilling tool is j, and the real ground pressure of the power head at the moment t is measured; i =1,2,3, \ 8230, A, A is the total number of types of the stratum; j =1,2,3, \ 8230, B, B is the total number of types of drilling tools;
F 1j when the drilling tool is j, the pressure of the power head to the ground is increased due to the weight of the drilling tool of the drill rod;
F 2 the pressure increase value of the power head to the ground caused by the weight of the power head;
P ijt when the stratum is i, the drilling tool is j, and the pressure of the pressure oil cylinder at the moment t is applied;
F ijt when the stratum is i, the drilling tool is j, and the main winding tension at the time t is.
Preferably, the controller is further configured to determine the F 1j And F 2 The process is as follows:
selecting a drilling tool as j, and recording the main roll tension as F when a drilling rod of the drilling tool does not touch a power head and is in a standby state 1j The pressure of the pressurizing cylinder at this time is denoted as F 2 。
Preferably, the controller is further configured to obtain the real preset value of the ground pressure, including,
P dij0 ∈[P dijmin ,P dijmax ]
wherein, P dij0 The real ground pressure preset value is the real ground pressure preset value when the drilling tool is j and the stratum is i; p is dijmax Presetting an upper limit value for the real ground pressure when the drilling tool is j and the stratum is i; p dijmin Presetting a lower limit value for the real ground pressure when the drilling tool is j and the stratum is i;
P dijmax and P dijmin The solution process of (2) is as follows:
selecting a drilling tool j and a stratum i, performing pressurized drilling, and recording the torque of the power head, the rotating speed of the power head and the load rate of an engine corresponding to the real ground pressure of different power heads during drilling;
when the torque of the power head at the same moment meets M ijmin ≤M ijt ≤M ijmax The rotating speed of the power head meets N ijmin ≤N ijt ≤N ijmax And the load factor of the engine satisfies eta ijmin ≤η ijt ≤η ijmax Then, the real ground pressure of the power head at the moment is marked as the real ground pressure to be selected;
wherein M is ijt When the stratum is i, the drilling tool is j, and the torque of the power head at the moment t is obtained; m ijmax Presetting an upper limit value for the torque when the stratum is i and the drilling tool is j; m ijmin Presetting a lower limit value for the torque when the stratum is i and the drilling tool is j;
wherein N is ijt When the stratum is i, the drilling tool is j, tThe rotating speed of the engraved power head; n is a radical of ijmax Presetting an upper limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j; n is a radical of ijmin Presetting a lower limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j;
wherein eta is ijt When the stratum is i, the drilling tool is j, and the load rate of the engine at the moment t is obtained; eta ijmax Presetting an upper limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j; eta ijmin Presetting a lower limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j;
summarizing all the real ground pressure to be selected to obtain the real ground pressure range to be selected when the drilling tool is j and the stratum is i, wherein the upper limit of the real ground pressure range to be selected is marked as the preset upper limit value P of the real ground pressure when the drilling tool is j and the stratum is i dijmax The lower limit is marked as the lower limit P preset by the real ground pressure when the drilling tool is j and the stratum is i dijmin . The invention has the beneficial effects that:
according to the method and the system for controlling the real ground pressure of the power head, the real ground pressure is obtained through information fusion of the multiple sensors, the operation difficulty of the drilling machine is greatly reduced, excessive dependence on the experience of a manipulator is eliminated, the method and the system can be suitable for a stratum with complex change, the construction efficiency is improved, and a solid technical foundation is provided for automatic drilling of a follow-up rotary drilling machine.
Drawings
Fig. 1 is a flow chart of a method for controlling the actual ground pressure of a power head provided by the invention.
Detailed Description
The present invention will be further described with reference to the following embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, and the protection scope of the present invention is not limited thereby.
A method for controlling the real ground pressure of a power head, which is shown in figure 1, comprises the following steps:
1. and solving the range of the to-be-selected real earth pressure under different strata and different drilling tools.
11 The increase value of the pressure of the power head to the ground caused by the weight of the drill rod and the drill tool and the increase value of the pressure of the power head to the ground caused by the weight of the power head are obtained:
selecting a drilling tool as j, starting the rotary drilling rig, adjusting the verticality of the mast and rotating, enabling the power head to reach the hole, resetting the depth, when the main winding pressure switch and the pressurizing pressure switch are not closed, enabling the drilling tool drilling rod to be in a standby state before drilling and when the power head is not touched, and marking the main winding tension measured by the main winding pin shaft sensor as the increasing value F of the ground pressure of the power head to the ground pressure caused by the weight of the drilling tool when the drilling tool is j 1j The pressure of the pressurizing oil cylinder is recorded as the increase F of the pressure of the power head to the ground caused by the weight of the power head 2 . j =1,2,3, \ 8230and B, B is the total number of types of drilling tools.
F obtained by the invention 1j Compared with the weight of a drill rod drilling tool, the influence of the weight of the drill rod drilling tool on the ground pressure of the power head during actual construction can be reflected more accurately. According to the invention F 2 The influence of the weight of the power head on the ground pressure of the power head in actual construction can be reflected more accurately than the weight of the power head, F 2 The friction force between the power head and the slide way of the drill mast and other factors in actual use are considered, the weight difference caused by machining errors is eliminated, and the method is more accurate.
The first pressurizing pressure sensor and the second pressurizing pressure sensor can be connected to the large cavity and the small cavity of the pressurizing oil cylinder respectively, the pressurizing force of the pressurizing oil cylinder is obtained through calculation of pressure data measured by the first pressurizing pressure sensor and the second pressurizing pressure sensor, and the calculation process belongs to the prior art and is not detailed any more.
12 To find the true ground pressure range to be selected.
And selecting a stratum i and a drilling tool j, performing pressurized drilling, lowering the main coil, starting drilling when the drill bit touches the bottom, and recording the torque of the power head, the rotating speed of the power head and the load rate of the engine corresponding to the real ground pressure of different power heads during drilling. The torque of the power head is measured by a power head pressure sensor; the rotational speed of the power head is measured by a rotational speed sensor.
The calculation formula of the real ground pressure of the power head is as follows:
P dijt ＝F 1j +F 2 +P ijt -F ijt
wherein, P dijt When the stratum is i, the drilling tool is j, and the real ground pressure of the power head at the moment t is measured; i =1,2,3, \ 8230, A, A is the total number of types of the stratum;
P ijt when the stratum is i, the drilling tool is j, and the pressure of the pressure oil cylinder at the moment t is applied;
F ijt when the stratum is i, the drilling tool is j, and the main winding tension at the time t is.
Torque M of power head at the same moment ijt Satisfy M ijmin ≤M ijt ≤M ijmax Rotational speed N of the power head ijt Satisfies N ijmin ≤N ijt ≤N ijmax And the load factor eta of the engine ijt Satisfies eta ijmin ≤η ijt ≤η ijmax At the moment, the real ground pressure P of the power head at the moment dijt And marking as the true ground pressure to be selected.
Wherein M is ijt When the stratum is i, the drilling tool is j, and the torque of the power head at the moment t is obtained; m ijmax Presetting an upper limit value for the torque when the stratum is i and the drilling tool is j; m is a group of ijmin And presetting a lower limit value for the torque when the stratum is i and the drilling tool is j. M is a group of ijmax M is obtained by multiplying the design torque value for formation i and tool j by a predetermined percentage (e.g., 98%) ijmin The torque design value for the tool at j is multiplied by a preset percentage (e.g., 80%) for formation i.
Wherein, N ijt When the stratum is i, the drilling tool is j, and the rotating speed of the power head at the moment t is determined; n is a radical of ijmax Presetting an upper limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j; n is a radical of hydrogen ijmin And presetting a lower limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j. N is a radical of ijmax The rotation speed design value of the drilling tool is multiplied by a preset percentage (such as 100%) when the stratum is i and the drilling tool is j, and N is obtained ijmin The rotation speed design value of the drilling tool at j is multiplied by a preset percentage (such as 80%) when the stratum is i.
Wherein eta ijt When the stratum is i, the drilling tool is j, at the time of tThe load factor of the engine of (1); eta ijmax Presetting an upper limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j; eta ijmin And presetting a lower limit value for the load rate when the stratum is i and the drilling tool is j. Eta ijmax Can be 90%, η ijmin Can be 75%, and the value can be selected according to needs.
When a stratum and a drilling tool are selected, the rotary drilling mode of the power head can be determined based on the conventional rotary drilling rig, namely the design values of the rotating speed and the torque under the current stratum and the current drilling tool are determined.
Summarizing all the real ground pressure to be selected to obtain the real ground pressure range to be selected when the drilling tool is j and the stratum is i, marking the upper limit of the real ground pressure range to be selected as the preset upper limit P of the real ground pressure when the drilling tool is j and the stratum is i dijmax The lower limit is marked as the lower limit P preset by the real ground pressure when the drilling tool is j and the stratum is i dijmin 。
Through the process, the real ground pressure ranges to be selected under different stratums and different drilling tools are obtained, and meanwhile, the data such as the torque preset lower limit value, the torque preset upper limit value, the load rate preset lower limit value, the rotating speed preset lower limit value and the rotating speed preset upper limit value corresponding to the real ground pressure ranges to be selected are obtained. The process can be obtained through ground drilling simulation before the rotary drilling rig leaves a factory, and the data is recorded into a controller of the rotary drilling rig to serve as basic data.
2. Used under specific working conditions
21 According to the type of the stratum and the total amount of the drilling tools, the current stratum, the corresponding to-be-selected real ground pressure range of the current drilling tool, the corresponding data such as a preset lower torque limit value, a preset upper load rate limit value, a preset lower rotating speed limit value and a preset upper rotating speed limit value are obtained, and a value is selected from the to-be-selected real ground pressure range to serve as a preset real ground pressure value.
Namely, the real ground pressure preset value meets the following formula: p dij0 ∈[P dijmin ,P dijmax ]
Wherein, P dij0 For drilling tools isj. The real ground pressure preset value when the stratum is i.
22 Adjusting the pressurizing force of the pressurizing oil cylinder, and calculating the real ground pressure of the power head in real time based on the pressurizing force of the pressurizing oil cylinder, so that the real ground pressure of the power head reaches the preset value of the real ground pressure corresponding to the current stratum and the current drilling tool;
23 The pressurizing oil cylinder stops pressurizing, the power head rotary valve is started, and drilling is started;
24 When drilling, the rotating speed of the power head, the torque of the power head, the load rate of the engine and the real ground pressure of the power head are monitored in real time, and the real ground pressure of the power head is adjusted, so that the rotating speed of the power head, the torque of the power head, the load rate of the engine and the real ground pressure of the power head meet the requirements, and the power head can be screwed in efficiently, comprising,
when the rotating speed of the power head is greater than the preset upper limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is smaller than the preset lower limit value of the torque corresponding to the current stratum and the current drilling tool, the load rate of an engine is smaller than the preset lower limit value of the load rate corresponding to the current stratum and the current drilling tool and lasts for a first preset time (such as 25-30 seconds), judging that the real ground pressure of the current power head is smaller than the preset real ground pressure corresponding to the current stratum and the current drilling tool, and adjusting the pressurizing force of a pressurizing oil cylinder through a pressurizing valve to enable the real ground pressure of the power head to reach the preset real ground pressure;
when the rotating speed of the power head is smaller than a preset lower limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is larger than a preset upper limit value of the torque corresponding to the current stratum and the current drilling tool, the load rate of an engine is larger than the preset upper limit value of the load rate corresponding to the current stratum and the current drilling tool, and the second preset time (such as 3-5 seconds) lasts, judging that the real ground pressure of the current power head is larger than the preset real ground pressure corresponding to the current stratum and the current drilling tool, and adjusting the pressurizing force of a pressurizing oil cylinder through a pressurizing valve to enable the real ground pressure of the power head to reach the preset real ground pressure;
when the rotating speed of the power head is 0, the torque of the power head is larger than the torque design limit value corresponding to the current stratum and the current drilling tool, the power head is considered to be drill-out once, the drill-out times are recorded, and the pressure of the pressurizing oil cylinder is greatly reduced through the pressurizing valve so that the real ground pressure of the power head reaches the real ground pressure preset value.
In addition, when the real ground pressure of the power head is smaller than the current stratum and the lower limit value of the real ground pressure adjustment corresponding to the current drilling tool, the pressure of the pressure oil cylinder is adjusted through the pressure valve, so that the real ground pressure of the power head reaches the preset value of the real ground pressure. The lower value of the real ground pressure adjustment may be adjusted as desired, and is generally equal to the preset value of the real ground pressure multiplied by a preset percentage, for example, equal to 80% of the preset value of the real ground pressure.
In an alternative embodiment of the invention, the operator can select the current formation and the current drilling tool through the display, and simultaneously, the real ground pressure, the rotating speed of the power head, the torque of the power head and the load rate of the engine can be displayed on the display, so that the operator can conveniently watch the information. When the pressurization valve is adjusted, an operator can manually operate the pressurization valve according to data in a display screen, or the controller can automatically drive the pressurization valve according to the strategy.
The embodiment of the invention also provides a system for controlling the real ground pressure of the power head, which comprises a controller, a first pressurizing pressure sensor, a second pressurizing pressure sensor, a main roll pin shaft sensor, a power head pressure sensor, a rotating speed sensor, a power head rotary valve and a pressurizing valve, wherein the power head is provided with a power head rotating shaft and a power head rotating shaft;
the first pressurizing pressure sensor is connected with the large cavity of the pressurizing oil cylinder and the controller;
the second pressurizing pressure sensor is connected with the small cavity of the pressurizing oil cylinder and the small cavity of the pressurizing oil cylinder;
the main winding pin shaft sensor is used for measuring the main winding tension and uploading the main winding tension to the controller;
the power head pressure sensor is used for measuring the torque of the power head and uploading the torque of the power head to the controller;
the rotating speed sensor is used for measuring the rotating speed of the power head and uploading the rotating speed of the power head to the controller;
the controller is connected with the engine;
the controller is used for receiving the load rate of the engine uploaded by the transmitter; sending a pressurizing instruction to a pressurizing valve before drilling, calculating the pressurizing force of a pressurizing oil cylinder based on pressure values measured by a first pressurizing pressure sensor and a second pressurizing pressure sensor, calculating the real ground pressure of a power head based on the pressurizing force of the pressurizing oil cylinder, starting a rotary valve of the power head to enable the power head to start drilling when the real ground pressure of the power head reaches the preset value of the real ground pressure corresponding to the current stratum and the current drilling tool, and obtaining a turn-up instruction or a turn-down instruction based on the rotating speed of the power head, the torque of the power head and the load rate of an engine during drilling and sending the turn-up instruction or the turn-down instruction to the pressurizing valve;
the pressurizing valve is connected with the controller and the pressurizing oil cylinder, the pressurizing force of the pressurizing oil cylinder is increased according to a pressurizing instruction or a turn-up instruction issued by the controller until the real ground pressure of the power head reaches a real ground pressure preset value, and the pressurizing force of the pressurizing oil cylinder is reduced according to a turn-down instruction issued by the controller until the real ground pressure of the power head reaches the real ground pressure preset value.
The power head rotary valve is connected with the controller and used for controlling the rotation of the power head.
In an alternative embodiment of the present invention, the powerhead true ground pressure control system further includes a display, a primary coil pressure switch, and a pressurization pressure switch. The display is connected with the controller and used for displaying the real ground pressure and facilitating the viewing of an operator, and meanwhile, the display is provided with a stratum and drilling tool type input window which facilitates the selection of the current stratum and the current drilling tool by the operator. The controller is connected with the main coil pressure switch and the pressurizing pressure switch and judges whether the drill rod of the drilling tool is in a standby state or not according to the states of the main coil pressure switch and the pressurizing pressure switch.
The controller is particularly useful in connection with,
when the rotating speed of the power head is greater than the preset upper limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is smaller than the preset lower limit value of the torque corresponding to the current stratum and the current drilling tool, and the load rate of the engine is smaller than the preset lower limit value of the load rate corresponding to the current stratum and the current drilling tool and lasts for a first preset time, an increase instruction is sent to the pressurizing valve;
when the rotating speed of the power head is smaller than a preset lower limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is larger than a preset upper limit value of the torque corresponding to the current stratum and the current drilling tool, and the load rate of the engine is larger than the preset upper limit value of the load rate corresponding to the current stratum and the current drilling tool and lasts for a second preset time, a turn-down instruction is sent to the pressurizing valve;
and when the rotating speed of the power head is 0, the torque of the power head is greater than the current stratum and the current torque design limit value corresponding to the drilling tool, sending a turn-down instruction to the pressurizing valve.
And the controller is also used for sending an increase instruction to the pressurizing valve when the real ground pressure of the power head is smaller than the lower limit value of the real ground pressure adjustment corresponding to the current stratum and the current drilling tool.
The controller is specifically configured to calculate a true ground pressure of the powerhead based on the following equation:
P dijt ＝F 1j +F 2 +P ijt -F ijt
wherein, P dijt When the stratum is i, the drilling tool is j, and the real ground pressure of the power head at the moment t is measured; i =1,2,3, \ 8230, A, A is the total number of types of the stratum; j =1,2,3, \ 8230, B, B is the total number of types of drilling tools;
F 1j when the drilling tool is j, the pressure of the power head to the ground is increased due to the weight of the drilling tool of the drill rod;
F 2 the pressure increase value of the power head to the ground caused by the weight of the power head;
P ijt when the stratum is i, the drilling tool is j, and the pressure of the pressure oil cylinder at the moment t is applied;
F ijt when the stratum is i, the drilling tool is j, and the main winding tension at the time t is.
The controller is also used for solving the F 1j And F 2 The process is as follows:
selecting a drilling tool as j, and recording the main roll tension as F when a drilling rod of the drilling tool does not touch a power head and is in a standby state 1j The pressure of the pressurizing cylinder at this time is denoted as F 2 。
The controller is further configured to determine the real ground pressure preset value, including,
P dij0 ∈[P dijmin ,P dijmax ]
wherein, P dij0 The real earth pressure preset value is obtained when the drilling tool is j and the stratum is i; p is dijmax Presetting an upper limit value for the real ground pressure when the drilling tool is j and the stratum is i; p dijmin Presetting a lower limit value for the real ground pressure when the drilling tool is j and the stratum is i;
P dijmax and P dijmin The solution process of (c) is as follows:
selecting a drilling tool j and a stratum i, performing pressurized drilling, and recording the torque of the power head, the rotating speed of the power head and the load rate of an engine corresponding to the real ground pressure of different power heads during drilling;
when the torque of the power head at the same moment meets M ijmin ≤M ijt ≤M ijmax The rotating speed of the power head meets N ijmin ≤N ijt ≤N ijmax And the load factor of the engine satisfies eta ijmin ≤η ijt ≤η ijmax Then, the real ground pressure of the power head at the moment is marked as the real ground pressure to be selected;
wherein M is ijt When the stratum is i, the drilling tool is j, and the torque of the power head at the moment t is obtained; m is a group of ijmax Presetting an upper limit value for the torque when the stratum is i and the drilling tool is j; m ijmin Presetting a lower limit value for the torque when the stratum is i and the drilling tool is j;
wherein, N ijt When the stratum is i, the drilling tool is j, and the rotating speed of the power head at the moment t is determined; n is a radical of ijmax Presetting an upper limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j; n is a radical of hydrogen ijmin Presetting a lower limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j;
wherein eta is ijt When the stratum is i, the drilling tool is j, and the load rate of the engine at the moment t is obtained; eta ijmax Presetting an upper limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j; eta ijmin Presetting a lower limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j;
summarizing all the real ground pressure to be selected to obtain the real ground pressure range to be selected when the drilling tool is j and the stratum is i, marking the upper limit of the real ground pressure range to be selected as the preset upper limit P of the real ground pressure when the drilling tool is j and the stratum is i dijmax The lower limit is marked as a preset lower limit value P of the real ground pressure when the drilling tool is j and the stratum is i dijmin 。
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (12)
1. A method for controlling the real ground pressure of a power head is characterized by comprising the following steps,
s1: calculating the real ground pressure of the power head based on the pressurizing force of the pressurizing oil cylinder, and adjusting the pressurizing force of the pressurizing oil cylinder to enable the real ground pressure of the power head to reach the real ground pressure preset value corresponding to the current stratum and the current drilling tool;
s2: the pressurizing oil cylinder stops pressurizing and starts drilling;
s3: the real ground pressure of the power head is adjusted in real time during drilling, including,
and monitoring the rotating speed of the power head, the torque of the power head and the load rate of the engine in real time, and adjusting the real ground pressure of the power head through a pressurizing oil cylinder based on the rotating speed of the power head, the torque of the power head and the load rate of the engine.
2. The method for controlling the actual ground pressure of the power head according to claim 1, wherein the actual ground pressure of the power head is adjusted by a pressurizing cylinder based on the rotation speed of the power head, the torque of the power head and the load factor of an engine, comprising,
when the rotating speed of the power head is greater than a preset upper limit value of the rotating speed corresponding to a current stratum and a current drilling tool, the torque of the power head is smaller than a preset lower limit value of the torque corresponding to the current stratum and the current drilling tool, the load rate of an engine is smaller than a preset lower limit value of the load rate corresponding to the current stratum and the current drilling tool and lasts for a first preset time, judging that the real ground pressure of the current power head is smaller than the preset real ground pressure corresponding to the current stratum and the current drilling tool, and adjusting the pressurizing force of a pressurizing oil cylinder to enable the real ground pressure of the power head to reach the preset real ground pressure value;
when the rotating speed of the power head is smaller than a preset lower limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is larger than a preset upper limit value of the torque corresponding to the current stratum and the current drilling tool, the load rate of the engine is larger than the preset upper limit value of the load rate corresponding to the current stratum and the current drilling tool, and the second preset time is continued, the real ground pressure of the power head is judged to be larger than the preset real ground pressure corresponding to the current stratum and the current drilling tool, and the real ground pressure of the power head is enabled to reach the preset real ground pressure value by adjusting the pressurizing force of the pressurizing oil cylinder;
and when the rotating speed of the power head is 0, the torque of the power head is greater than the current stratum and the torque design limit value corresponding to the current drilling tool, judging that the drilling is suppressed, and reducing the pressurizing force of the pressurizing oil cylinder to enable the real ground pressure of the power head to reach the real ground pressure preset value.
3. The method as claimed in claim 1, wherein the real ground pressure of the power head is adjusted in real time during drilling, and further comprising monitoring the real ground pressure of the power head in real time, and adjusting the pressure of the pressurizing cylinder to a preset value of the real ground pressure when the real ground pressure of the power head is lower than a lower limit value of the real ground pressure adjustment corresponding to a current formation and a current drilling tool.
4. The method for controlling the real ground pressure of the power head according to claim 1,
the calculation formula of the real ground pressure of the power head is as follows:
P dijt ＝F 1j +F 2 +P ijt -F ijt
wherein, P dijt When the stratum is i, the drilling tool is j, and the real ground pressure of the power head at the moment t is measured; i =1,2,3, \ 8230, A, A is the total number of types of the stratum; j =1,2,3, \ 8230, B, B is the total number of types of drilling tools;
F 1j when the drilling tool is j, the pressure increase value of the power head to the ground caused by the weight of the drilling tool of the drill rod is increased;
F 2 the pressure increase value of the power head to the ground caused by the weight of the power head;
P ijt when the stratum is i, the drilling tool is j, and the pressure of the pressure oil cylinder at the moment t is applied;
F ijt when the stratum is i, the drilling tool is j, and the main winding tension at the time t is obtained.
5. The method for controlling the true ground pressure of a power head according to claim 4,
said F 1j And F 2 The calculation process is as follows:
selecting a drilling tool as j, and recording the main roll tension as F when a drilling rod of the drilling tool does not touch a power head and is in a standby state 1j The pressure of the pressurizing cylinder at this time is denoted as F 2 。
6. The method for controlling the real ground pressure of the power head according to claim 4, wherein the preset real ground pressure value satisfies the following formula:
P dij0 ∈[P dijmin ,P dijmax ]
wherein, P dij0 The real ground pressure preset value is the real ground pressure preset value when the drilling tool is j and the stratum is i; p dijmax Presetting an upper limit value for the real ground pressure when the drilling tool is j and the stratum is i; p is dijmin Presetting a lower limit value for the real ground pressure when the drilling tool is j and the stratum is i;
P dijmax and P dijmin The solution process of (2) is as follows:
selecting a drilling tool j and a stratum i, performing pressurized drilling, and recording the torque of the power head, the rotating speed of the power head and the load rate of an engine corresponding to the real ground pressure of different power heads during drilling;
when the torque of the power head at the same moment meets M ijmin ≤M ijt ≤M ijmax The rotating speed of the power head satisfies N ijmin ≤N ijt ≤N ijmax And the load factor of the engine satisfies eta ijmin ≤η ijt ≤η ijmax Then, the real ground pressure of the power head at the moment is marked as the real ground pressure to be selected;
wherein M is ijt When the stratum is i, the drilling tool is j, and the torque of the power head at the moment t is obtained; m ijmax Presetting an upper limit value for the torque when the stratum is i and the drilling tool is j; m ijmin Presetting a lower limit value for the torque when the stratum is i and the drilling tool is j;
wherein, N ijt When the stratum is i, the drilling tool is j, and the rotating speed of the power head at the moment t is determined; n is a radical of ijmax Presetting an upper limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j; n is a radical of ijmin Presetting a lower limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j;
wherein eta is ijt When the stratum is i, the drilling tool is j, and the load rate of the engine at the moment t is obtained; eta ijmax Presetting an upper limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j; eta ijmin Presetting a lower limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j;
summarizing all the to-be-selected real ground pressure to obtain the drilling toolThe upper limit of the real ground pressure range is marked as the preset upper limit P of the real ground pressure when the drilling tool is j and the stratum is i dijmax The lower limit is marked as the lower limit P preset by the real ground pressure when the drilling tool is j and the stratum is i dijmin 。
7. A real ground pressure control system of a power head is characterized by comprising a controller, a first pressurizing pressure sensor, a second pressurizing pressure sensor, a main roll pin shaft sensor, a power head pressure sensor, a rotating speed sensor, a power head rotary valve and a pressurizing valve;
the first pressurizing pressure sensor is connected with the large cavity of the pressurizing oil cylinder and the controller;
the second pressurizing pressure sensor is connected with the small cavity of the pressurizing oil cylinder and the small cavity of the pressurizing oil cylinder;
the main winding pin shaft sensor is used for measuring the main winding tension and uploading the main winding tension to the controller;
the power head pressure sensor is used for measuring the torque of the power head and uploading the torque of the power head to the controller;
the rotating speed sensor is used for measuring the rotating speed of the power head and uploading the rotating speed of the power head to the controller;
the controller is connected with the engine;
the controller is used for receiving the load rate of the engine uploaded by the transmitter; sending a pressurization command to a pressurization valve before drilling; calculating the pressurizing force of the pressurizing oil cylinder based on the pressure values uploaded by the first pressurizing pressure sensor and the second pressurizing pressure sensor; calculating the real ground pressure of the power head based on the pressure of the pressure oil cylinder; when the real ground pressure of the power head reaches the current stratum and the real ground pressure preset value corresponding to the current drilling tool, starting a power head rotary valve to enable the power head to start drilling; obtaining a large-size adjusting instruction or a small-size adjusting instruction based on the rotating speed of the power head, the torque of the power head and the load rate of the engine during drilling, and sending the large-size adjusting instruction or the small-size adjusting instruction to the pressurizing valve;
the pressurizing valve is connected with the controller and the pressurizing oil cylinder, the pressurizing force of the pressurizing oil cylinder is increased according to a pressurizing instruction or a turn-up instruction issued by the controller until the real ground pressure of the power head reaches a real ground pressure preset value, and the pressurizing force of the pressurizing oil cylinder is reduced according to a turn-down instruction issued by the controller until the real ground pressure of the power head reaches the real ground pressure preset value;
the power head rotary valve is connected with the controller and used for controlling the rotation of the power head.
8. The real ground pressure control system of a powerhead according to claim 7, wherein the controller is specifically configured to,
when the rotating speed of the power head is greater than the preset upper limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is smaller than the preset lower limit value of the torque corresponding to the current stratum and the current drilling tool, and the load rate of the engine is smaller than the preset lower limit value of the load rate corresponding to the current stratum and the current drilling tool and lasts for a first preset time, an increase instruction is sent to the pressurizing valve;
when the rotating speed of the power head is smaller than a preset lower limit value of the rotating speed corresponding to the current stratum and the current drilling tool, the torque of the power head is larger than a preset upper limit value of the torque corresponding to the current stratum and the current drilling tool, and the load rate of the engine is larger than the preset upper limit value of the load rate corresponding to the current stratum and the current drilling tool and lasts for a second preset time, a turn-down instruction is sent to the pressurizing valve;
and when the rotating speed of the power head is 0, the torque of the power head is greater than the current stratum and the current torque design limit value corresponding to the drilling tool, sending a turn-down instruction to the pressurizing valve.
9. The system of claim 7, wherein the controller is further configured to issue an increase command to the pressure valve when the actual ground pressure of the power head is lower than the lower adjustment limit value of the actual ground pressure corresponding to the current drilling tool and the current formation.
10. The system of claim 7, wherein the controller is configured to calculate the true ground pressure of the powerhead based on the following equation:
P dijt ＝F 1j +F 2 +P ijt -F ijt
wherein, P dijt When the stratum is i, the drilling tool is j, and the real ground pressure of the power head at the moment t is measured; i =1,2,3, \ 8230, A, A is the total number of types of the stratum; j =1,2,3, \ 8230, B, B is the total number of types of drilling tools;
F 1j when the drilling tool is j, the pressure of the power head to the ground is increased due to the weight of the drilling tool of the drill rod;
F 2 the pressure increase value of the power head to the ground caused by the weight of the power head;
P ijt when the stratum is i, the drilling tool is j, and the pressure of the pressure oil cylinder at the moment t is applied;
F ijt when the stratum is i, the drilling tool is j, and the main winding tension at the time t is.
11. The system as claimed in claim 10, wherein the controller is further configured to determine F 1j And F 2 The process is as follows:
selecting a drilling tool as j, and recording the main roll tension as F when a drilling rod of the drilling tool does not touch the power head and is in a standby state 1j The pressure of the pressurizing cylinder at this time is denoted as F 2 。
12. The system of claim 10, wherein the controller is further configured to determine the real ground pressure preset value, including,
P dij0 ∈[P dijmin ,P dijmax ]
wherein, P dij0 The real ground pressure preset value is the real ground pressure preset value when the drilling tool is j and the stratum is i; p is dijmax Presetting an upper limit value for the real ground pressure when the drilling tool is j and the stratum is i; p dijmin Presetting a lower limit value for the real ground pressure when the drilling tool is j and the stratum is i;
P dijmax and P dijmin The solution process of (2) is as follows:
selecting a drilling tool as j and a stratum as i, performing pressurized drilling, and recording the torque of the power head, the rotating speed of the power head and the load rate of an engine corresponding to the real ground pressure of different power heads during drilling;
when the torque of the power head at the same moment meets M ijmin ≤M ijt ≤M ijmax The rotating speed of the power head meets N ijmin ≤N ijt ≤N ijmax And the load factor of the engine satisfies eta ijmin ≤η ijt ≤η ijmax Then, the real ground pressure of the power head at the moment is marked as the real ground pressure to be selected;
wherein M is ijt When the stratum is i, the drilling tool is j, and the torque of the power head at the moment t is obtained; m is a group of ijmax Presetting an upper limit value for the torque when the stratum is i and the drilling tool is j; m ijmin Presetting a lower limit value for the torque when the stratum is i and the drilling tool is j;
wherein N is ijt When the stratum is i, the drilling tool is j, and the rotating speed of the power head at the moment t is determined; n is a radical of ijmax Presetting an upper limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j; n is a radical of hydrogen ijmin Presetting a lower limit value for the rotating speed of the drilling tool when the stratum is i and the drilling tool is j;
wherein eta is ijt When the stratum is i, the drilling tool is j, and the load rate of the engine at the moment t is obtained; eta ijmax Presetting an upper limit value for the load rate of the drilling tool when the stratum is i and the drilling tool is j; eta ijmin Presetting a lower limit value for the load rate when the stratum is i and the drilling tool is j;
summarizing all the real ground pressure to be selected to obtain the real ground pressure range to be selected when the drilling tool is j and the stratum is i, wherein the upper limit of the real ground pressure range to be selected is marked as the preset upper limit value P of the real ground pressure when the drilling tool is j and the stratum is i dijmax The lower limit is marked as a preset lower limit value P of the real ground pressure when the drilling tool is j and the stratum is i dijmin 。
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