Intelligent control system of drilling machine
阅读说明：本技术 一种钻机的智能控制系统 (Intelligent control system of drilling machine ) 是由 张良夫 周志华 徐新战 毛伟 于 2021-01-29 设计创作，主要内容包括：本发明公开了一种钻机的智能控制系统,通过计算油缸驱动钻机所需的总功率,而后将其与电机组的输出功率相比较,根据第一计算公式进行判定,进而关停或开启对应数量的电机,实现了在满足电机组的输出功率可保证钻机的正常工作的前提下,最大限度的降低了电机组的功耗。且在钻机驱动单元中设置变频器,使钻机能够自由平滑的启动、正反转及无级变速,利于钻孔工作且可保护钻机。(The invention discloses an intelligent control system of a drilling machine, which is characterized in that the total power required by an oil cylinder to drive the drilling machine is calculated, then the total power is compared with the output power of a motor set, judgment is carried out according to a first calculation formula, and then motors with corresponding number are shut down or started, so that the power consumption of the motor set is reduced to the maximum extent on the premise that the output power of the motor set can ensure the normal work of the drilling machine. And a frequency converter is arranged in the driving unit of the drilling machine, so that the drilling machine can be freely and smoothly started, positively and negatively rotated and steplessly changed, the drilling work is facilitated, and the drilling machine can be protected.)
1. An intelligent control system for a drilling rig, comprising:
the acquisition module is used for acquiring the effective working area of the oil cylinder and the load of the oil cylinder;
a calculation module for calculating the total power N required by the drilling machine according to the effective working area of the oil cylinderTarget；
A blending module for blending the total output power N of the motor set according to the total power required by the drilling machineOutput ofAnd issuing an execution instruction; the allocation module for realizing the allocation function comprises the following steps:
s1, mixing the total power of the motor needed by the oil cylinder with the total output power N of the motor setOutput ofA comparison is made and, according to a first calculation formula:
|Noutput of-NTarget|＝xNAre all made of+y；
Wherein x is a natural number, NAre all made ofIs the average output power of the motor, and y is more than or equal to zero and less than NAre all made ofThe number of (1);
when N is presentTarget>NOutput ofThen, the process proceeds to step S2; when N is presentTarget<NOutput ofThen, the process proceeds to step S3; when N is presentTarget＝NOutput ofIf so, finishing blending;
s2, judging whether N is satisfied after x +1 or 1 motor is startedTarget≥NOutput ofAnd | NOutput of-NTarget|<NAre all made of(ii) a If yes, finishing blending, otherwise returning to the step S1;
s3, judging whether N is satisfied after x motors or 1 motor are turned offTarget≥NOutput ofAnd | NOutput of-NTarget|<NAre all made of(ii) a If yes, finishing blending, otherwise returning to the step S1;
the execution module is used for executing the instruction according to the allocation result; the execution module comprises: a drill drive unit; the drilling machine driving unit is connected with the motor set and used for transmitting power of the motor set to the drilling machine, and the drilling machine driving unit is provided with a frequency converter.
2. The intelligent control system of a drilling rig according to claim 1, wherein the calculation module comprises:
the pressure calculation unit is used for obtaining the average working pressure of the oil cylinder according to the effective working area of the oil cylinder and the load of the oil cylinder;
the flow calculation unit is used for acquiring the flow of the oil cylinder according to the average working pressure of the oil cylinder;
a total power calculation unit of the motor required for obtaining the total power N of the motor required by the oil cylinder according to the flow of the oil cylinder and the average working pressure of the oil cylinderTarget。
3. The intelligent control system of the drilling machine as claimed in claim 1, wherein the formula for obtaining the effective working area of the oil cylinder is as follows:
in the formula, the effective working area A of the oil cylinder is the working area of the rodless cavity of the oil cylinder, and D is the inner diameter of the oil cylinder.
4. The intelligent control system of the drilling machine as claimed in claim 3, wherein the calculation formula for obtaining the average working pressure of the oil cylinder is as follows:
in the formula, n is the number of the oil cylinders, p is the average working pressure among the n oil cylinders, F is the total load of the n oil cylinders, and A is the effective working area of a single oil cylinder.
5. The intelligent control system of the drilling machine as claimed in claim 4, wherein the calculation formula for obtaining the flow rate of the oil cylinder is as follows:
Q＝v×A×n；
in the formula, v is the operating speed of the oil cylinder.
6. The intelligent control system of drilling machine as claimed in claim 5, wherein the total power N of the motor required by the oil cylinderTargetThe calculation formula of (2) is as follows:
in the formula, QDrain deviceFor system leakage flow, ηbIs the efficiency factor of the hydraulic pump.
7. The intelligent control system of a drilling rig according to claim 1, wherein the execution module further comprises: the device comprises an electric control unit, a valve control unit, a monitoring unit and a maintenance unit.
8. The intelligent control system of a drilling rig according to claim 7, wherein the monitoring unit comprises: displacement sensor, inclination sensor, vibrations sensor, noise sensor, torsion sensor, speedtransmitter and display instrument.
9. The intelligent control system of a drilling rig as claimed in claim 8, wherein the maintenance unit comprises a remote control block connected to the monitoring unit for remote maintenance by regional networking and based on feedback from the monitoring unit.
10. The intelligent control system for a drilling rig according to claim 1, further comprising a selection module for selecting corresponding drilling parameters based on different geology, the drilling parameters comprising: feed speed, rotational speed and torque.
Technical Field
The invention relates to the technical field of drilling machines, in particular to an intelligent control system of a drilling machine.
Background
The existing drilling machine mostly drives a hydraulic pump through a motor set, and then drives an oil cylinder to drive the drilling machine to work. In the process, the output power of the motor set is fixed, and the total power required by the drilling machine is changed at any time according to different soil layers and soil qualities. Therefore, in order to meet the requirement that the drilling machine can obtain enough power at any time, all motors of the motor set are often turned on to achieve the maximum output power.
When the required power of the drilling machine is reduced, the total output power of the motor set is always in the maximum output at the moment, and the output power is far larger than the required total power, so that the energy is greatly wasted. In the prior art, in order to reduce the power consumption waste, the magnitude of the required power is mainly roughly judged through manual experience, and then the output power of the motor set is selected, so that the method has the following defects: firstly, the judgment needs strong experience, and the judgment result is not accurate enough; secondly, manual operation is needed, which wastes time and labor; thirdly, the output power of the motor set cannot be changed according to the implementation change of the drilling machine; fourth, when the change in power required by the rig is not caused by a change in soil or soil layer, the operator cannot determine the result from experience.
Disclosure of Invention
In order to solve the problems of the output power waste of a motor set and the like caused by the change of the power required by a drilling machine, the invention provides an intelligent control system of the drilling machine, which comprises:
the acquisition module is used for acquiring the effective working area of the oil cylinder and the load of the oil cylinder;
a calculation module for calculating the total power N required by the drilling machine according to the effective working area of the oil cylinderTarget；
A blending module for blending the total output power N of the motor set according to the total power required by the drilling machineOutput ofAnd issuing an execution instruction; the allocation module for realizing the allocation function comprises the following steps:
s1, mixing the total power of the motor needed by the oil cylinder with the total output power N of the motor setOutput ofA comparison is made and, according to a first calculation formula:
|Noutput of-NTarget|＝xNAre all made of+y；
Wherein x is a natural number, NAre all made ofIs the average output power of the motor, and y is more than or equal to zero and less than NAre all made ofThe number of (1);
when N is presentTarget>NOutput ofThen, the process proceeds to step S2; when N is presentTarget<NOutput ofThen, the process proceeds to step S3; when N is presentTarget＝NOutput ofIf so, finishing blending;
s2, judging whether N is satisfied after x +1 or 1 motor is startedTarget≥NOutput ofAnd | NOutput of-NTarget|<NAre all made of(ii) a If yes, finishing blending, otherwise returning to the step S1;
s3, judging whether N is satisfied after x motors or 1 motor are turned offTarget≥NOutput ofAnd | NOutput of-NTarget|<NAre all made of(ii) a If yes, finishing blending, otherwise returning to the step S1;
the execution module is used for executing the instruction according to the allocation result; the execution module comprises: a drill drive unit; the drilling machine driving unit is connected with the motor set and used for transmitting power of the motor set to the drilling machine, and the drilling machine driving unit is provided with a frequency converter.
Further, the calculation module includes:
the pressure calculation unit is used for obtaining the average working pressure of the oil cylinder according to the effective working area of the oil cylinder and the load of the oil cylinder;
the flow calculation unit is used for acquiring the flow of the oil cylinder according to the average working pressure of the oil cylinder;
a total power calculation unit of the motor required for obtaining the total power N of the motor required by the oil cylinder according to the flow of the oil cylinder and the average working pressure of the oil cylinderTarget。
Further, the formula for obtaining the effective working area of the oil cylinder is as follows:
in the formula, the effective working area A of the oil cylinder is the working area of the rodless cavity of the oil cylinder, and D is the inner diameter of the oil cylinder.
Further, the calculation formula for obtaining the average working pressure of the oil cylinder is as follows:
in the formula, n is the number of the oil cylinders, p is the average working pressure among the n oil cylinders, F is the total load of the n oil cylinders, and A is the effective working area of a single oil cylinder.
Further, a calculation formula for obtaining the flow of the oil cylinder is as follows:
Q＝v×A×n；
in the formula, v is the operating speed of the oil cylinder.
Further, the total power N of the motor required by the oil cylinderTargetThe calculation formula of (2) is as follows:
in the formula, QDrain deviceFor system leakage flow, ηbIs the efficiency factor of the hydraulic pump.
Further, the execution module further comprises: the device comprises an electric control unit, a valve control unit, a monitoring unit and a maintenance unit.
Further, the monitoring unit includes: displacement sensor, inclination sensor, vibrations sensor, noise sensor, torsion sensor, speedtransmitter and display instrument.
Furthermore, the maintenance unit comprises a remote control block which is connected with the monitoring unit and carries out remote maintenance through regional networking according to the feedback of the monitoring unit.
Further, the intelligent control system further comprises a selection module for selecting corresponding drilling parameters according to different geology, wherein the drilling parameters comprise: feed speed, rotational speed and torque.
Compared with the prior art, the invention at least has the following beneficial effects:
(1) even if the output power of each motor in the same motor group is inconsistent, the invention can calculate the number of the motors needing to be shut down or started according to the average output power of one motor in the motor group, and then recalculate and judge, thereby avoiding the situation that the output power of the motor group is insufficient or excessive after the corresponding number of motors are shut down or started due to the inconsistent output power of each motor in the motor group, and reducing the power consumption of the motor group to the maximum extent.
(2) Two different start-stop modes can be provided: the first method is that x +1 motors are turned on or turned off at one time, and then comparison and judgment are carried out again until the condition of finishing allocation is met, so that the working efficiency is high, and a plurality of motors in the motor set can be allocated in a short time; and the second method is that only one motor is started and stopped at a time, then comparison and judgment are carried out again until the condition of finishing allocation is met, the efficiency is low, the problem that the drilling machine is damaged due to too high power obtained by the drilling machine or cannot work normally due to too low power obtained by the drilling machine due to the fact that a plurality of motors are started or stopped at a time can be avoided, and workers can select the motors according to different requirements.
(3) Satisfy N at the same timeTarget≥NOutput ofAnd | NOutput of-NTarget|<NAre all made ofThe allocation can be finished, namely the total power required by the oil cylinder is greater than the output power of the motor set, but the difference value of the total power required by the oil cylinder and the output power is less than the average output power of one motor in the motor set, namely the power consumption of the motor set is reduced to the maximum extent on the premise that the output power of the motor set can ensure the normal work of the drilling machine.
(4) The total power required by the drilling machine can be calculated in real time, the motor set is further allocated, and when the required power of the drilling machine changes continuously, the motor set can be allocated at the first time, so that the power consumption of the motor set is further reduced.
(5) The frequency converter is arranged in the driving unit of the drilling machine, and the power of the motor set is transmitted to the drilling machine after passing through the frequency converter, so that the drilling machine can be freely and smoothly started, positively and negatively rotated and steplessly changed, the drilling work is facilitated, and the drilling machine can be protected.
Drawings
Fig. 1 is a schematic view of a modular structure of an intelligent control system in an embodiment.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Referring to fig. 1, the present invention discloses an intelligent control system for a drilling machine, comprising:
the acquisition module is used for acquiring the effective working area of the oil cylinder and the load of the oil cylinder;
a calculation module for calculating the total power N required by the drilling machine according to the effective working area of the oil cylinderTarget；
A blending module for blending the total output power N of the motor set according to the total power required by the drilling machineOutput ofAnd issuing an execution instruction; the allocation module for realizing the allocation function comprises the following steps:
s1, mixing the total power of the motor needed by the oil cylinder with the total output power N of the motor setOutput ofA comparison is made and, according to a first calculation formula:
|Noutput of-NTarget|＝xNAre all made of+y；
Wherein x is a natural number, NAre all made ofIs the average output power of the motor, and y is more than or equal to zero and less than NAre all made ofThe number of (1);
when N is presentTarget>NOutput ofThen, the process proceeds to step S2; when N is presentTarget<NOutput ofThen, the process proceeds to step S3; when N is presentTarget＝NOutput ofIf so, finishing blending;
s2, judging whether N is satisfied after x +1 or 1 motor is startedTarget≥NOutput ofAnd | NOutput of-NTarget|<NAre all made of(ii) a If yes, finishing blending, otherwise returning to the step S1;
s3, judging whether N is satisfied after x motors or 1 motor are turned offTarget≥NOutput ofAnd | NOutput of-NTarget|<NAre all made of(ii) a If yes, finishing blending, otherwise returning to the step S1;
the execution module is used for executing the instruction according to the allocation result; the execution module comprises: a drill drive unit; the drilling machine driving unit is connected with the motor set and used for transmitting power of the motor set to the drilling machine, and the drilling machine driving unit is provided with a frequency converter.
In the embodiment, the total power required by the drilling machine driven by the oil cylinder is finally obtained by step-by-step calculation according to the variable of the load (namely the stress) of the oil cylinder; and comparing and judging the obtained total power value with the output power of the existing motor set, and further closing or opening one or more motors so as to save the power consumption to the maximum extent under the condition that the output power of the motor set meets the power required by the oil cylinder.
In the process of calculating the required total power, only the effective working area of the oil cylinder and the load of the oil cylinder are needed to be obtained, only the load of the oil cylinder is a variable, and the required total power is finally calculated according to the change of the load of the oil cylinder. In the same drilling machine, because only one variable is provided, the change of the required total power is only determined by the load of the oil cylinder and is not influenced by other external uncertain factors, so that the calculation result is more accurate and reliable.
When the calculated total power required is compared with the output power of the motor group for judgment, the numerical value of the difference between the total power required and the output power of the motor group is the average output power N of one motorAre all made ofX times, and a remainder y is set, wherein the value of y is greater than or equal to zero and less than NAre all made ofAnd then shutting down or starting the motors with the corresponding number, and then calculating and judging again until the condition of finishing the allocation is met, and then finishing.
It is important to obtain the average output power of one motor in the motor group in this embodiment, and the calculation and determination are performed again after the corresponding number of motors are turned off or on. Even if the output power of each motor in the same motor group is inconsistent, the number of the motors needing to be shut down or started can be calculated according to the average output power, and then recalculation judgment is carried out, so that the situation that the output power of the motor group is insufficient or excessive after the corresponding number of the motors are shut down or started due to the inconsistent output power of each motor is avoided.
When the motor is started or stopped, the application can provide two different start-stop logics: the first method is that x +1 motors are turned on or turned off at one time, and then comparison and judgment are carried out again until the condition of finishing allocation is met, so that the working efficiency is high, and a plurality of motors in the motor set can be allocated in a short time; and the second method is that only one motor is started and stopped at a time, then comparison and judgment are carried out again until the condition of finishing allocation is met, the efficiency is low, the problem that the drilling machine is damaged due to too high power obtained by the drilling machine or cannot work normally due to too low power obtained by the drilling machine due to the fact that a plurality of motors are started or stopped at a time can be avoided, and workers can select the motors according to different requirements.
The explanation for the conditions for the end of the formulation is: when N is satisfiedTarget≥NOutput ofAnd | NOutput of-NTarget|<NAre all made ofWhen the drilling machine is used, the total power required by the oil cylinder is greater than the output power of the motor set, but the difference value of the total power required by the oil cylinder and the output power is less than the average output power of one motor in the motor set, namely, the power consumption of the motor set is reduced to the maximum extent on the premise that the output power of the motor set can ensure the normal work of the drilling machine.
In the working process of the drilling machine, the required power also changes in real time due to the fact that the working condition of the drilling machine changes in real time, even though the conclusion of starting and stopping the motor can be obtained by depending on the experience of an operator, the drilling machine cannot adapt to the real-time change of the required power of the drilling machine, and the power consumption of a motor set cannot be reduced to the maximum extent. In this embodiment, the total power required by the drilling machine can be calculated in real time, so as to allocate the motor set, and when the required power of the drilling machine changes continuously, the motor set can be allocated at the first time, so as to further reduce the power consumption of the motor set.
Further, the drill driving unit is used for transmitting the power of the motor set to the drill, and the power of the motor set is constantly changed and is instantaneously changed due to the fact that at least one motor is switched on or switched off. Under the condition, if the motor set is directly connected with the drilling machine, the rotating speed and the like of the drilling machine are suddenly changed, the drilling work is not facilitated, and meanwhile, the drilling machine is greatly damaged. Therefore, the frequency converter is arranged in the driving unit of the drilling machine, and the power of the motor set is transmitted to the drilling machine after passing through the frequency converter, so that the drilling machine can be freely and smoothly started, positively and negatively rotated and steplessly changed, the drilling work is facilitated, and the drilling machine can be protected.
Further, the calculation module includes:
the pressure calculation unit is used for obtaining the average working pressure of the oil cylinder according to the effective working area of the oil cylinder and the load of the oil cylinder;
the flow calculation unit is used for acquiring the flow of the oil cylinder according to the average working pressure of the oil cylinder;
a total power calculation unit of the motor required for obtaining the total power N of the motor required by the oil cylinder according to the flow of the oil cylinder and the average working pressure of the oil cylinderTarget。
Further, the formula for obtaining the effective working area of the oil cylinder is as follows:
in the formula, the effective working area A of the oil cylinder is the working area of the rodless cavity of the oil cylinder, and D is the inner diameter of the oil cylinder.
Further, the calculation formula for obtaining the average working pressure of the oil cylinder is as follows:
in the formula, n is the number of the oil cylinders, p is the average working pressure among the n oil cylinders, F is the total load of the n oil cylinders, and A is the effective working area of a single oil cylinder.
Further, a calculation formula for obtaining the flow of the oil cylinder is as follows:
Q＝v×A×n；
in the formula, v is the operating speed of the oil cylinder.
Further, the total power N of the motor required by the oil cylinderTargetThe calculation formula of (2) is as follows:
in the formula, QDrain deviceFor system leakage flow, ηbIs hydraulic pressureThe efficiency factor of the pump.
Further, the execution module further comprises: the device comprises an electric control unit, a valve control unit, a monitoring unit and a maintenance unit.
Further, the monitoring unit includes: displacement sensor, inclination sensor, vibrations sensor, noise sensor, torsion sensor, speedtransmitter and display instrument.
Furthermore, the maintenance unit comprises a remote control block which is connected with the monitoring unit and carries out remote maintenance through regional networking according to the feedback of the monitoring unit.
Further, the intelligent control system further comprises a selection module for selecting corresponding drilling parameters according to different geology, wherein the drilling parameters comprise: feed speed, rotational speed and torque.
Specifically, the drilling parameters corresponding to different geological soil layers are inconsistent, such as geological layers including clay layers, sand layers, mixed soil layers, low-weathered layers, medium-weathered layers, rock layers, ultrahard layers and the like, and when the geological layer where the drilling machine is located is detected to be changed, the selection module can select the corresponding drilling parameters, so that the drilling machine can work in higher schools without manual intervention.
In summary, the total power required by the oil cylinder to drive the drilling machine is calculated, the required total power is compared with the total output power of the motor set, the number of the motors is finally started or stopped, the steps are repeated until the total power required by the oil cylinder is greater than the output power of the motor set, but the difference value between the total power required by the oil cylinder and the output power of the motor set is smaller than the average output power of one motor in the motor set, and the allocation is finished. Meanwhile, the real-time monitoring can be carried out according to different use conditions of the drilling machine, and each motor in the motor set can be allocated in real time. The power consumption of the motor set is reduced to the maximum extent on the premise that the output power of the motor set can ensure the normal work of the drilling machine.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
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