Automatic catway based on adaptive neural network and control method of automatic catway

Abstract

the invention relates to an automatic catway based on an adaptive neural network and a control method of the automatic catway. The automatic catway comprises a first displacement sensor for detectingthe position of a vehicle frame translation system, a second displacement sensor for detecting the position of a lifting tackle, a first angular displacement sensor for detecting the angles of the vehicle frame translation system and a stay bar assembly, a second angular displacement sensor for detecting the angle between a lifting system and the stay rod assembly, a third angular displacement sensor for detecting the angle between the lifting system and a ramp, a gravity sensor for detecting the quality of a drilling tool and a driving controller for controlling a driving device, wherein thegravity sensor and the driving controller are arranged at the bottom of the lifting system; and the six sensors are responsible for transmitting a detected line displacement signal, an angular displacement signal and a quality signal to the driving controller, the driving controller compares the received signals with a target function, and a wavelet basis algorithm is used for performing error control to appeared errors. The power catway has fast positioning, accurate time and timely response; and the control method has high anti-interference and self-learning ability, and can quickly and accurately estimate and compensate non-qualitative terms of a model.

Description

technical field [0001] The invention relates to a dynamic catwalk based on intelligent error compensation and a control method thereof. The error compensation algorithm mainly uses a wavelet-based neural network control algorithm. Background technique [0002] When using automatic catwalks for large-scale drilling and production tasks in modern times, there are problems such as nonlinear forced vibration, difficult control and strong impact vibration in the process of moving drill tools in the drilling tool conveying mechanism; this will lead to the elasticity of the mechanism Deformation affects the stability and safety of the whole machine. In severe cases, it will cause the whole machine to roll over and cause casualties. Therefore, the application in engineering is limited. The operation of drilling tools on and off the drilling floor has become a bottleneck that hinders the improvement of the overall automation level of drilling equipment. . [0003] Therefore, on the ...

AI Technical Summary

Problems solved by technology

[0002] When using automatic catwalks for large-scale drilling and production tasks in modern times, there are problems such as nonlinear forced vibration, difficult control and strong impact vibration in the process of moving drill tools in the drilling tool conveying mechanism; this will lead to the elasticity of the mechanism Deformation affects the stability and safety of the whole machine. In severe cases, it will cause the whole machine to roll over and cause casualties. Therefore, the application in engineering is limited. The operation of drilling tools on and off the drilling floor has become a bottleneck that hinders the improvement of the overall automation level of drilling equipment.

Images