Model-free self-adaptive control method for water well drilling rig propelling device and system

Abstract

The invention discloses a model-free self-adaptive control method for a water well drilling rig propelling device and system. According to the system, a hydraulic oil cylinder serves as the propellingdevice, and displacement of a hydraulic oil cylinder piston is obtained through a displacement sensor; a state-space equation of the well drilling rig propelling system is established; the tight format dynamic linearization processing is carried out to obtain a data model; a pseudo partial derivative estimation rule is calculated; a model-free adaptive controller is designed; the output of the controller is applied to a load-sensitive proportional valve, the displacement of the hydraulic oil cylinder piston can be adjusted by adjusting the opening degree of a valve port of the load-sensitiveproportional valve, and output propelling force is provided for a drilling rig. The method and the system aim at characteristics of multiple parameters and strong coupling of the hydraulic system of the water well drilling rig, the complex nonlinear dynamic characteristics of the propelling system are considered, the model-free adaptive control method is adopted, and the design of the controller can be completed only by utilizing online and offline data. The method has strong anti-interference performance and robustness, and has better adaptability to uncertain working conditions of the waterwell drilling rig.

Description

technical field [0001] The invention belongs to the technical field of engineering machinery automatic control, and in particular relates to a model-free self-adaptive control method and system for a propulsion device of a water well drilling rig. Background technique [0002] Water well drilling rig is the main equipment for water well drilling construction tasks. Water well drilling rigs usually include a slewing system and a propulsion system, and have the functions of erecting, automatically conveying and discharging drill pipes. Water well drilling rigs mainly use the hydraulic system as the power source. By analyzing the working conditions of the hydraulic system, the load, control objects, control content and control requirements can be clarified. The slewing system realizes the rotary cutting of the rock formation through the valve-controlled hydraulic motor system. The propulsion system provides the water well drilling rig with the axial propulsion for drilling th...

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Problems solved by technology

[0005] The present invention provides a model-free self-adaptive control method and system for a water well drilling rig propulsion device in view of the interference factors such as model uncertainty, unmodeled dynamics, and external sediment in the water well drilling rig propulsion system, which solves the problems in the prior art The problem of poor robustness, the optimal control of the drilling rig propulsion system is realized in complex working conditions, and the drilling efficiency is improved

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