Fault analysis method, device and equipment for rotary drilling rig and medium

Abstract

The invention discloses a fault analysis method, device and equipment for a rotary drilling rig and a medium, and belongs to the technical field of engineering machinery technologies. The fault analysis method for the rotary drilling rig comprises the following steps: acquiring equipment parameters of the rotary drilling rig, and respectively establishing corresponding mathematical models for a plurality of functional systems of the rotary drilling rig according to the equipment parameters; wherein the functional system comprises a mechanical system, a hydraulic system, a control system and a power system; establishing a model library by utilizing the mathematical model; the simulation models corresponding to all the function systems are connected based on the model library, and a digital prototype of the rotary drilling rig is obtained; the digital prototype is controlled to operate according to multiple fault working conditions, and the component energy loss of the digital prototype under each fault working condition is obtained; and establishing a mapping relationship between the energy loss of the component and the fault type of the fault working condition, and performing fault analysis on the rotary drilling rig according to the mapping relationship. The fault analysis precision and efficiency of the rotary drilling rig can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular relates to a fault analysis method, device, equipment and medium of a rotary drilling rig. BACKGROUND

[0002] The rotary drilling rig is a high-efficiency drilling equipment for building construction, which drills into the stratum through a rotary drill bit and is suitable for various geological conditions. In the working process, the rotary drilling rig may have mechanical, hydraulic or control system faults. In the related art, the fault analysis is usually based on key parameters in the actual working process of the rotary drilling rig, but the above method needs to rely on a large amount of actual operation data and has the problems of low fault analysis accuracy and long response time.

[0003] Therefore, how to improve the fault analysis accuracy and efficiency of the rotary drilling rig is a technical problem to be solved by those skilled in the art. SUMMARY

[0004] The present application aims to provide a fault analysis method, device, equipment and medium of a rotary drilling rig, which can improve the fault analysis accuracy and efficiency of the rotary drilling rig.

[0005] To solve the above technical problems, the present application provides a fault analysis method of a rotary drilling rig, which comprises the following steps:

[0006] Obtaining equipment parameters of the rotary drilling rig, and establishing corresponding mathematical models for a plurality of functional systems of the rotary drilling rig according to the equipment parameters; wherein the functional systems include a mechanical system, a hydraulic system, a control system and a power system;

[0007] Establishing a model library by using the mathematical models; wherein the model library includes simulation models of a plurality of components in the functional systems;

[0008] Connecting the simulation models corresponding to each functional system based on the model library to obtain a digital prototype of the rotary drilling rig;

[0009] Controlling the digital prototype to operate under a plurality of fault working conditions to obtain component energy loss of the digital prototype under each fault working condition;

[0010] Establishing a mapping relationship between the component energy loss and the fault type of the fault working condition, and performing fault analysis on the rotary drilling rig according to the mapping relationship.

[0011] Optionally, the fault analysis on the rotary drilling rig according to the mapping relationship comprises:

[0012] controlling the digital mockup to run according to the current working condition of the rotary drilling rig, to obtain a current component energy loss of the digital mockup in the current working condition;

[0013] querying a current fault type corresponding to the current component energy loss based on the mapping relationship.

[0014] Optionally, after querying the current fault type corresponding to the current component energy loss based on the mapping relationship, the method further comprises:

[0015] querying a fault handling mode corresponding to the current fault type;

[0016] verifying the fault handling mode by using the digital mockup, to obtain a processing result corresponding to the fault handling mode; wherein the processing result comprises component energy loss change information and processing time length;

[0017] determining an effectiveness of the fault handling mode based on the processing result;

[0018] if the effectiveness of the fault handling mode is lower than a preset value, adding an invalid mark to the fault handling mode.

[0019] Optionally, connecting the simulation model corresponding to each functional system based on the model library comprises:

[0020] connecting the simulation model corresponding to the mechanical system in the model library through a kinematic pair simulation model;

[0021] connecting the simulation model corresponding to the hydraulic system in the model library through a pressure-flow interface simulation model;

[0022] connecting the simulation model corresponding to the control system in the model library through a control signal.

[0023] Optionally, the method further comprises:

[0024] connecting the engine simulation model and the main pump motor simulation model through a torque-speed interface simulation model;

[0025] connecting the reduction machine simulation model with the slewing hydraulic motor simulation model and the power head motor simulation model respectively;

[0026] connecting the hydraulic cylinder simulation model with the pressurizing device simulation model.

[0027] Optionally, after obtaining the digital mockup of the rotary drilling rig, the method further comprises:

[0028] The rig is subjected to bench testing to obtain test operation data under multiple working conditions, wherein the test operation data includes load, hydraulic system pressure, hydraulic system flow rate and component stress.

[0029] The digital prototype is calibrated using the test operation data so that the deviation of simulation operation data of the digital prototype from the test operation data is within a preset range.

[0030] Optionally, corresponding mathematical models are established for multiple functional systems of the rotary drilling rig according to the equipment parameters, including:

[0031] A three-dimensional mechanical model, mechanical working principle, engine structure parameters, engine performance parameters, engine operation parameters, hydraulic component performance parameters, electrical control logic and electrical control program are determined according to the equipment parameters;

[0032] A mathematical model corresponding to the mechanical system is established according to the three-dimensional mechanical model and the mechanical working principle;

[0033] A mathematical model corresponding to the power system is established according to the engine structure parameters, the engine performance parameters and the engine operation parameters;

[0034] A mathematical model corresponding to the hydraulic system is established according to the hydraulic component performance parameters and hydraulic principle;

[0035] A mathematical model corresponding to the control system is established according to the electrical control logic and the electrical control program.

[0036] The application further provides a fault analysis device for a rotary drilling rig, which comprises:

[0037] A modeling module is configured to acquire equipment parameters of the rotary drilling rig and establish corresponding mathematical models for multiple functional systems of the rotary drilling rig according to the equipment parameters, wherein the functional systems include a mechanical system, a hydraulic system, a control system and a power system;

[0038] A model library establishing module is configured to establish a model library using the mathematical models, wherein the model library includes simulation models of multiple components in the functional systems;

[0039] A prototype establishing module is configured to connect simulation models corresponding to each of the functional systems based on the model library to obtain a digital prototype of the rotary drilling rig;

[0040] A loss determining module is configured to control the digital prototype to operate according to multiple fault working conditions to obtain component energy loss of the digital prototype under each of the fault working conditions;

[0041] The fault analysis module is used to establish a mapping relationship between the energy loss of the component and the fault type of the fault condition, and perform fault analysis on the rotary drilling rig according to the mapping relationship.

[0042] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the above-mentioned fault analysis method for the rotary drilling rig are implemented.

[0043] The present application also provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the above-mentioned rotary drilling rig fault analysis method are implemented.

[0044] The present application provides a method for fault analysis of a rotary drilling rig. The method establishes corresponding mathematical models for multiple functional systems based on the equipment parameters of the rotary drilling rig, and uses the above mathematical models to establish a model library containing multiple component simulation models. Based on the simulation models in the model library, a digital prototype of the rotary drilling rig is constructed, and then the digital prototype is used to perform fault analysis on the rotary drilling rig. The digital prototype generated in the present application contains simulation models of various components of the rotary drilling rig, so it can simulate various fault conditions in a virtual environment, thereby improving the accuracy and efficiency of fault analysis of the rotary drilling rig. Furthermore, the present application uses the digital prototype to determine the energy loss of the component under the fault condition, and performs fault analysis based on the mapping relationship between the component energy loss and the fault type; since the energy loss of the component will change when the equipment is in an abnormal operating state, the present application realizes fault analysis of the rotary drilling rig based on the energy loss of the component; compared with the fault analysis scheme based on the equipment operating parameters in the conventional scheme, the present application can locate the fault more accurately, reduce the cases of misjudgment and missed judgment, and improve the accuracy and efficiency of fault analysis. The present application also provides a fault analysis device for a rotary drilling rig, a storage medium and an electronic device, which have the above-mentioned beneficial effects and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 A flowchart of a fault analysis method for a rotary drilling rig provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of the implementation principle of a digital prototype of a rotary drilling rig provided in an embodiment of the present application;

[0048] Figure 3 A fault analysis principle schematic diagram provided by an embodiment of the present application. DETAILED DESCRIPTION

[0049] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in a clear and complete manner with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0050] Please see the following Figure 1 , Figure 1 A flowchart of a fault analysis method of a rotary drilling rig provided by an embodiment of the present application.

[0051] The specific steps can include:

[0052] S101: Obtain device parameters of the rotary drilling rig, and establish corresponding mathematical models for a plurality of functional systems of the rotary drilling rig respectively according to the device parameters.

[0053] In this embodiment, the electronic device can have a digital twin function. In this step, the device parameters of the rotary drilling rig to be analyzed can be obtained. The device parameters refer to data describing the characteristics of each functional system of the rotary drilling rig, such as a three-dimensional mechanical model, a mechanical working principle, engine structure parameters, engine performance parameters, engine operation parameters, hydraulic component performance parameters, electrical control logic and electrical control programs, etc.

[0054] The rotary drilling rig includes a plurality of functional systems, such as a mechanical system, a hydraulic system, a control system and a power system. Each functional system has specific functions and operating characteristics, which can be described by mathematical models.

[0055] In this embodiment, a corresponding mathematical model can be established for each functional system. For the mechanical system, a model describing the kinematic and dynamic behavior of mechanical components can be established, such as kinematic and dynamic equations. For the hydraulic system, a model describing the relationship between hydraulic oil flow, pressure and flow can be established, such as fluid mechanics equations. For the control system, a model describing the system control logic and response can be established, such as control algorithms and feedback mechanisms. For the power system, a model describing power transmission and conversion efficiency can be established, such as energy balance equations.

[0056] S102: Establish a model library using the mathematical models.

[0057] Each of the functional systems can include a plurality of components, and based on the mathematical model of each of the functional systems, the embodiment can establish a model library by using the mathematical model, wherein the model library includes simulation models of the plurality of components in the functional systems.

[0058] The model library integrates simulation models of a plurality of components, such as hydraulic pumps, motors, controllers, etc., and each model is constructed based on physical characteristics and working principles. The simulation models can simulate the behavior of actual components under different working conditions and provide components for the digital prototype of the rotary drilling rig. Through the model library, the simulation of the entire system can be quickly built and tested, so as to analyze the performance and faults in the virtual environment.

[0059] S103: connecting the simulation models corresponding to each of the functional systems based on the model library to obtain the digital prototype of the rotary drilling rig.

[0060] In this step, the simulation models of the components corresponding to each of the functional systems can be connected based on the model library to construct the digital prototype of the rotary drilling rig. In the above process, the interfaces and parameters between the simulation models can be set to ensure the collaborative work of the components and simulate the real running state of the rotary drilling rig.

[0061] S104: controlling the digital prototype to run in a plurality of fault working conditions to obtain component energy losses of the digital prototype under each of the fault working conditions.

[0062] The component energy losses can include energy losses of a plurality of components, such as an engine, a hydraulic main pump, a hydraulic actuator, etc. The component energy loss refers to the energy that cannot be completely and effectively converted into useful work by the component during the running process of the equipment, but is dissipated in other forms, such as heat energy, sound energy, etc. Before this step, the digital prototype can also be controlled to run in a normal working condition to obtain a normal energy loss range of each component. After obtaining the component energy losses under the fault working conditions, the component energy losses within the normal energy loss range can be excluded, and in the subsequent fault detection process, only the mapping relationship between the component energy losses exceeding the normal energy loss range and the fault types is used for fault analysis.

[0063] S105: establishing a mapping relationship between the component energy losses and fault types of the fault working conditions, and performing fault analysis on the rotary drilling rig according to the mapping relationship.

[0064] Wherein, the step can determine the fault type of each fault condition, and then establish the mapping relationship between the component energy loss and the fault type. On this basis, the embodiment can reproduce the current working condition of the rotary drilling rig on the digital prototype, identify the fault according to the mapping relationship between the component energy loss and the fault type, and evaluate the effect of different fault handling strategies. Specifically, the embodiment can synchronize the data of the digital prototype according to the actual running state of the rotary drilling rig, so that the digital prototype can accurately reflect the real state of the rotary drilling rig; on this basis, the embodiment can control the digital prototype to run according to the current working condition of the rotary drilling rig, obtain the current component energy loss, and determine the fault type corresponding to the current component energy loss based on the mapping relationship. In addition, the embodiment can also directly detect the actual component energy loss of the rotary drilling rig, and determine the fault type of the rotary drilling rig based on the mapping relationship and the actual component energy loss.

[0065] The embodiment provides a fault analysis method of a rotary drilling rig. The method establishes corresponding mathematical models for a plurality of functional systems according to equipment parameters of the rotary drilling rig, and establishes a model library containing a plurality of component simulation models by using the mathematical models. Based on the simulation models in the model library, a digital prototype of the rotary drilling rig is constructed, and then the digital prototype is used for fault analysis of the rotary drilling rig. The digital prototype generated in the embodiment contains simulation models of each component of the rotary drilling rig, so that various fault conditions can be simulated in a virtual environment, thereby improving the fault analysis accuracy and efficiency of the rotary drilling rig. Further, the embodiment determines the component energy loss under the fault condition by using the digital prototype, and performs fault analysis based on the mapping relationship between the component energy loss and the fault type. Since the component energy loss will change when the equipment running state is abnormal, the application realizes fault analysis of the rotary drilling rig based on the component energy loss. Compared with the conventional fault analysis scheme based on equipment running parameters, the application can more accurately locate the fault, reduce the misjudgment and omission, and improve the fault analysis accuracy and efficiency.

[0066] As for Figure 1 For further introduction of the corresponding embodiment, the process of using the digital prototype to perform fault analysis on the rotary drilling rig is as follows: obtaining a plurality of fault conditions of the rotary drilling rig, and controlling the digital prototype to run according to the plurality of fault conditions; determining the component energy loss of the digital prototype under each fault condition; establishing a mapping relationship between the component energy loss and the fault type of the fault condition; if a fault analysis request is received, controlling the digital prototype to run according to the current working condition of the rotary drilling rig, obtaining the current component energy loss of the digital prototype under the current working condition; and querying the current fault type corresponding to the current component energy loss based on the mapping relationship.

[0067] The component energy loss anomaly usually means that the equipment operating state deviates from the normal. When the equipment components have problems such as wear, looseness, blockage or aging, the energy cannot be effectively transmitted or converted, resulting in additional energy loss. The embodiment can detect potential faults in advance, accurately locate the fault position, and take maintenance or replacement measures in time to avoid further damage to the equipment and improve the reliability and operating efficiency of the equipment by monitoring and analyzing the changes in these energy losses.

[0068] Specifically, the embodiment can determine the current working condition of the rotary drilling rig according to the fault analysis request, such as the values of parameters such as load, speed, pressure, flow, voltage, etc.

[0069] Further, after querying the current fault type corresponding to the current component energy loss based on the mapping relationship, the fault handling mode corresponding to the current fault type can also be queried; the digital prototype is used to verify the fault handling mode to obtain a processing result corresponding to the fault handling mode; wherein the processing result includes component energy loss change information and processing time length; the effectiveness of the fault handling mode is determined based on the processing result; if the effectiveness of the fault handling mode is lower than a preset value, the fault handling mode is marked as invalid. The above-mentioned method evaluates and optimizes the fault handling strategy without actually intervening the physical equipment, thereby improving the accuracy and efficiency of maintenance decisions. The above-mentioned method can continuously update and improve the fault handling knowledge base by marking the invalid fault handling mode, and provide more reliable data support for fault diagnosis.

[0070] As for Figure 1 For further introduction of the corresponding embodiment, the process of connecting the simulation model corresponding to each functional system based on the model library includes: connecting the simulation model corresponding to the mechanical system in the model library through the simulation model of the kinematic pair. The kinematic pair is a component in the mechanical system for transmitting motion and force, such as bearings, gears, etc. Through the simulation model of the kinematic pair, each simulation model (such as connecting rods, joints, etc.) related to the mechanical system in the model library can be connected to simulate the relative motion and dynamics behavior between components. The simulation model corresponding to the hydraulic system in the model library is connected through the pressure-flow interface simulation model. Through the pressure-flow interface simulation model, the simulation models corresponding to the hydraulic system (such as hydraulic pumps, hydraulic motors, hydraulic cylinders, etc.) in the model library can be connected to simulate the flow and pressure changes of hydraulic oil in the system. The simulation model corresponding to the control system in the model library is connected through the control signal to simulate the adjusting effect of the control system on the behavior of the entire rotary drilling rig.

[0071] Correspondingly, the embodiment can also connect the engine simulation model with the main pump motor simulation model through the torque speed interface simulation model; connect the speed reducer simulation model with the rotary hydraulic motor simulation model and the power head motor simulation model respectively; and connect the hydraulic cylinder simulation model with the pressurizing device simulation model.

[0072] As for the Figure 1 Further to the corresponding embodiment, after obtaining the digital prototype of the rotary drilling rig, a bench test can be performed on the rotary drilling rig to obtain test operation data under multiple working conditions; wherein the test operation data includes load, hydraulic system pressure, hydraulic system flow and component stress; and the digital prototype is calibrated using the test operation data so that the deviation degree of the simulation operation data of the digital prototype and the test operation data is within a preset range. Through the above manner, the parameters of the digital prototype can be corrected.

[0073] As for the Figure 1 Further to the corresponding embodiment, the process of establishing corresponding mathematical models for multiple functional systems of the rotary drilling rig according to the equipment parameters includes: determining a three-dimensional mechanical model, mechanical working principle, engine structure parameters, engine performance parameters, engine operation parameters, hydraulic component performance parameters, electrical control logic and electrical control program according to the equipment parameters; establishing a corresponding mathematical model of the mechanical system according to the three-dimensional mechanical model and the mechanical working principle; establishing a corresponding mathematical model of the power system according to the engine structure parameters, the engine performance parameters and the engine operation parameters; establishing a corresponding mathematical model of the hydraulic system according to the hydraulic component performance parameters and hydraulic principle; and establishing a corresponding mathematical model of the control system according to the electrical control logic and the electrical control program.

[0074] In the operation process of the rotary drilling rig, the conventional method usually detects faults only according to the operation parameters of the equipment, but the operation habits and skill levels of the operators will interfere with the fault detection results, and the fault detection accuracy is low. To solve this problem, the embodiment has the following improvement: an identification model is trained using normal fluctuations (i.e. positive samples) in equipment operation parameters and abnormal fluctuations (i.e. negative samples) caused by user operation habits. Before fault analysis, the above identification model is used to detect whether there is parameter abnormal fluctuation caused by user operation habits; if there is, a prompt information is generated to standardize the operation behavior of the operator; and if there is not, the operation of using the digital prototype to analyze the fault of the rotary drilling rig is performed.

[0075] The following describes the flow described in the above embodiment through a rotary drilling rig digital prototype implementation scheme based on multi-system coupling in actual application.

[0076] The scheme can carry out mechanical, hydraulic, control, power four systems and joint simulation modeling, and realize joint simulation system model library management, parameterized modeling, test data management, simulation result data management and data and three-dimensional model visualization through a device. The embodiment realizes the establishment of the model library of each system of the rotary drilling rig and the connection between models of different disciplines; and develops a parameterized platform to realize the establishment, data management and visualization of the digital prototype. The scheme specifically includes the following steps:

[0077] Step one: establishing mathematical models of the mechanical system, the hydraulic system, the control system and the power system of the rotary drilling rig.

[0078] The mechanical system of the rotary drilling rig includes a rotary platform, a chassis, a drilling tool, a power head, a drill pipe, a goose head arm, a drill mast, an amplitude changing mechanism, a main winch, a tripod, a connecting rod and a movable arm. According to the three-dimensional CAD (Computer Aided Design) model of the rotary drilling rig and the movement mechanism of each structural component during work, the mathematical model of the mechanical structure and its connection is established, mainly including the physical parameters of each component and the movement pairs between each component.

[0079] The hydraulic system of the rotary drilling rig includes a pump control circuit, a power head rotation circuit, a pressurization circuit, a pilot control circuit, a main winch circuit, an amplitude changing circuit and a rotation circuit. According to the principle of the hydraulic system, the mathematical modeling is carried out on the hydraulic oil, the main pump, the overflow valve, the oil cylinder, the electromagnetic reversing valve, the accumulator, the motor and the oil pipe of the hydraulic system.

[0080] The control system of the rotary drilling rig includes the control of the main pump, the main valve, the auxiliary valve, the power head and the main winch motor. According to the control logic, the mathematical modeling is carried out on each control module, wherein the main pump includes a constant power, a slope and a main pump pressure size fluctuation control unit; the main valve, the power head and the main winch action include a single action, a compound action and a slope control unit; the auxiliary valve includes a rotation, an amplitude changing and a pressurization control unit; the power head motor variable control unit; and the main winch motor variable control unit.

[0081] The power system of the rotary drilling rig includes an engine unit considering the external characteristic curve.

[0082] Step two: establishing a model library based on Modelica (an open, object-oriented, equation-based computer language).

[0083] Based on Modelica language, the model library of each system module of rotary drilling rig is established. The model library of mechanical system includes component library, mainly including rotary platform, chassis, drilling tool, power head, drill pipe, goose head arm, drill mast, luffing mechanism, main winch, tripod, connecting rod, boom, etc. The model library of hydraulic system includes component library of hydraulic system, mainly including hydraulic oil, main pump, overflow valve, oil cylinder, electromagnetic reversing valve, accumulator, motor, oil pipe, etc. The model library of control system includes control unit library of main pump, main valve, auxiliary valve, power head and main winch motor. The model library of power system includes engine library or lithium battery and motor.

[0084] Step three: the simulation model of whole machine system (i.e. digital prototype) is established by connecting each model in each model library.

[0085] (1) Connection of mechanical system: the simulation models of each component in the model library of mechanical system are connected through kinematic pairs, mainly including the connection of rotary platform with chassis, boom, connecting rod, the fixed connection of chassis with ground, the gear pair connection of power head with drill pipe, the translational pair connection of power head with drill mast and pressurizing cylinder, the rope connection of main winch with rotary platform, the fixed connection of goose head arm with drill mast for providing support for main winch rope when lifting power head, and the rotational pair connection of tripod with connecting rod, boom and two cylinder mounting points of luffing mechanism.

[0086] (2) Connection of hydraulic system: the simulation models of each component in the model library of hydraulic system are connected through pressure and flow interface, the output pressure and flow of main pump are connected to main valve and auxiliary valve, the main valve and auxiliary valve output their flow and pressure according to electric control signal, the luffing cylinder, main winch motor, power head motor and mast rotation motor receive pressure and flow from main valve and auxiliary valve to realize luffing action, main winch action, power head rotation action and mast rotation action.

[0087] (3) Connection of control system: the simulation models of each component in the model library of control system are connected through signals, each control signal is connected to main pump variable, main valve and auxiliary valve action, power head and main winch motor variable control. The main pump variable control mainly considers engine speed, pressurizing pressure, power head pressure, main pump outlet pressure, auxiliary pump pressure, pressurizing cylinder action and main winch action signal.

[0088] (4) Connection of engine and hydraulic system: the simulation models of each component in the model library of engine system are connected with main pump motor through torque and speed interface, the target speed of engine is set in advance, the output speed is collected and PID (Proportion Integral Differential) feedback control is used to stabilize the speed, when the system load increases, the output torque of engine is increased, the maximum output torque of engine is limited according to engine universal characteristic curve, and the engine speed drop condition is simulated.

[0089] (5) Hydraulic system and mechanical system connection: rotary hydraulic motor output pressure and flow to the reducer, drive the car rotation, power head motor output pressure and flow to the reducer drive power head rotation, hydraulic cylinder output pressure and flow to drive the pressure device.

[0090] Step four: test operation data and simulation data comparison correction.

[0091] Through the bench test of the prototype, the load and hydraulic system pressure flow data and component stress data (i.e. component stress) under different working conditions are obtained, the electro-hydraulic and power system joint simulation model is calibrated, and the accuracy of the system model is ensured to be more than 85%.

[0092] Step five: rotary drilling rig digital prototype implementation device based on multi-system coupling.

[0093] The digital prototype implementation device is a software system that imports the test data collected by the data acquisition system into the software for saving, displaying, and comparing with the simulation result data; the system calls the Modelica model of the four systems of the rotary drilling rig and the connection module to establish a digital prototype, and can realize parameterized modeling; the system saves, displays, and compares the simulation result data with the test results; the system outputs the collected data and the simulation result data to the three-dimensional visualization unit to drive the three-dimensional model and perform whole machine animation display.

[0094] Please refer to Figure 2 , Figure 2 The digital prototype implementation principle diagram of the rotary drilling rig provided by the embodiment of the application. The modeling input data includes: data acquisition (including sensor data), three-dimensional mechanical model and working principle, engine structure, performance, operating parameters, hydraulic principle, hydraulic component performance parameters, and electrical control logic and program. The data can be analyzed on the parameterized platform, and the organic electro-hydraulic power joint simulation model can be run. The organic electro-hydraulic power joint simulation model can generate Modelica mechanical system unit library, Modelica engine unit library, Modelica hydraulic system unit library, and Modelica control system unit library. After parameterization of each model, test data saving, simulation data saving, mechanical system kinematics data saving, hydraulic system pressure flow data saving, engine speed, torque, power data saving, control system signal data saving, whole machine energy flow data saving, etc. operations can be performed. In the visualization part, test data display, simulation data display, mechanical system kinematics data display, hydraulic system pressure flow data display, engine speed display, torque data display, power data display, control system signal data display, whole machine energy flow data display, three-dimensional animation display, etc. operations can be performed.

[0095] Step six: fault analysis of rotary drilling rig digital prototype based on multi-system coupling.

[0096] The digital prototype can use the simulation model to perform virtual tests on fault countermeasures that cannot be verified in normal test environments. Based on the digital prototype and combined with various working data actually collected, the energy flow analysis of the entire machine is performed to obtain the normal energy loss range of each component. Various fault working conditions are input into the digital prototype, and then the energy loss of each component is analyzed to find the mapping relationship between the fault and the energy loss. When an actual fault occurs, the energy loss is detected to determine the source of the fault, and finally the fault is solved.

[0097] See Figure 3 , Figure 3 A fault analysis principle diagram provided by the embodiment of the present application is shown in the figure, which shows that the rotary drilling rig includes fuel, an engine, a hydraulic main pump, a multi-way valve, and a hydraulic actuator. The hydraulic actuator can output effective power, on the basis of which the engine-related loss, pump efficiency loss, overflow throttle loss, and potential and friction loss can be determined.

[0098] The embodiment combines various disciplines during the working process of the rotary drilling rig to perform simulation calculation, solves the problem that most system simulation design fields involve single discipline or do not consider the multi-disciplinary physical quantity coupling situation, the simulation result is more accurate and can verify the performance of the system in multiple aspects, and intuitive visual display is performed, which facilitates the cooperation of designers of different disciplines in the research and development process and improves the research and development efficiency. The digital functional prototype simulation model performs virtual tests on fault countermeasures that cannot be verified in actual test environments.

[0099] The fault analysis device of the rotary drilling rig provided by the embodiment of the present application includes:

[0100] A modeling module is configured to acquire equipment parameters of the rotary drilling rig and establish corresponding mathematical models for a plurality of functional systems of the rotary drilling rig respectively according to the equipment parameters; wherein the functional systems include a mechanical system, a hydraulic system, a control system, and a power system.

[0101] A model library establishing module is configured to establish a model library by using the mathematical models; wherein the model library includes simulation models of a plurality of components in the functional systems.

[0102] A prototype establishing module is configured to connect the simulation models corresponding to each of the functional systems based on the model library to obtain a digital prototype of the rotary drilling rig.

[0103] A loss determining module is configured to control the digital prototype to operate according to a plurality of fault working conditions to obtain component energy losses of the digital prototype under each of the fault working conditions.

[0104] a fault analysis module configured to establish a mapping relationship between the component energy loss and a fault type of the fault condition, and to perform fault analysis on the rotary drilling rig based on the mapping relationship.

[0105] The embodiment provides a fault analysis method for a rotary drilling rig. The method establishes corresponding mathematical models for multiple functional systems according to equipment parameters of the rotary drilling rig, and establishes a model library containing multiple component simulation models by using the mathematical models. Based on the simulation models in the model library, a digital prototype of the rotary drilling rig is constructed, and then the digital prototype is used to perform fault analysis on the rotary drilling rig. The digital prototype generated in the embodiment contains simulation models of each component of the rotary drilling rig, and thus can simulate various fault conditions in a virtual environment, thereby improving the fault analysis accuracy and efficiency of the rotary drilling rig. Further, the application determines the component energy loss under the fault condition by using the digital prototype, and performs fault analysis based on the mapping relationship between the component energy loss and the fault type. Since the component energy loss will change when the equipment is in an abnormal operating state, the application realizes fault analysis on the rotary drilling rig based on the component energy loss. Compared with the fault analysis scheme based on equipment operating parameters in the conventional scheme, the application can more accurately locate faults, reduce misjudgment and omission, and improve the fault analysis accuracy and efficiency.

[0106] Further, the process of performing fault analysis on the rotary drilling rig by the fault analysis module based on the mapping relationship includes: controlling the digital prototype to operate according to a current condition of the rotary drilling rig, obtaining a current component energy loss of the digital prototype under the current condition; and querying a current fault type corresponding to the current component energy loss based on the mapping relationship.

[0107] Further, the method further includes:

[0108] a fault processing module configured to, after querying the current fault type corresponding to the current component energy loss based on the mapping relationship, query a fault processing mode corresponding to the current fault type; and configured to verify the fault processing mode by using the digital prototype, and obtain a processing result corresponding to the fault processing mode; wherein the processing result includes component energy loss change information and processing time length; and configured to determine an effectiveness of the fault processing mode based on the processing result; and configured to add an invalid mark to the fault processing mode if the effectiveness of the fault processing mode is lower than a preset value.

[0109] Further, the process that the prototype establishment module connects the simulation model corresponding to each of the functional systems based on the model library comprises: connecting the simulation model corresponding to the mechanical system in the model library through the simulation model of the kinematic pair; connecting the simulation model corresponding to the hydraulic system in the model library through the pressure-flow interface simulation model; and connecting the simulation model corresponding to the control system in the model library through the control signal.

[0110] Further, the prototype establishment module is further configured to connect the engine simulation model and the main pump motor simulation model through the torque-rotational speed interface simulation model, connect the speed reducer simulation model with the slewing hydraulic motor simulation model and the power head motor simulation model respectively, and connect the hydraulic cylinder simulation model with the pressurizing device simulation model.

[0111] Further, the method further comprises:

[0112] The calibration module is configured to, after obtaining the digital prototype of the rotary drilling rig, perform a bench test on the rotary drilling rig to obtain test running data under multiple working conditions, wherein the test running data comprises load, hydraulic system pressure, hydraulic system flow and component stress, and calibrate the digital prototype by using the test running data, so that the deviation degree of simulation running data of the digital prototype and the test running data is within a preset range.

[0113] Further, the process that the modeling module establishes the corresponding mathematical model for each of the functional systems of the rotary drilling rig according to the equipment parameters comprises: determining a three-dimensional mechanical model, mechanical working principle, engine structure parameters, engine performance parameters, engine running parameters, hydraulic component performance parameters, electrical control logic and electrical control program according to the equipment parameters; establishing the mathematical model corresponding to the mechanical system according to the three-dimensional mechanical model and the mechanical working principle; establishing the mathematical model corresponding to the power system according to the engine structure parameters, the engine performance parameters and the engine running parameters; establishing the mathematical model corresponding to the hydraulic system according to the hydraulic component performance parameters and hydraulic principle; and establishing the mathematical model corresponding to the control system according to the electrical control logic and the electrical control program.

[0114] Since the embodiments of the device part correspond to the embodiments of the method part, the embodiments of the device part are described in the description of the embodiments of the method part, and will not be described here.

[0115] The application further provides a storage medium, which has a computer program stored thereon, and the computer program can implement the steps provided by the above-mentioned embodiments when executed. The storage medium can include a U disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0116] The application further provides an electronic device, which can include a memory and a processor, the memory has a computer program stored therein, and the processor can implement the steps provided by the above-mentioned embodiments when calling the computer program in the memory. Of course, the electronic device can further include various network interfaces, power supplies and other components.

[0117] The embodiments in the description are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be pointed out that, for ordinary skilled in the art, without departing from the principles of the application, the application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the application.

[0118] It should be further noted that, in the specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. A failure analysis method of a rotary drilling rig, characterized by, The method comprises the following steps: obtaining equipment parameters of a rotary drilling rig, and establishing corresponding mathematical models for a plurality of functional systems of the rotary drilling rig respectively according to the equipment parameters; wherein the functional systems include a mechanical system, a hydraulic system, a control system and a power system; establishing a model library by using the mathematical models; wherein the model library includes simulation models of a plurality of components in the functional systems; connecting the simulation models corresponding to each of the functional systems based on the model library to obtain a digital prototype of the rotary drilling rig; controlling the digital prototype to operate according to a plurality of fault working conditions to obtain component energy losses of the digital prototype under each of the fault working conditions; establishing a mapping relationship between the component energy losses and fault types of the fault working conditions, and performing fault analysis on the rotary drilling rig according to the mapping relationship.

2. The failure analysis method of the rotary digger according to claim 1, characterized in that, The fault analysis on the rotary drilling rig according to the mapping relationship comprises the following steps: controlling the digital prototype to operate according to a current working condition of the rotary drilling rig to obtain current component energy losses of the digital prototype under the current working condition; querying a current fault type corresponding to the current component energy losses based on the mapping relationship.

3. The failure analysis method of the rotary digger according to claim 2, characterized in that, After querying the current fault type corresponding to the current component energy losses based on the mapping relationship, the method further comprises the following steps: querying a fault handling mode corresponding to the current fault type; verifying the fault handling mode by using the digital prototype to obtain a handling result corresponding to the fault handling mode; wherein the handling result includes component energy loss change information and a handling time length; determining an effectiveness of the fault handling mode based on the handling result; if the effectiveness of the fault handling mode is lower than a preset value, adding an invalid mark to the fault handling mode.

4. The fault analysis method for a rotary drilling rig according to claim 1, characterized in that: The connection of the simulation models corresponding to each of the functional systems based on the model library comprises the following steps: connecting the simulation models corresponding to the mechanical system in the model library through a simulation model of a kinematic pair; connecting the simulation models corresponding to the hydraulic system in the model library through a pressure-flow interface simulation model; connecting the simulation models corresponding to the control system in the model library through a control signal.

5. The failure analysis method of the rotary digger according to claim 4, characterized in that, The method further comprises the following steps: connecting an engine simulation model and a main pump motor simulation model through a torque-speed interface simulation model; connecting a reduction gear simulation model with a slewing hydraulic motor simulation model and a power head motor simulation model respectively; connecting a hydraulic cylinder simulation model with a pressurizing device simulation model.

6. The failure analysis method of the rotary digger according to claim 1, characterized in that, After obtaining the digital prototype of the rotary drilling rig, the method further comprises the following steps: performing a bench test on the rotary drilling rig to obtain test operation data under a plurality of working conditions; wherein the test operation data includes a load, a hydraulic system pressure, a hydraulic system flow and a component stress; calibrating the digital prototype by using the test operation data so that a deviation degree between simulation operation data of the digital prototype and the test operation data is within a preset range.

7. The failure analysis method of the rotary digger according to claim 1, characterized by, The establishment of the corresponding mathematical models for the plurality of functional systems of the rotary drilling rig according to the equipment parameters comprises the following steps: According to the equipment parameters, a three-dimensional mechanical model, a mechanical working principle, engine structure parameters, engine performance parameters, engine operation parameters, hydraulic component performance parameters, electrical control logic and electrical control programs are determined; According to the three-dimensional mechanical model and the mechanical working principle, a mathematical model corresponding to the mechanical system is established; According to the engine structure parameters, the engine performance parameters and the engine operation parameters, a mathematical model corresponding to the power system is established; According to the hydraulic component performance parameters and hydraulic principles, a mathematical model corresponding to the hydraulic system is established; According to the electrical control logic and the electrical control programs, a mathematical model corresponding to the control system is established.

8. A failure analysis device of a rotary excavating machine, characterized by, The method comprises the following steps: A modeling module is used to obtain equipment parameters of a rotary drilling rig and to establish a corresponding mathematical model for each functional system of the rotary drilling rig according to the equipment parameters; wherein the functional systems include a mechanical system, a hydraulic system, a control system and a power system; A model library establishing module is used to establish a model library by using the mathematical models; wherein the model library includes simulation models of multiple components in the functional systems; A prototype establishing module is used to connect the simulation models corresponding to each functional system based on the model library to obtain a digital prototype of the rotary drilling rig; A loss determining module is used to control the digital prototype to operate according to multiple fault working conditions to obtain component energy losses of the digital prototype under each fault working condition; A fault analysis module is used to establish a mapping relationship between the component energy losses and fault types of the fault working conditions and to perform fault analysis on the rotary drilling rig according to the mapping relationship.

9. An electronic device, comprising: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the fault analysis method of the rotary drilling rig according to any one of claims 1 to 7 are implemented.

10. A storage medium, characterized by The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the fault analysis method of the rotary drilling rig according to any one of claims 1 to 7 are implemented.

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