A multi-cylinder synchronous PID control method and system for a rotary excavator

Abstract

The present application relates to rotary excavator control method technical field, especially in kind for rotary excavator multi-cylinder synchronous PID control method and system, the method includes S1, hardware foundation, S2, inner and outer ring PID control, S3, work mode judgment, S4, normal synchronous mode, S5, blocked follow mode, S6, fault protection mode, the present application is under normal synchronous mode condition, according to displacement outer ring control generates the actual basis speed of each oil cylinder independence and increases cross coupling speed compensation mechanism, improves the synchronization accuracy between multi-cylinder, realizes the horizontal synchronous displacement of multi-cylinder, when the blocked situation appears to certain oil cylinder, limit the remaining oil cylinder to follow in the vicinity of the blocked cylinder, avoid structural deformation and mechanical hard top, when oil cylinder appears serious anomaly, the system turns into fault protection mode, to oil cylinder speed zero and outputs fault alarm and stop interlock, realizes equipment safety protection.

Description

Technical Field

[0001] This invention relates to the field of rotary drilling rig control methods, and in particular to a multi-cylinder synchronous PID control method and system for rotary drilling rigs. Background Technology

[0002] Rotary drilling rigs, also known as rotary drilling machines or pile drivers, are comprehensive drilling machines suitable for various geological formations. They are characterized by fast drilling speed, low pollution, and high mobility. Rotary drilling rigs can use short auger bits for dry excavation in hard formations, or use rotary bits in conjunction with mud slurry for wet excavation in soft formations. Rotary drilling rigs have short drilling assistance time, low labor intensity, and do not require mud circulation for slag removal, thus saving costs and making them suitable for foundation construction in urban development.

[0003] During the operation of a rotary drilling rig with a multi-cylinder driven drill bit, due to the uneven distribution of the strata, the resistance experienced by the cylinders at different locations often varies greatly, which can easily lead to asynchronous cylinder advance. This can result in drill bit deflection and uneven stress on the structure, which can affect the drilling accuracy or even cause structural deformation, damage to mechanical parts, and other safety accidents.

[0004] Existing technologies for multi-cylinder PID control lack error compensation steps in their inner and outer loops. When encountering uneven ground resistance, they cannot promptly correct the positional deviations of multiple cylinders, resulting in low synchronization control accuracy. Some synchronization control schemes lack a tiered working condition handling mechanism; when one cylinder is obstructed, the operating status of the remaining cylinders cannot be adjusted in time, easily leading to structural deformation or hard-hitting risks, and lacking an effective fault protection mechanism. This invention addresses the above-mentioned deficiencies of existing technologies by providing a multi-cylinder synchronous PID control method and system for rotary drilling rigs with high synchronization accuracy and good safety. Summary of the Invention

[0005] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and other accompanying drawings.

[0006] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a multi-cylinder synchronous PID control method for rotary drilling rigs. In normal synchronous mode, the method generates an independent actual base speed for each cylinder based on the displacement outer loop control and adds a cross-coupling speed compensation mechanism to improve the synchronization accuracy between multiple cylinders and achieve horizontal synchronous displacement of multiple cylinders. When a cylinder is obstructed, the other cylinders are limited to follow the obstructed cylinder to avoid structural deformation and mechanical hardening. When a cylinder experiences a serious abnormality, the system switches to fault protection mode, resets the cylinder speed to zero, and outputs a fault alarm and shutdown interlock to achieve equipment safety protection. This invention provides a multi-cylinder synchronous PID control method for rotary drilling rigs, comprising: S1. Hardware Basics: The rotary drilling rig is equipped with at least three hydraulic cylinders controlled by hydraulic proportional valves. The piston rod of the cylinder drives the drill bit to dig forward. Each cylinder is equipped with a displacement sensor, speed sensor and pressure sensor. Each cylinder is subject to inner and outer loop PID control. S2, Inner and outer loop PID control: The outer loop of displacement control is based on the actual position and desired position of the piston rod, and the inner loop of speed control is based on the actual base speed and desired speed of the piston rod. According to the deviation between the desired position and the actual position of each cylinder, the cylinder is ensured to move to the desired position based on the desired speed. S3. Working mode judgment: The system automatically switches the working mode according to the current position, speed, pressure and time conditions of the hydraulic cylinder. The working modes include: normal synchronization mode, obstructed following mode and fault protection mode. S4. Normal Synchronization Mode: During the forward propulsion of each cylinder, cross-coupling speed compensation is added to improve synchronization accuracy. The specific steps for cross-coupling speed compensation are as follows: S41. Based on inner and outer loop PID control, the independent actual base speed of each piston rod is obtained according to the deviation between the desired position and the actual position of each cylinder: , , ,in This represents the actual basic moving speed of the piston rod of the first hydraulic cylinder. This refers to the actual basic moving speed of the piston rod of the second cylinder. This is the actual basic moving speed of the piston rod of the third hydraulic cylinder; S42. Calculate the synchronization error based on the positional deviation between each piston rod: in, Current position of the piston rod of the first hydraulic cylinder Current position of the piston rod of the second cylinder Positional deviation; Current position of the piston rod of the first hydraulic cylinder and the current position of the piston rod of the third cylinder Positional deviation; Current position of the piston rod of the second cylinder and the current position of the piston rod of the third cylinder Positional deviation; Introducing cross-coupling to control the gain to obtain velocity gain: in, , and The optimal value for the cross-coupling control gain of each hydraulic cylinder was determined through on-site testing and debugging. , and The speed gain, obtained by combining the synchronization error between cylinders with the corresponding cross-coupling control gain, is used to achieve speed compensation, causing the leading cylinder to decelerate and the lagging cylinder to accelerate. in, The compensated speed of the piston rod of the first hydraulic cylinder. The compensated speed of the piston rod of the second cylinder. The compensated speed of the piston rod of the third cylinder is used to achieve horizontal synchronization of multiple cylinders by finely adjusting the different forward speeds between them. S5, Obstructed Follow-up Mode: When the piston rod of a certain cylinder is under high pressure, low speed or continuously obstructed, the system identifies the cylinder as an obstructed cylinder, and the other cylinders run at a speed not exceeding the position of the obstructed cylinder to prevent the other cylinders from running ahead and causing structural deformation or mechanical hardening. S6. Fault Protection Mode: When the piston rod of a certain cylinder experiences an abnormal situation such as overpressure, synchronization error, or continuous timeout due to obstruction, the system switches to fault protection mode, the cylinder speed is reset to zero, and a fault alarm and shutdown interlock are output.

[0007] In some embodiments, in step S2, the actual position of the current piston rod is the difference between the current value of the displacement sensor and the zero position. The desired position of the current piston rod is obtained by setting a desired speed X time. The desired speed is specified by a host command and is 100 mm / s.

[0008] In some embodiments, in step S5, the specific threshold for determining the obstructed following mode is: when the maximum speed of a certain cylinder... minimum speed , If the current cylinder pressure and duration are both greater than the set threshold, then the current cylinder is determined to be obstructed.

[0009] In some embodiments, in step S6, the fault protection mode can be switched if any of the following conditions are met: the pressure of any cylinder exceeds the limit pressure, the multi-cylinder synchronization error exceeds the fault threshold, or the duration of the obstructed following mode exceeds the threshold.

[0010] In some embodiments, in the S5 obstructed following mode, after determining the position of the obstructed cylinder, the reference value for the position of the remaining cylinders is the position of the obstructed cylinder plus the allowable advance amount, and the specific value of the allowable advance amount is determined according to the mechanical structure.

[0011] A multi-cylinder synchronous PID control system for rotary drilling rigs, characterized in that it includes: The host instruction module is used to receive operator instructions and determine the desired position or speed. The hydraulic cylinder is controlled by a hydraulic proportional valve and is equipped with a displacement sensor, a speed sensor, and a pressure sensor. The feedback information module is used to receive displacement, speed and pressure feedback data from each hydraulic cylinder; The mode management and status judgment module determines the corresponding working mode by receiving data from the feedback information module. The reference value generation module generates the desired position of each hydraulic cylinder according to the specific working mode; The displacement outer loop controller controls each cylinder to move towards the desired position based on the deviation between the actual position and the desired position of each cylinder. Synchronization and speed command generator, introduce cross-coupling speed compensation, and form independent speed commands for each cylinder; The speed inner loop controller controls the output of the hydraulic proportional valve based on the deviation between the given speed command and the actual speed.

[0012] In some embodiments, the specific working modes determined in the mode management and status judgment module include: normal synchronization mode, obstructed following mode, and fault protection mode.

[0013] By adopting the above technical solution, the beneficial effects of the present invention are: This invention proposes a control method for multi-cylinder rotary drilling rigs controlled by inner and outer loop PID. In normal synchronization mode, the outer loop displacement control generates an independent actual base speed for each cylinder and adds a cross-coupling speed compensation mechanism to improve the synchronization accuracy between multiple cylinders and achieve horizontal synchronous displacement of multiple cylinders. When a cylinder is obstructed, the remaining cylinders are limited to follow the obstructed cylinder to avoid structural deformation and mechanical hardening. When a cylinder experiences a serious abnormality, the system switches to fault protection mode, resets the cylinder speed to zero, and outputs a fault alarm and shutdown interlock to achieve equipment safety protection.

[0014] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0015] Undoubtedly, such and other objects of the present invention will become more apparent after the following detailed description of the preferred embodiments, which are illustrated in various accompanying drawings and figures.

[0016] To make the above and other objects, features and advantages of the present invention more apparent and understandable, one or more preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0018] In the accompanying drawings, the same parts use the same reference numerals, and the drawings are schematic and not necessarily drawn to actual scale.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one or more embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on such drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall process of the multi-cylinder synchronous PID control method in some embodiments of the present invention; Figure 2 This is a schematic diagram of the control flow of the inner and outer loop PID control method in some embodiments of the present invention; Figure 3 This is a schematic diagram of the overall process of the multi-cylinder synchronous PID control system in some embodiments of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0022] Furthermore, in the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two main bodies are not connected through a transitional structure, but rather formed as a whole through a connecting structure. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0025] Reference Figure 1-2 , Figure 1 This is a schematic diagram of the overall process of the multi-cylinder synchronous PID control method in some embodiments of the present invention; Figure 2 This is a schematic diagram of the control flow of the inner and outer loop PID control method in some embodiments of the present invention.

[0026] According to some embodiments of the present invention, the present invention provides a multi-cylinder synchronous PID control method for rotary drilling rigs, comprising: S1. Hardware Basics: The rotary drilling rig is equipped with at least three hydraulic cylinders controlled by hydraulic proportional valves. The piston rod of the cylinder drives the drill bit to dig forward. Each cylinder is equipped with a displacement sensor, speed sensor and pressure sensor. Each cylinder is subject to inner and outer loop PID control. S2, Inner and outer loop PID control: The outer loop of displacement control is based on the actual position and desired position of the piston rod, and the inner loop of speed control is based on the actual base speed and desired speed of the piston rod. According to the deviation between the desired position and the actual position of each cylinder, the cylinder is ensured to move to the desired position based on the desired speed. The current actual position of the piston rod is the difference between the current value of the displacement sensor and the zero position. The desired position of the piston rod is obtained by setting the desired speed X time. The desired speed is specified by the host command and is 100mm / s. The specific technical solutions for the inner and outer loop PID method for controlling multiple hydraulic cylinders to achieve basic control of displacement outer loop and speed inner loop have been widely used in this field and are well known in this field. For details, please refer to the existing technology. Therefore, the specific technical solutions for the inner and outer loop PID control of multiple hydraulic cylinders will not be elaborated here. S3. Working mode judgment: The system automatically switches the working mode according to the current position, speed, pressure and time conditions of the hydraulic cylinder. The working modes include: normal synchronization mode, obstructed following mode and fault protection mode. S4. Normal Synchronization Mode: During the forward propulsion of each cylinder, cross-coupling speed compensation is added to improve synchronization accuracy. The specific steps for cross-coupling speed compensation are as follows: S41. Based on inner and outer loop PID control, the independent actual base speed of each piston rod is obtained according to the deviation between the desired position and the actual position of each cylinder: , , ,in This represents the actual basic moving speed of the piston rod of the first hydraulic cylinder. This refers to the actual basic moving speed of the piston rod of the second cylinder. This is the actual basic moving speed of the piston rod of the third hydraulic cylinder; S42. Calculate the synchronization error based on the positional deviation between each piston rod: in, Current position of the piston rod of the first hydraulic cylinder Current position of the piston rod of the second cylinder Positional deviation; Current position of the piston rod of the first hydraulic cylinder and the current position of the piston rod of the third cylinder Positional deviation; Current position of the piston rod of the second cylinder and the current position of the piston rod of the third cylinder Positional deviation; Introducing cross-coupling to control the gain to obtain velocity gain: in, , and The optimal value for the cross-coupling control gain of each hydraulic cylinder was determined through on-site testing and debugging. , and The speed gain, obtained by combining the synchronization error between cylinders with the corresponding cross-coupling control gain, is used to achieve speed compensation, causing the leading cylinder to decelerate and the lagging cylinder to accelerate. in, The compensated speed of the piston rod of the first hydraulic cylinder. The compensated speed of the piston rod of the second cylinder. The compensated speed of the piston rod of the third cylinder is used to achieve horizontal synchronization of multiple cylinders by finely adjusting the different forward speeds between them. The above-mentioned cross-coupling speed compensation steps can reduce the position error between cylinders, improve the synchronization accuracy, and have a fast dynamic response speed, making them suitable for normal loads and working conditions without significant jamming. S5, Obstructed Follow-up Mode: When the piston rod of a certain cylinder is under high pressure, low speed or continuously obstructed, the system identifies the cylinder as an obstructed cylinder, and the other cylinders run at a speed not exceeding the position of the obstructed cylinder to prevent the other cylinders from running ahead and causing structural deformation or mechanical hardening. The specific threshold for judging the obstructed following mode is: when the maximum speed of a certain cylinder... minimum speed , If the current cylinder pressure and duration are both greater than the set threshold, then the current cylinder is considered to be obstructed. The current cylinder pressure threshold varies depending on the specific cylinder model used and is determined through factory testing. Similarly, different cylinder models have different duration thresholds, which are not specifically described here. After determining the obstructed cylinder position, the reference value for the positions of the remaining cylinders is the obstructed cylinder position plus the allowable advance. The specific value of the allowable advance is determined based on the mechanical structure. For example, when the cylinder is installed on the base, there is a certain deviation depending on the thickness of the base. The set allowable advance is used to accommodate the specific mechanical structure deviation during installation. The specific value is determined through on-site installation. Here is an example illustrating the specific process of switching from normal synchronization mode to blocked follow mode: The actual speed of the first hydraulic cylinder is less than 8.0 mm / s, the desired speed is set to be greater than 60.0 mm / s, and the low-speed threshold is 70%. 60.0mm / s = 42.0mm / s, meaning the actual speed of the first cylinder is much lower than the low-speed threshold, and the piston rod of the first cylinder is subjected to pressure higher than the set threshold of 16.0MPa for a duration greater than 500ms. This indicates obstruction, and the system switches to obstruction-following mode. This means that the cylinder is trying to drive but still cannot move, indicating significant obstruction. If the expected speed obtained from the upper command is too high, causing the cylinder to bear excessive pressure and reach the maximum value set by the hydraulic system, the system will delay for 1 second before judging the pressure to be too high and instructing the cylinder to try to continue digging. The specific conditions for switching from the obstructed follow mode back to the normal synchronization mode are: the obstruction judgment condition disappears and lasts for a certain period of time. The purpose of setting the duration is to avoid frequent mode switching.

[0027] S6. Fault Protection Mode: When the piston rod of a certain cylinder experiences an abnormal situation such as overpressure, synchronization error, or continuous timeout due to obstruction, the system switches to fault protection mode. The cylinder speed is reset to zero, and a fault alarm and shutdown interlock are output. The fault alarm is specifically divided into synchronization error alarm, obstruction timeout alarm, and fault shutdown alarm, depending on the data received by each sensor. The purpose of setting the fault protection mode is to protect the equipment safety and prevent the fault from escalating. After a fault shutdown, manual intervention or reset is required. The fault protection mode can be switched if any of the following conditions are met: the pressure of any cylinder exceeds the limit pressure, the synchronization error of multiple cylinders exceeds the fault threshold, or the duration of the obstructed following mode exceeds the threshold. The significance of setting the above conditions is that it indicates that the system has entered a state where it cannot continue to operate and must be stopped immediately for protection.

[0028] Reference Figure 3 , Figure 3 This is a schematic diagram of the overall process of the multi-cylinder synchronous PID control system in some embodiments of the present invention.

[0029] Optionally, according to some embodiments of the present invention, the present invention also provides a multi-cylinder synchronous PID control system for a rotary drilling rig, characterized in that it includes: The host instruction module is used to receive operator instructions and determine the desired position or speed. The hydraulic cylinder is controlled by a hydraulic proportional valve and is equipped with a displacement sensor, a speed sensor, and a pressure sensor. The feedback information module is used to receive displacement, speed and pressure feedback data from each hydraulic cylinder; The mode management and status judgment module determines the corresponding working mode by receiving data from the feedback information module. The specific working modes to be judged include: normal synchronization mode, obstructed following mode, and fault protection mode. The reference value generation module generates the desired position of each cylinder according to the specific working mode. In normal synchronization mode, the desired position reference value of each cylinder is determined by integrally accumulating the set desired speed of 100mm / s. In obstructed following mode, the reference value of each cylinder cannot exceed "obstructed cylinder position + allowable advance amount". In fault protection mode, the speed setpoint is cleared or a safety output is executed. The outer loop displacement controller controls each cylinder to move towards the desired position based on the deviation between the actual position and the desired position; the desired speed is set to 100 mm / s to ensure that each cylinder moves towards the target position. Synchronization and speed command generator, introduce cross-coupling speed compensation, and form independent speed commands for each cylinder; The speed inner loop controller controls the output of the hydraulic proportional valve based on the deviation between the given speed command and the actual speed.

[0030] It should be understood that the embodiments disclosed herein are not limited to the specific processing steps or materials disclosed herein, but should be extended to equivalent substitutions of such features as understood by those skilled in the art. It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

[0031] The term "embodiment" in this specification refers to a specific feature or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention. Therefore, phrases or "embodiments" appearing in various places throughout the specification do not necessarily refer to the same embodiment.

[0032] Furthermore, the described features or characteristics can be incorporated into one or more embodiments in any other suitable manner. In the above description, specific details, such as thickness, quantity, etc., are provided to provide a comprehensive understanding of embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented without the aforementioned specific details or may be implemented using other methods, components, materials, etc.

Claims

1. A multi-cylinder synchronous PID control method for rotary drilling rigs, characterized in that, include S1. Hardware Basics: The rotary drilling rig is equipped with at least three hydraulic cylinders controlled by hydraulic proportional valves. The piston rod of the cylinder drives the drill bit to dig forward. Each cylinder is equipped with a displacement sensor, speed sensor and pressure sensor. Each cylinder is subject to inner and outer loop PID control. S2, Inner and outer loop PID control: The outer loop of displacement control is based on the actual position and desired position of the piston rod, and the inner loop of speed control is based on the actual base speed and desired speed of the piston rod. According to the deviation between the desired position and the actual position of each cylinder, the cylinder is ensured to move to the desired position based on the desired speed. S3. Working mode judgment: The system automatically switches the working mode according to the current position, speed, pressure and time conditions of the hydraulic cylinder. The working modes include: normal synchronization mode, obstructed following mode and fault protection mode. S4. Normal Synchronization Mode: During the forward propulsion of each cylinder, cross-coupling speed compensation is added to improve synchronization accuracy. The specific steps for cross-coupling speed compensation are as follows: S41. Based on inner and outer loop PID control, the independent actual base speed of each piston rod is obtained according to the deviation between the desired position and the actual position of each cylinder: , , ,in This represents the actual basic moving speed of the piston rod of the first hydraulic cylinder. This refers to the actual basic moving speed of the piston rod of the second cylinder. This is the actual basic moving speed of the piston rod of the third hydraulic cylinder; S42. Calculate the synchronization error based on the positional deviation between each piston rod: in, Current position of the piston rod of the first hydraulic cylinder Current position of the piston rod of the second cylinder Positional deviation; Current position of the piston rod of the first hydraulic cylinder and the current position of the piston rod of the third cylinder Positional deviation; Current position of the piston rod of the second cylinder and the current position of the piston rod of the third cylinder Positional deviation; Introducing cross-coupling to control the gain to obtain velocity gain: in, , and The optimal value for the cross-coupling control gain of each hydraulic cylinder was determined through on-site testing and debugging. , and The speed gain, obtained by combining the synchronization error between cylinders with the corresponding cross-coupling control gain, is used to achieve speed compensation, causing the leading cylinder to decelerate and the lagging cylinder to accelerate. in, The compensated speed of the piston rod of the first hydraulic cylinder. The compensated speed of the piston rod of the second cylinder. The compensated speed of the piston rod of the third cylinder is used to achieve horizontal synchronization of multiple cylinders by finely adjusting the different forward speeds between them. S5, Obstructed Follow-up Mode: When the piston rod of a certain cylinder is under high pressure, low speed or continuously obstructed, the system identifies the cylinder as an obstructed cylinder, and the other cylinders run at a speed not exceeding the position of the obstructed cylinder to prevent the other cylinders from running ahead and causing structural deformation or mechanical hardening. S6. Fault Protection Mode: When the piston rod of a certain cylinder experiences an abnormal situation such as overpressure, synchronization error, or continuous timeout due to obstruction, the system switches to fault protection mode, the cylinder speed is reset to zero, and a fault alarm and shutdown interlock are output.

2. The multi-cylinder synchronous PID control method for rotary drilling rigs according to claim 1, characterized in that, In step S2, the current actual position of the piston rod is the difference between the current value of the displacement sensor and the zero position. The desired position of the current piston rod is obtained by setting the desired speed X time. The desired speed is specified by the host command and is 100 mm / s.

3. The multi-cylinder synchronous PID control method for rotary drilling rigs according to claim 1, characterized in that, In step S5, the specific threshold for judging the obstructed following mode is: when the maximum speed of a certain cylinder... minimum speed , If the current cylinder pressure and duration are both greater than the set threshold, then the current cylinder is determined to be obstructed.

4. The multi-cylinder synchronous PID control method for rotary drilling rigs according to claim 1, characterized in that, In step S6, the fault protection mode can be switched if any of the following conditions are met: the pressure of any cylinder exceeds the limit pressure, the synchronization error of multiple cylinders exceeds the fault threshold, or the duration of the obstructed following mode exceeds the threshold.

5. The multi-cylinder synchronous PID control method for rotary drilling rigs according to claim 1, characterized in that, In the S5 obstructed following mode, after determining the position of the obstructed cylinder, the reference value for the position of the remaining cylinders is the position of the obstructed cylinder plus the allowable advance amount. The specific value of the allowable advance amount is determined according to the mechanical structure.

6. A multi-cylinder synchronous PID control system for rotary drilling rigs, characterized in that, include The host instruction module is used to receive operator instructions and determine the desired position or speed. The hydraulic cylinder is controlled by a hydraulic proportional valve and is equipped with a displacement sensor, a speed sensor, and a pressure sensor. The feedback information module is used to receive displacement, speed and pressure feedback data from each hydraulic cylinder; The mode management and status judgment module determines the corresponding working mode by receiving data from the feedback information module. The reference value generation module generates the desired position of each hydraulic cylinder according to the specific working mode; The displacement outer loop controller controls each cylinder to move towards the desired position based on the deviation between the actual position and the desired position of each cylinder. Synchronization and speed command generator, introduce cross-coupling speed compensation, and form independent speed commands for each cylinder; The speed inner loop controller controls the output of the hydraulic proportional valve based on the deviation between the given speed command and the actual speed.

7. The multi-cylinder synchronous PID control method for rotary drilling rigs according to claim 6, characterized in that, In the mode management and status judgment module, the specific working modes to be judged include: normal synchronization mode, obstructed following mode, and fault protection mode.

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