An experimental system and control method for simulating bidirectional torsion control of a turntable motor

Abstract

An experimental system and control method for simulating bidirectional torsion control of a turntable motor. The experimental system is mainly composed of a main control unit, an operation control unit and a power unit; the main control unit serves as the host computer of the entire system, the operation control unit mainly includes a programmable controller and two frequency converters, and the power unit is mainly composed of a main motor, a load motor, a brake device, a deceleration device, a torque sensor and an encoder. Control method: The main control unit implements angle bidirectional torsion or torque bidirectional torsion control on the main motor of the power unit through the operation control unit, and the programmable controller collects system operating parameters in real time, mainly including feedback signals such as bidirectional torsion speed, torsion angle and torsion torque, to form an angle or torque torsion control closed loop. The method of the present invention is simple and feasible, and simulates the structure of the on-site electric turntable transmission system to the greatest extent; the main control unit and the programmable controller have low cost, high reliability and high communication rate, which ensure the control accuracy of the system.

Description

Technical field:

[0001] The invention relates to the technical field of petroleum engineering, in particular to an experimental system and a control method for simulating bidirectional torsion control of a rotary motor. Background technology:

[0002] The turntable is an important part of the oil drilling rig, commonly known as one of the eight major parts of the drilling rig. During the drilling process, the turntable drives the drill string, bottom hole drilling tools and drill bits to rotate and break the rock to achieve oil and gas well construction. It is an important power source for the drilling rig. With the technological advancement of drilling equipment, in recent years, the drilling rig turntable has generally developed from mechanical drive to motor independent drive. The motor-driven turntable has the advantages of simple structure and convenient control.

[0003] During directional sliding drilling of long horizontal wells and large displacement wells, the drill string does not rotate, and only the bottom hole power drill tool is used to drive the drill bit to rotate and break the rock to achieve drilling footage. The wellbore inclination and azimuth are changed by sliding guide tools to control the wellbore trajectory. However, since the drill string does not rotate, there is static friction between the drill string and the well wall, the friction resistance is high, and it is easy to support pressure, resulting in low drilling efficiency and high operation risks. With the increase of well inclination and displacement, the disadvantages of sliding drilling become more obvious.

[0004] To this end, based on the principle that dynamic friction is lower than static friction, domestic and foreign countries have successively developed automatic control technology for bidirectional torsion of sliding drilling drill strings. By accurately controlling the bidirectional torsion amplitude of the drill string, the effect of not affecting the downhole tool surface and reducing friction as much as possible can be achieved, thereby improving drilling efficiency and reducing drilling costs.

[0005] Chinese patent CN102022083B discloses a "rotary directional drilling tool", including a rotating mandrel, an upper bearing, an induction coil, an inclinometer short section and a control unit, a non-rotating outer sleeve, a hydraulic control system module, a rib plate, a lower bearing and a lower joint; the rotating mandrel includes a body and an outer boss, the outer boss is fixed to the body from top to bottom, the outer side of the upper end of the body is fixedly installed with the inner side of the upper bearing, the outer side of the lower end of the body is fixedly installed with the inner side of the upper end of the lower joint, the outer side of the upper end of the lower joint is fixedly installed with the inner side of the lower bearing, the non-rotating outer sleeve includes an upper sleeve body, a lower sleeve body and a middle sleeve body with an outer diameter larger than that of the upper sleeve body, the upper sleeve body, the middle sleeve body and the lower sleeve body are fixed together in sequence from top to bottom, the inner side of the upper end of the upper sleeve body is fixedly installed with the outer side of the upper bearing, the lower sleeve body The inner side is fixedly installed with the outer side of the lower bearing, there is a cavity between the upper sleeve and the main body, the induction coil and the inclinometer short section and the control unit are installed in the cavity from top to bottom, the hydraulic control system module is fixedly installed in the inner cavity of the middle sleeve, long openings connected to the inner cavity of the middle sleeve are distributed at intervals on the middle sleeve, and ribs that can be supported by the hydraulic control system module and rotate outward are hinged in the inner cavity of the middle sleeve corresponding to the long opening, there is a hydraulic oil hole connected to the cavity in the rotating mandrel, there is a wire in the hydraulic oil hole and electrically connected to the induction coil, the induction coil is electrically connected to the inclinometer short section and the control unit through the wire, there is a hydraulic oil hole connecting the cavity and the inner cavity of the middle sleeve on the middle sleeve, the inclinometer short section and the control unit are electrically connected to the hydraulic control system module through the hydraulic oil hole and the wire. The above-mentioned hydraulic control system module may include a hydraulic pump, a coupling, a motor, a balancing plunger and a telescopic plunger; the upper end of the hydraulic pump is equipped with a telescopic plunger that can be supported on the outside of the center line of the inner convex head and can move the baffle outward. The above-mentioned inclination measuring sub and control unit may include an inclination measuring body, a control circuit, a rectifier circuit and an inclination measuring module, and the control circuit, the rectifier circuit and the inclination measuring module are installed on the inclination measuring body. The invention drills horizontal wells, large extension wells and high-angle wells by rotary drilling and can effectively guide, so the drilling efficiency is greatly improved and the equipment cost is also reduced.

[0006] However, the technology is currently being studied based on top drive, and no research has been conducted on the electric turntable. Therefore, in the process of studying the bidirectional torsion control technology of the sliding drilling drill string based on the electric turntable, it is necessary to establish an experimental system that simulates the bidirectional torsion control of the turntable motor and conduct research on the torsion control method of the turntable motor. Only after the experimental system is tested and meets the field application conditions can it be tested on site and promoted for application. Summary of the invention:

[0007] The purpose of the present invention is to provide an experimental system and control method for simulating the bidirectional torsion control of a turntable motor in response to the problems existing in the prior art. On this experimental system, it is convenient to carry out torsion control tests of electric turntable motors, thereby achieving the purpose of improving R&D efficiency and shortening the R&D cycle.

[0008] The present invention is achieved through the following technical solutions:

[0009] An experimental system for simulating bidirectional torsion control of a turntable motor is mainly composed of a main control unit, an operation control unit and a power unit; the operation control unit is mainly composed of a programmable controller and a 1# inverter and a 2# inverter; the power unit is mainly composed of a 1# motor, a 2# motor, a brake device, a speed reducer, a torque sensor and an encoder. In the power unit, the 1# motor is connected to the input end of the brake device, the output end of the brake device is connected to the input end of the torque sensor, the output end of the torque sensor is connected to one end of the input shaft of the speed reducer, the encoder is installed at the other end of the input shaft of the speed reducer, the output shaft of the speed reducer is connected to the 2# motor, and the rotation directions of the 1# motor and the 2# motor are opposite.

[0010] The main circuit of the operation control unit mainly includes the main power supply, main circuit breaker, sub-circuit breaker, programmable controller and sensor circuit, 1# motor cooling fan circuit, 2# motor cooling fan circuit, 1# inverter and 1# motor circuit, 2# inverter and 2# motor circuit.

[0011] The programmable controller is mainly composed of power module, CPU module, digital input module, digital output module, analog input module, analog output module and counter module.

[0012] The encoder is an incremental photoelectric encoder, the 1# motor and the 2# motor are both AC variable frequency speed regulating motors, and the reduction device can be any one of a gear reduction device, a chain reduction device or other reduction devices.

[0013] The above experimental system simulating the bidirectional torsion control of the turntable motor has the following torsion control method:

[0014] a. In the power unit, the 1# motor simulates the main motor of the turntable and is the torsion control object. The 2# motor is the load motor, simulating the downhole torque load during drilling. In this experimental system, the output torque of the 2# motor is set to be proportional to the number of rotations. The brake device simulates the inertia brake of the turntable clutch, and the speed reduction device simulates the turntable chain box. The main control unit performs bidirectional torsion control on the 1# motor of the power unit through the operation control unit, including angle bidirectional torsion control and torque bidirectional torsion control. During the torsion control process, the programmable controller collects the signals of the torque sensor and encoder in real time for logical operation and output, so as to realize precise closed-loop control of bidirectional torsion.

[0015] b. The main control unit is the host computer of the experimental system that simulates the bidirectional torsion control of the turntable motor. It is not only the storage and display unit of the system operation data, but also realizes the issuance of control instructions to the operation control unit through the interaction of the human-machine interface.

[0016] c. The programmable controller is the lower computer of the experimental system, which communicates with the main control unit through Ethernet via the CPU module; the CPU module communicates with the 1# inverter through the RS485 port, and controls the speed of the 1# motor through the 1# inverter; the digital input module collects the brake signal of the brake device, the fault signal of the 1# inverter and the 2# inverter; the digital output module controls the on and off of the contactor; the analog input module collects the current of the 1# motor and the 2# motor from the 1# inverter and the 2# inverter respectively, and collects the torque signal of the torque sensor at the same time; the analog output module outputs the torque signal, and controls the torque of the 2# motor through the 2# inverter; the counter module collects the speed and angle signals of the encoder.

[0017] d. The experimental steps of simulating the bidirectional torsion control of the turntable motor are described as follows according to the angle bidirectional torsion control and torque bidirectional torsion control:

[0018] (a) Angle bidirectional twist control:

[0019] Ⅰ. Turn on the main power, close the main circuit breaker and sub-circuit breaker, power on the system, and the programmable controller completes initialization.

[0020] Ⅱ. In the human-computer interaction software of the main control unit, set the 1# motor angle torsion control operation parameters, mainly the bidirectional torsion speed and torsion angle. The bidirectional torsion angle refers to the maximum clockwise rotation angle θ1 and the maximum counterclockwise rotation angle θ2. Press the start button, and the programmable controller controls the contactor to close through the digital output module, so that the 1# motor cooling fan circuit, the 2# motor cooling fan circuit, the 1# inverter and the 1# motor circuit, and the 2# inverter and the 2# motor circuit start to operate. The 1# motor first starts with clockwise rotation. When it rotates clockwise to the maximum angle value θ1, the 1# motor stops rotating clockwise, and then starts to rotate counterclockwise in the reverse direction. When it rotates counterclockwise to the maximum angle value θ2, the 1# motor stops rotating counterclockwise, and then starts to rotate clockwise in the reverse direction, and it keeps rotating in both directions according to the set angle value.

[0021] III. The 1# motor runs according to the set angle torsion parameters. The counter module collects the angle and speed signals of the encoder in real time to form a torsion angle and speed control closed loop to ensure control accuracy. The analog input module collects the current signals of the 1# inverter and the 2# inverter in real time. All data are displayed and stored in real time in the human-computer interaction software;

[0022] IV. When the 1# motor is twisted at an angle, if the handle of the brake device is manually operated, the digital input module detects the brake signal and the system automatically stops; when the digital input module detects the fault signal of the 1# inverter or the 2# inverter, the system also automatically stops;

[0023] V. If the angle bidirectional torsion control test is completed, press the stop button in the human-computer interaction software of the main control unit to shut down the system, and then turn off the main control unit, sub-circuit breaker, main circuit breaker and main power supply in turn, and the angle bidirectional torsion control experiment is completed.

[0024] (b) Torque bidirectional twist control:

[0025] Ⅰ. Turn on the main power supply, close the main circuit breaker and the sub-circuit breaker, power on the system, and the programmable controller completes initialization;

[0026] Ⅱ. In the human-computer interaction software of the main control unit, set the bidirectional torsion speed of the 1# motor and the bidirectional torsion torque value of the 2# motor, that is, the maximum torque value T1 for clockwise rotation and the maximum torque value T2 for counterclockwise rotation. Press the start button, and the programmable controller controls the contactor to close through the digital output module to operate the cooling fan circuit of the 1# motor, the cooling fan circuit of the 2# motor, the 1# inverter and the 1# motor circuit, and the 2# inverter and the 2# motor circuit; the 1# motor first starts with clockwise rotation. When it rotates clockwise to the maximum torque value T2 output by the 2# motor, the 1# motor stops rotating clockwise, and then starts rotating counterclockwise in the reverse direction. When it rotates counterclockwise to the maximum torque value T1 output by the 2# motor, the 1# motor stops rotating counterclockwise, and then starts rotating clockwise in the reverse direction, and continues to rotate in both directions according to the set torque value.

[0027] During the bidirectional torsion process of the 1# motor under torque control, the analog input module collects the torque signal of the torque sensor, the current signals of the 1# inverter and the 2# inverter in real time. All data are displayed and stored in real time in the human-computer interaction software; and through the collected torque feedback signal of the torque sensor, a torque control closed loop is formed to ensure control accuracy.

[0028] IV. When the 1# motor is running under torque twisting control, if the handle of the brake device is manually operated, the digital input module detects the brake signal and the system automatically stops; when the digital input module detects the fault signal of the 1# inverter or the 2# inverter, the system also automatically stops;

[0029] V. If the torque bidirectional torsion control test is completed, press the stop button in the human-computer interaction software of the main control unit, the system will shut down, and the main control unit, sub-circuit breaker, main circuit breaker and main power supply will be turned off in sequence, and the torque bidirectional torsion control experiment is completed.

[0030] The experimental system and control method for simulating bidirectional torsion control of a turntable motor have the following advantages:

[0031] (1) The idea of ​​dual motors in the power unit is to simulate the electric turntable drive and downhole load. The method is simple and feasible. One motor simulates the main motor of the electric turntable, and the other motor simulates the load of the drill string during drilling. At the same time, a deceleration device and a brake device are added to simulate the structure of the on-site electric turntable transmission system to the greatest extent;

[0032] (2) In the experimental system, the mobile server serves as the host computer and the programmable controller serves as the slave computer. Ethernet communication is used between the host computer and the slave computer. Ethernet communication is the most common communication protocol standard with the advantages of low cost, high reliability and high communication rate. The programmable controller collects the feedback signals of the torque sensor and encoder in real time to form a torque torsion and angle torsion control closed loop, ensuring that the experimental system has high control accuracy. Description of the drawings:

[0033] Figure 1 It is a schematic diagram of the experimental system composition of the simulated turntable motor bidirectional torsion control of the present invention.

[0034] Figure 2 This is a control circuit diagram of the operation control unit of the present invention.

[0035] Figure 3 It is the main circuit diagram of the operation control unit of the present invention. Specific implementation method:

[0036] The following is combined with Figure 1 , Attachment Figure 2 , Attachment Figure 3 The present invention is further described with reference to the accompanying drawings and specific embodiments.

[0037] Embodiment 1:

[0038] An experimental system for simulating bidirectional torsion control of a turntable motor is mainly composed of a main control unit 1, an operation control unit 2 and a power unit 3; the operation control unit 2 is mainly composed of a programmable controller 4, a 1# inverter 5 and a 2# inverter 6; the power unit 3 is mainly composed of a 1# motor 7, a 2# motor 8, a brake device 9, a speed reduction device 10, a torque sensor 11 and an encoder 12.

[0039] In the power unit 3, the 1# motor 7 is connected to the input end of the brake device 9, the output end of the brake device 9 is connected to the input end of the torque sensor 11, the output end of the torque sensor 11 is connected to one end of the input shaft of the reduction device 10, the encoder 12 is installed at the other end of the input shaft of the reduction device 10, and the output shaft of the reduction device 10 is connected to the 2# motor 8.

[0040] Embodiment 2:

[0041] On the basis of Example 1, further comprising:

[0042] The main circuit of the operation control unit 2 mainly includes a main power supply 21, a main circuit breaker 22, a branch circuit breaker 23, a programmable controller and a sensor circuit 24, a 1# motor cooling fan circuit 25, a 2# motor cooling fan circuit 26, a 1# inverter and a 1# motor circuit 27, and a 2# inverter and a 2# motor circuit 28.

[0043] The programmable controller 4 is mainly composed of a power module 13 , a CPU module 14 , a digital quantity input module 15 , a digital quantity output module 16 , an analog quantity input module 17 , an analog quantity output module 18 and a counter module 19 .

[0044] The encoder 12 is an incremental photoelectric encoder, the 1# motor 7 and the 2# motor 8 are both AC variable frequency speed regulating motors, and the rotation directions of the 1# motor 7 and the 2# motor 8 are opposite, and the reduction device 10 can be any one of a gear reduction device, a chain reduction device or other reduction devices.

[0045] Embodiment 3:

[0046] The control method of the experimental system for simulating bidirectional torsion control of the turntable motor of Example 1 is as follows:

[0047] a. In the power unit 3, the 1# motor 7 simulates the main motor of the turntable and is the torsion control object. The 2# motor 8 is a load motor that simulates the downhole torque load during drilling. In this experimental system, the output torque of the 2# motor 8 is set to be proportional to the number of rotations. The brake device 9 simulates the inertia brake of the turntable clutch, and the speed reduction device 10 simulates the turntable chain box. The main control unit 1 performs bidirectional torsion control on the 1# motor 7 of the power unit 3 through the operation control unit 2, including angle bidirectional torsion control and torque bidirectional torsion control. During the torsion control process, the programmable controller 4 collects the signals of the torque sensor 11 and the encoder 12 for logical operation and output, so as to realize precise closed-loop control of the bidirectional torsion.

[0048] b. The main control unit 1 is the host computer of the experimental system for simulating the bidirectional torsion control of the turntable motor. It is not only the access and display unit of the system operation data, but also realizes the issuance of control instructions to the operation control unit 2 through the interaction of the human-machine interface.

[0049] c. The programmable controller 4 is the lower computer of the experimental system, which communicates with the main control unit 1 through Ethernet via the CPU module 14; the CPU module 14 communicates with the 1# inverter 5 through the RS485 port, and controls the speed of the 1# motor 7 through the 1# inverter 5; the digital input module 15 collects the brake signal of the brake device 9, the fault signals of the 1# inverter 5 and the 2# inverter 6; the digital output module 16 controls the on and off of the contactor 20; the analog input module 17 collects the current of the 1# motor 7 and the 2# motor 8 from the 1# inverter 5 and the 2# inverter 6 respectively, and collects the torque signal of the torque sensor 11 at the same time; the analog output module 18 outputs the torque signal, and controls the torque of the 2# motor 8 through the 2# inverter 6; the counter module 19 collects the speed and angle signals of the encoder 12.

[0050] Embodiment 4:

[0051] The control method of the experimental system for simulating bidirectional torsion control of the turntable motor of Example 2 is as follows:

[0052] a. In the power unit 3, the 1# motor 7 simulates the main motor of the turntable and is the torsion control object. The 2# motor 8 is a load motor that simulates the downhole torque load during drilling. In this experimental system, the output torque of the 2# motor 8 is set to be proportional to the number of rotations. The brake device 9 simulates the inertia brake of the turntable clutch, and the speed reduction device 10 simulates the turntable chain box. The main control unit 1 performs bidirectional torsion control on the 1# motor 7 of the power unit 3 through the operation control unit 2, including angle bidirectional torsion control and torque bidirectional torsion control. During the torsion control process, the programmable controller 4 collects the signals of the torque sensor 11 and the encoder 12 for logical operation and output, so as to realize precise closed-loop control of the bidirectional torsion.

[0053] b. The main control unit 1 is the host computer of the experimental system for simulating the bidirectional torsion control of the turntable motor. It is not only the access and display unit of the system operation data, but also realizes the issuance of control instructions to the operation control unit 2 through the interaction of the human-machine interface.

[0054] c. The programmable controller 4 is the lower computer of the experimental system, which communicates with the main control unit 1 through Ethernet via the CPU module 14; the CPU module 14 communicates with the 1# inverter 5 through the RS485 port, and controls the speed of the 1# motor 7 through the 1# inverter 5; the digital input module 15 collects the brake signal of the brake device 9, the fault signals of the 1# inverter 5 and the 2# inverter 6; the digital output module 16 controls the on and off of the contactor 20; the analog input module 17 collects the current of the 1# motor 7 and the 2# motor 8 from the 1# inverter 5 and the 2# inverter 6 respectively, and collects the torque signal of the torque sensor 11 at the same time; the analog output module 18 outputs the torque signal, and controls the torque of the 2# motor 8 through the 2# inverter 6; the counter module 19 collects the speed and angle signals of the encoder 12.

[0055] d. The experimental steps of simulating the bidirectional torsion control of the turntable motor are described as follows according to the angle bidirectional torsion control and torque bidirectional torsion control:

[0056] (a) Angle bidirectional twist control:

[0057] Ⅰ. Turn on the main power supply 21, close the main circuit breaker 22 and the sub-circuit breaker 23, power on the system, and the programmable controller 4 completes initialization.

[0058] Ⅱ. In the human-computer interaction software of the main control unit 1, set the angle twist control operation parameters of the 1# motor 7, mainly the bidirectional twist speed and twist angle. The bidirectional twist angle refers to the maximum clockwise rotation angle θ1 and the maximum counterclockwise rotation angle θ2. Press the start button, and the programmable controller 4 controls the contactor 20 to close through the digital output module 16, so that the 1# motor cooling fan circuit 25, the 2# motor cooling fan circuit 26, the 1# inverter and the 1# motor circuit 27, and the 2# inverter and the 2# motor circuit 28 start to operate. The 1# motor 7 first starts with clockwise rotation. When it rotates clockwise to the maximum angle value θ1, the 1# motor 7 stops rotating clockwise, and then starts rotating counterclockwise in the reverse direction. When it rotates counterclockwise to the maximum angle value θ2, the 1# motor 7 stops rotating counterclockwise, and then starts rotating clockwise in the reverse direction, and it keeps rotating in both directions according to the set angle value.

[0059] III.1# motor 7 runs according to the set angle torsion parameters, counter module 19 collects angle and speed signals of encoder 12 in real time, forms a torsion angle and speed control closed loop, and ensures control accuracy, analog input module 17 collects current signals of 1# inverter 5 and 2# inverter 6 in real time, and all data are displayed and stored in real time in the human-computer interaction software;

[0060] IV. When the 1# motor 7 is rotating at an angle, if the handle of the brake device 9 is manually operated, the digital input module 15 detects a brake signal and the system automatically stops; when the digital input module 15 detects a fault signal of the 1# inverter 5 or the 2# inverter 6, the system also automatically stops;

[0061] V. If the angle bidirectional torsion control test is completed, press the stop button in the human-computer interaction software of the main control unit 1 to shut down the system, and then turn off the main control unit 1, the sub-circuit breaker 23, the main circuit breaker 22 and the main power supply 21 in sequence, and the angle bidirectional torsion control experiment is completed.

[0062] (b) Torque bidirectional twist control:

[0063] Ⅰ. Turn on the main power supply 21, close the main circuit breaker 22 and the sub-circuit breaker 23, power on the system, and the programmable controller 4 completes initialization;

[0064] Ⅱ. In the human-computer interaction software of the main control unit 1, set the bidirectional torsion speed of the 1# motor 7 and the bidirectional torsion torque value of the 2# motor 8, that is, the maximum torque value T1 of clockwise rotation and the maximum torque value T2 of counterclockwise rotation, press the start button, and the programmable controller 4 controls the contactor 20 to close through the digital output module 16, so that the 1# motor cooling fan circuit 25, the 2# motor cooling fan circuit 26, the 1# inverter and the 1# motor circuit 27, the 2# inverter and the 2# motor circuit 28 are running; the 1# motor 7 first starts with clockwise rotation, and when it rotates clockwise to the maximum torque value T2 output by the 2# motor 8, the 1# motor 7 stops rotating clockwise, and then starts rotating counterclockwise in the reverse direction, and when it rotates counterclockwise to the maximum torque value T1 output by the 2# motor 8, the 1# motor 7 stops rotating counterclockwise, and then starts rotating clockwise in the reverse direction, and keeps rotating in both directions according to the set torque value.

[0065] III. During the bidirectional torsion process of the 1# motor 7 under torque control, the analog input module 17 collects the torque signal of the torque sensor 11, the current signals of the 1# inverter 5 and the 2# inverter 6 in real time, and all the data are displayed and stored in real time in the human-computer interaction software; and through the collected torque feedback signal of the torque sensor 11, a torque control closed loop is formed to ensure the control accuracy.

[0066] IV. When the 1# motor 7 is running under torque twisting control, if the handle of the brake device 9 is manually operated, the digital input module 15 detects the brake signal and the system automatically stops; when the digital input module 15 detects the fault signal of the 1# inverter 5 or the 2# inverter 6, the system also automatically stops;

[0067] V. If the torque bidirectional torsion control test is completed, press the stop button in the human-computer interaction software of the main control unit 1, the system shuts down, and turns off the main control unit 1, the sub-circuit breaker 23, the main circuit breaker 22 and the main power supply 21 in sequence, and the torque bidirectional torsion control experiment is completed.

[0068] The simulation experimental system of the present invention adopts the idea of ​​dual-motor torsion to simulate the electric turntable drive and underground load. The method is simple and feasible. A deceleration device and a braking device are added to the power unit to simulate the structure of the on-site electric turntable transmission system to the greatest extent; the main control unit and the programmable controller use Ethernet communication, which has the advantages of low cost, high reliability and high communication rate. At the same time, high-precision torque sensors and encoders are used to ensure the system control accuracy.

Claims

1. A control method for an experimental system simulating bidirectional torsion control of a turntable motor, characterized in that: The experimental system for simulating bidirectional torsion control of a turntable motor mainly comprises a main control unit (1), an operation control unit (2) and a power unit (3); the operation control unit (2) mainly comprises a programmable controller (4), a 1# frequency converter (5) and a 2# frequency converter (6); the power unit (3) mainly comprises a 1# motor (7), a 2# motor (8), a brake device (9), a speed reducer (10), a torque sensor (11) and an encoder (12); wherein the 1# motor (7) is connected to the input end of the brake device (9), the output end of the brake device (9) is connected to the input end of the torque sensor (11), the output end of the torque sensor (11) is connected to one end of the input shaft of the speed reducer (10), the encoder (12) is installed at the other end of the input shaft of the speed reducer (10), the output shaft of the speed reducer (10) is connected to the 2# motor (8), and the rotation directions of the 1# motor (7) and the 2# motor (8) are opposite; and further comprises: a. In the power unit (3), the 1# motor (7) simulates the main motor of the turntable and is the torsion control object, the 2# motor (8) is the load motor, simulating the downhole torque load during the drilling process. In the experimental system, the output torque of the 2# motor (8) is proportional to the number of rotations, the brake device (9) simulates the inertia brake of the turntable clutch, and the deceleration device (10) simulates the turntable chain box; the main control unit (1) performs bidirectional torsion control on the 1# motor (7) of the power unit (3) through the operation control unit (2), including angle bidirectional torsion control and torque bidirectional torsion control; during the torsion control process, the programmable controller (4) collects the feedback signals of the torque sensor (11) and the encoder (12) in real time to perform logical operations and output, so as to realize the precise closed-loop control of the bidirectional torsion; b. The main control unit (1) is the host computer of the experimental system for simulating the bidirectional torsion control of the turntable motor, which is not only the storage and display unit of the system operation data, but also realizes the issuance of control instructions to the operation control unit (2) through the interaction of the human-machine interface; c. The programmable controller (4) is a lower computer of the experimental system, and communicates with the main control unit (1) through the Ethernet via the CPU module (14); the CPU module (14) communicates with the 1# inverter (5) through the RS485 port, and controls the speed of the 1# motor (7) through the 1# inverter (5); the digital input module (15) collects the brake signal of the brake device (9) and the fault signals of the 1# inverter (5) and the 2# inverter (6); the digital output module (16) controls the on and off of the contactor (20); the analog input module (17) collects the current of the 1# motor (7) and the 2# motor (8) from the 1# inverter (5) and the 2# inverter (6) respectively, and collects the torque signal of the torque sensor (11); the analog output module (18) outputs the torque signal, and controls the torque of the 2# motor (8) through the 2# inverter (6); the counter module (19) collects the speed and angle signals of the encoder (12).

2. The control method of the experimental system for simulating bidirectional torsion control of a turntable motor according to claim 1, characterized in that: The programmable controller (4) is mainly composed of a power module (13), a CPU module (14), a digital quantity input module (15), a digital quantity output module (16), an analog quantity input module (17), an analog quantity output module (18) and a counter module (19).

3. The control method of the experimental system for simulating bidirectional torsion control of a turntable motor according to claim 1 or 2, characterized in that: The operation control unit (2) also includes a main circuit, which is mainly composed of a main power supply (21), a main circuit breaker (22), a branch circuit breaker (23), a programmable controller and a sensor circuit (24), a 1# motor cooling fan circuit (25), a 2# motor cooling fan circuit (26), a 1# inverter and a 1# motor circuit (27), and a 2# inverter and a 2# motor circuit (28).

4. The control method of the experimental system for simulating bidirectional torsion control of a turntable motor according to claim 3 is characterized in that: The encoder (12) is an incremental photoelectric encoder, the 1# motor (7) and the 2# motor (8) are both AC variable frequency speed regulating motors, and the reduction device (10) comprises a gear reduction device or a chain reduction device.

5. The control method of the experimental system for simulating bidirectional torsion control of a turntable motor according to claim 4, characterized in that: The encoder (12) is an incremental photoelectric encoder, the 1# motor (7) and the 2# motor (8) are both AC variable frequency speed regulating motors, and the reduction device (10) comprises a gear reduction device or a chain reduction device.

6. The control method of the experimental system for simulating bidirectional torsion control of a turntable motor according to claim 5 is characterized by: The angle bidirectional torsion control and torque bidirectional torsion control are specifically as follows: (a) Angle bidirectional torsion control: Ⅰ. Turn on the main power supply (21), close the main circuit breaker (22) and the branch circuit breaker (23), power on the system, and complete the initialization of the PLC (4); Ⅱ. In the human-machine interaction software of the main control unit (1), set the angle torsion control operating parameters of motor 1# (7), mainly the bidirectional torsion speed and torsion angle. The bidirectional torsion angle refers to the maximum clockwise rotation angle. and maximum counterclockwise rotation angle , press the start button, the programmable controller (4) controls the contactor (20) to close through the digital output module (16), so that the 1# motor cooling fan circuit (25), the 2# motor cooling fan circuit (26), the 1# inverter and the 1# motor circuit (27), and the 2# inverter and the 2# motor circuit (28) start to operate; the 1# motor (7) starts to rotate clockwise, and when the clockwise rotation reaches the maximum angle value , the 1# motor (7) stops rotating clockwise, then reverses and starts rotating counterclockwise, and rotates counterclockwise to the maximum angle value. , the 1# motor (7) stops rotating counterclockwise, and then reverses and starts rotating clockwise, and continues to rotate in both directions according to the set angle value; III. The 1# motor (7) operates according to the set angle and torsion parameters, the counter module (19) collects the angle and speed signals of the encoder (12) in real time, forms a torsion angle and speed control closed loop, and ensures the control accuracy, the analog input module (17) collects the current signals of the 1# inverter (5) and the 2# inverter (6) in real time, and all data are displayed and stored in real time in the human-computer interaction software; IV. When the 1# motor (7) is in angle twisting operation, if the handle of the brake device (9) is manually operated, the digital input module (15) detects the brake signal and the system automatically stops; when the digital input module (15) detects the fault signal of the 1# inverter (5) and the 2# inverter, the system also automatically stops; V. If the angle bidirectional twisting control test is completed, in the human-computer interaction software of the main control unit (1), press the stop button to shut down the system, and then turn off the main control unit (1), the sub-circuit breaker (23), the main circuit breaker (22) and the main power supply (21) in turn, and the angle bidirectional twisting control experiment is completed; (b) Torque bidirectional twisting control: I. Turn on the main power supply (21), close the main circuit breaker (22) and the sub-circuit breaker (23), power on the system, and the PLC (4) completes the initialization; Ⅱ. In the human-computer interaction software of the main control unit (1), set the bidirectional twisting speed of the 1# motor (7) and the bidirectional twisting torque value of the 2# motor (8), i.e., the maximum torque value T1 for clockwise rotation and the maximum torque value T2 for counterclockwise rotation. Press the start button, and the programmable controller (4) controls the contactor (20) to close through the digital output module (16), so that the 1# motor cooling fan circuit (25), the 2# motor cooling fan circuit (26), the 1# inverter and the 1# motor circuit (27), and the 2# inverter and the 2# motor circuit (28) operate. The 1# motor (7) first starts to rotate clockwise. When it rotates clockwise to the maximum torque value T2 output by the 2# motor (8), the 1# motor (7) stops rotating clockwise and then starts rotating counterclockwise in the reverse direction. When it rotates counterclockwise to the maximum torque value T1 output by the 2# motor (8), the 1# motor (7) stops rotating counterclockwise and then starts rotating clockwise in the reverse direction. In this way, it continues to rotate in both directions according to the set torque value. Ⅲ. During the process of bidirectional torsion of the 1# motor (7) under torque control, the analog input module (17) collects the torque signal of the torque sensor (11), the current signals of the 1# inverter (5) and the 2# inverter (6) in real time, and all data are displayed and stored in real time in the human-computer interaction software; and a torque control closed loop is formed through the collected torque feedback signal of the torque sensor (11); IV. During the operation of the 1# motor (7) under torque torsion control, if the handle of the brake device (9) is manually operated, the digital input module (15) detects the brake signal and the system automatically stops; when the digital input module (15) detects the fault signal of the 1# inverter (5) and the 2# inverter (6), the system also automatically stops; V. If the torque bidirectional torsion control test is completed, in the human-computer interaction software of the main control unit (1), the stop button is pressed, the system stops, and the main control unit (1), the sub-circuit breaker (23), the main circuit breaker (22) and the main power supply (21) are turned off in sequence, and the torque bidirectional torsion control experiment ends.

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