Pure electric direct-drive rotary drilling rig power system and multi-motor coordinated control algorithm

Abstract

A pure electric direct-drive rotary drilling rig power system and multi-motor collaborative control algorithm, characterized in that: it includes a power supply part that adopts a power battery coupling cable joint power supply mode, draws electricity from the power supply part according to the power required for each execution action, and converts this part of the electric energy into the kinetic energy of the permanent magnet synchronous motor, and an action execution part; the electric drive part includes a main pump motor controller, a main winch motor controller, and a power head motor controller that are electrically connected to the power supply part respectively; the action execution part includes a main pump motor that is electrically connected to the main pump motor controller and is responsible for driving the hydraulic pump to realize crawler walking, mast amplitude modulation, and pressurization actions, a main winch motor that is electrically connected to the main winch motor controller and is responsible for driving the winch to lift, and a power head motor that is electrically connected to the power head motor controller and is responsible for driving the power head to drill holes.

Description

Technical Field

[0001] The present invention relates to a rotary drilling rig in the field of foundation construction technology. Specifically, the present invention proposes a pure electric direct-drive rotary drilling rig power system and a multi-motor collaborative control algorithm suitable for a rotary drilling rig based on the main operating actions and characteristics of a traditional engine or a three-phase asynchronous motor combined with a hydraulically driven rotary drilling rig. Background Art

[0002] In recent years, the infrastructure industry has developed rapidly. Domestic construction machinery manufacturers have proposed technical solutions for rotary drilling rigs suitable for basic construction machinery construction, and their performance has been fully verified by the market. Existing rotary drilling rigs can already meet the needs of various customers at the functional level, but the driving force of the whole machine still remains in the traditional power, and various functions are also realized by the power output of the traditional engine or three-phase asynchronous motor combined with hydraulic drive, which does not conform to the development theme of "energy saving, green, and environmental protection", and has not explored and utilized new energy power technology resources, lagging behind the development trend of electrification of construction machinery. In addition, traditional rotary drilling rigs are limited by the inherent characteristics of the hydraulic system (pressure is disturbed and fluctuated), and there are relatively few compound actions, and the compound action has poor stability and poor functional diversity. Reducing hydraulic drive actuators is of great significance to improving the stability and diversity of compound actions of rotary drilling rigs. Summary of the invention

[0003] The purpose of the present invention is to provide a pure electric direct-drive rotary drilling rig power system and a multi-motor coordinated control algorithm suitable for rotary drilling rigs to address the deficiencies in the above-mentioned prior art. The core of the present invention is to reduce the number of hydraulic control actuators and increase the stability and diversity of the composite actions of the rotary drilling rig. Specifically, the power head, main winch and main pump are driven respectively by multiple permanent magnet synchronous motors, so that the actions of the main winch and the power head are no longer limited by the hydraulic drive system, making the composite actions of the rotary drilling rig more stable and diversified.

[0004] The purpose of the present invention can be achieved by the following technical measures:

[0005] The pure electric direct-drive rotary drilling rig power system suitable for the rotary drilling rig of the present invention includes a power supply part that adopts a power battery coupled to an external cable joint power supply mode, draws electricity from the power supply part according to the power required for each execution action, and converts this part of the electric energy into the kinetic energy of the permanent magnet synchronous motor, and an action execution part; the electric drive part includes a main pump motor controller, a main winch motor controller, and a power head motor controller that are electrically connected to the power supply part respectively; the action execution part includes a main pump motor that is electrically connected to the main pump motor controller and is responsible for driving the hydraulic pump to realize crawler walking, mast amplitude modulation, and pressurization actions, a main winch motor that is electrically connected to the main winch motor controller and is responsible for driving the winch to lift, and a power head motor that is electrically connected to the power head motor controller and is responsible for driving the power head to drill holes.

[0006] Furthermore, the main pump motor is mechanically connected to the pump group + control valve group composed of a hydraulic pump for driving crawler walking, mast amplitude modulation, and pressurization through a reducer; the electric energy of the main pump motor is provided by a composite power supply composed of a cable + power battery through the output conversion controlled by the main pump motor controller; the main pump motor is a permanent magnet synchronous motor.

[0007] The main winch used for lifting and lowering the drill rod is mechanically connected to the main winch motor through a reducer. The electric energy of the main winch motor is provided by a composite power supply of cable + power battery through the output conversion controlled by the main winch motor controller; the main winch motor is the core component of the normal drilling operation of the rotary drill, which drives the lifting and lowering of the drill rod and realizes operations such as unloading soil; the main winch motor is a permanent magnet synchronous motor.

[0008] The power head and the power head motor are mechanically connected together through a reducer. The electric energy of the power head motor is provided by a composite power supply of cable + power battery through the output conversion controlled by the power head motor controller; the power head motor is the core execution function component of the normal drilling operation of the rotary drill, which provides circumferential torque for the power head rotary drilling, drives the circumferential rotation and cutting of the drill rod, and the power head motor is a permanent magnet synchronous motor.

[0009] The core idea of ​​the multi-motor cooperative control algorithm of the present invention is: there will be a variety of complex actions in the construction process of the rotary drilling rig, and these complex actions require the cooperation of multiple motors to complete. In order to ensure the safety of the construction of the rotary drilling rig, the three types of motors are prioritized according to the different uses of each motor; when performing multi-motor cooperative control, the power requirements of the corresponding motors are met in sequence according to the principle of motor priority from high to low. Specific implementation methods of the technical solution, as well as further optimized, improved or alternative technical solutions. The specific steps are as follows:

[0010] a. Define the motor priority order: Since the main pump motor is responsible for driving the hydraulic pump to achieve actions such as crawler walking, mast amplitude adjustment, and power head pressurization, and completing these actions is a prerequisite for the rotary drilling rig to start working normally, the priority of the main pump motor is defined as the highest; the main winch motor is responsible for driving the main winch for lifting. Considering the high risk during the process of the main winch lifting or lowering the drill pipe, the priority of the main winch motor is defined as the second; the power head motor is responsible for driving the power head for drilling operations, with relatively lower risk compared to the main pump motor and the main winch motor. Therefore, the priority of the power head motor is defined as the lowest.

[0011] b. Multi-motor power distribution: The power source consists of a power battery or a combination of a power battery + a rectifier cabinet; the meaning of the reserved power margin is that based on the maximum power supply capacity of the power battery, a part of the power margin is reserved according to actual needs. The main purpose is to ensure that the sum of the actual powers of the three types of motors does not exceed the maximum power that the power source can provide, and to avoid overcharging and discharging of the power battery.

[0012] For example, when the main pump motor requires a power of P1, the main winch motor requires a power of P2, the power head motor requires a power of P3, the power source can provide a power of Pmax, and the reserved power margin is P4 during a certain operation of the electric rotary drilling rig, the specific distribution scheme is as follows:

[0013] When Pmax - P4 < P1, the power allocated to the main pump motor is Pmax - P4, and the powers allocated to the main winch motor and the power head motor are both 0.

[0014] When P1 < Pmax - P4 < P1 + P2, the power allocated to the main pump motor is P1, the power allocated to the main winch motor is Pmax - P4 - P1, and the power allocated to the power head motor is 0.

[0015] When P1 + P2 < Pmax - P4 < P1 + P2 + P3, the power allocated to the main pump motor is P1, the power allocated to the main winch motor is P2, and the power allocated to the power head motor is Pmax - P4 - P1 - P2.

[0016] When Pmax - P4 > P1 + P2 + P3, the power allocated to the main pump motor is P1, the power allocated to the main winch motor is P2, and the power allocated to the power head motor is P3.

[0017] More specifically, considering that the demand power is relatively large during the multi-action composite operation of the rotary drilling rig, if only powered by the power battery, a relatively large power battery needs to be matched, resulting in high costs. If only powered by the cable, the cable load is large, which has a great impact on the voltage of the high-voltage power supply equipment. Therefore, the present invention adopts a combined power supply mode of coupling the power battery and the cable to ensure normal power supply during the operation of the rotary drilling rig.

[0018] The function of the electric drive part of the present invention is to draw electricity from the power supply part according to the power required for each execution action, and convert this part of the electric energy into kinetic energy of the permanent magnet synchronous motor.

[0019] The action execution part of the present invention completes various traditional actions according to the whole machine operation instructions.

[0020] To facilitate the description of the functional advantages of the present invention, the permanent magnet synchronous motors used in the patent are divided into three categories, as described below:

[0021] 1) The motor responsible for driving the hydraulic pump to realize crawler walking / mast amplitude modulation / pressurization and other actions is the main pump motor;

[0022] 2) The motor responsible for driving the hoist is named the main hoist motor;

[0023] 3) The motor responsible for driving the power head to drill holes is named the power head motor;

[0024] The above-mentioned motors are not limited to being driven by a single motor, but can also be driven by two motors (or multiple motors).

[0025] The beneficial effects of the present invention are as follows:

[0026] ① Selectively retain part of the hydraulic drive system and integrate the current hydraulic drive system, realize the control of the whole hydraulic drive system through the main pump and main control valve, reduce the transmission path of the hydraulic drive system, and directly drive the main winch, power head and main pump through three types of permanent magnet synchronous motors, effectively improving the diversity and stability of the hydraulic system's compound actions;

[0027] ② A multi-motor collaborative control algorithm for an electric rotary drilling rig is proposed. The algorithm divides the motors into priorities, and the power source gives priority to meeting the power requirements of motors with high priority. This can ensure that the rotary drilling rig can be produced while meeting the safety requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the power system of the pure electric direct-drive rotary drilling rig of the present invention.

[0029] Figure 1 Serial number: 1 is the rectifier frequency conversion cabinet, 2 is the main pump motor controller, 3 is the main pump motor, 4 is the pump group + control valve group, 5 is the main winch motor controller, 6 is the main winch motor, 7 is the main winch, 8 is the power head motor controller, 9 is the power head motor, 10 is the power head, 11 is the power battery system, and 12 is the rectifier module.

[0030] Figure 2 It is a schematic diagram of the power distribution method of multiple motors of an electric rotary drilling rig. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with embodiments (attached drawings).

[0032] like Figure 1 As shown, the pure electric direct-drive rotary drilling rig power system suitable for the rotary drilling rig of the present invention includes a power supply part adopting a power battery coupled with an external cable joint power supply mode, an electric drive part that draws electricity from the power supply part according to the power required for each execution action, and converts this part of the electric energy into the kinetic energy of the permanent magnet synchronous motor, and an action execution part; the electric drive part includes a main pump motor controller 2, a main winch motor controller 5, and a power head motor controller 8 that are electrically connected to the power supply part respectively; the action execution part includes a main pump motor 3 that is electrically connected to the main pump motor controller and is responsible for driving the hydraulic pump to realize crawler walking, mast amplitude modulation, and pressurization actions, a main winch motor 6 that is electrically connected to the main winch motor controller and is responsible for driving the winch to lift, and a power head motor 9 that is electrically connected to the power head motor controller and is responsible for driving the power head to drill holes.

[0033] Furthermore, the main pump motor 3 is mechanically connected to the pump group + control valve group 4 composed of a hydraulic pump for driving crawler walking, mast amplitude modulation, and pressurization through a reducer; the electric energy of the main pump motor is provided by a composite power supply composed of a cable + power battery through the output conversion controlled by the main pump motor controller; the main pump motor is a permanent magnet synchronous motor.

[0034] The main winch 7 used for lifting and lowering the drill rod is mechanically connected to the main winch motor 6 through a reducer. The electric energy of the main winch motor is provided by a composite power supply of cable + power battery through the output conversion controlled by the main winch motor controller; the main winch motor is the core component of the normal drilling operation of the rotary drill, driving the lifting and lowering of the drill rod and realizing operations such as unloading soil; the main winch motor is a permanent magnet synchronous motor.

[0035] The power head 10 is mechanically connected to the power head motor 9 through a reducer. The electric energy of the power head motor is provided by a composite power supply of cable + power battery through the output conversion controlled by the power head motor controller; the power head motor is the core execution functional component of the normal drilling operation of the rotary drill, which provides circumferential torque for the power head rotary drilling, drives the circumferential rotation and cutting of the drill rod, and the power head motor is a permanent magnet synchronous motor.

[0036] like Figure 2As shown in the figure, the core idea of the multi-motor cooperative control algorithm of the present invention is as follows: During the construction operation of a rotary drilling rig, there are various composite actions, and these composite actions require the joint cooperation of multiple motors. To ensure the safety of the construction operation of the rotary drilling rig, according to the different uses of each motor, three types of motors are ranked in order of priority; when performing multi-motor cooperative control, the power requirements of the corresponding motors are sequentially met according to the principle of the motor priority order from high to low. The specific implementation manners of the technical solution, as well as further optimized, improved or alternative technical solutions. The specific steps are as follows:

[0037] a. Define the motor priority order: Since the main pump motor is responsible for driving the hydraulic pump to achieve actions such as crawler walking, mast amplitude adjustment, and power head pressurization, and completing these actions is the prerequisite for the rotary drilling rig to start working normally, the priority of the main pump motor is defined as the highest; the main hoist motor is responsible for driving the main hoist to lift. Considering the relatively high risk during the process of the main hoist lifting or lowering the drill pipe, the priority of the main hoist motor is defined as the second; the power head motor is responsible for driving the power head to perform drilling operations, which is less risky compared to the main pump motor and the main hoist motor. Therefore, the priority of the power head motor is defined as the lowest;

[0038] b. Multi-motor power distribution: The power source is composed of a power battery or a combination of a power battery + a rectifier cabinet; the meaning of the reserved power margin is that on the basis of the maximum power capacity that the power battery can provide, a part of the power margin is reserved according to the actual demand. The main purpose is to ensure that the total actual power of the three types of motors does not exceed the maximum power that the power source can provide, and to avoid overcharging and discharging of the power battery;

[0039] For example, when an electric rotary drilling rig completes a certain operation, the required power of the main pump motor is P1, the required power of the main hoist motor is P2, the required power of the power head motor is P3, the power that the power source can provide is Pmax, and the reserved power margin is P4. The specific distribution scheme is as follows:

[0040] When Pmax - P4 < P1, the power allocated to the main pump motor is Pmax - P4, and the power allocated to both the main hoist motor and the power head motor is 0;

[0041] When P1 < Pmax - P4 < P1 + P2, the power allocated to the main pump motor is P1, the power allocated to the main hoist motor is Pmax - P4 - P1, and the power allocated to the power head motor is 0;

[0042] When P1 + P2 < Pmax - P4 < P1 + P2 + P3, the power allocated to the main pump motor is P1, the power allocated to the main hoist motor is P2, and the power allocated to the power head motor is Pmax - P4 - P1 - P2;

[0043] When Pmax-P4>P1+P2+P3, the power allocated to the main pump motor is P1, the power allocated to the main winch motor is P2, and the power allocated to the power head motor is P3.

[0044] More specifically, the present invention takes into account that the power required for the rotary drilling rig during multi-action compound operations is relatively large. If it relies solely on power batteries for power supply, the required matching power batteries are relatively large and the cost is relatively high. If it relies solely on cables for power supply, the cable load is relatively large, which has a greater impact on the voltage of the high-voltage power supply equipment. Therefore, the present invention adopts a power battery coupled cable joint power supply mode to ensure normal power supply during the rotary drilling operation.

[0045] The function of the electric drive part of the present invention is to draw electricity from the power supply part according to the power required for each execution action, and convert this part of the electric energy into kinetic energy of the permanent magnet synchronous motor.

[0046] The action execution part of the present invention completes various traditional actions according to the whole machine operation instructions.

[0047] To facilitate the description of the functional advantages of the present invention, the permanent magnet synchronous motors used in the patent are divided into three categories, as described below:

[0048] 1) The motor responsible for driving the hydraulic pump to realize crawler walking / mast amplitude modulation / pressurization and other actions is the main pump motor;

[0049] 2) The motor responsible for driving the hoist is named the main hoist motor;

[0050] 3) The motor responsible for driving the power head to drill holes is named the power head motor;

[0051] The above-mentioned motors are not limited to being driven by a single motor, but can also be driven by two motors (or multiple motors).

Claims

1. A pure electric direct drive rotary drilling rig power system, characterized by: The power system includes a power supply part adopting a combined power supply mode of a power battery and an external cable. The electric drive part takes power from the power supply part according to the power requirements of each execution action and converts the electric energy of this part into the kinetic energy of a permanent magnet synchronous motor, and an action execution part. The electric drive part includes a main pump motor controller, a main hoist motor controller, and a power head motor controller that are respectively electrically connected to the power supply part. The action execution part includes a main pump motor electrically connected to the main pump motor controller, which is responsible for driving a hydraulic pump to realize crawler travel, mast amplitude adjustment, and pressurization actions; a main hoist motor electrically connected to the main hoist motor controller, which is responsible for driving the hoist to lift weights; and a power head motor electrically connected to the power head motor controller, which is responsible for driving the power head to drill holes. The main pump motor is mechanically connected to a pump unit + control valve group composed of hydraulic pumps used to drive crawler travel, mast amplitude adjustment, and pressurization actions through a speed reducer. The electric energy of the main pump motor is provided by a composite power supply composed of a cable + power battery through the control output conversion of the main pump motor controller. The main pump motor is a permanent magnet synchronous motor. The multi-motor cooperative control algorithm of the power system of the pure electric direct drive rotary drilling rig includes the following steps: a. Define the motor priority order: Since the main pump motor is responsible for driving the hydraulic pump to realize crawler travel, mast amplitude adjustment, and power head pressurization actions, and completing these actions is the prerequisite for the normal start of the rotary drilling rig, the priority of the main pump motor is defined as the highest. The main hoist motor is responsible for driving the main hoist to lift weights. Considering the relatively high risk during the process of the main hoist lifting or lowering the drill pipe, the priority of the main hoist motor is defined as the second. The power head motor is responsible for driving the power head to perform drilling operations, which is less risky compared to the main pump motor and the main hoist motor. Therefore, the priority of the power head motor is defined as the lowest. b. Multi-motor power distribution: The power source is composed of a power battery or a combination form of a power battery + rectifier cabinet. The meaning of the reserved power margin part is that on the basis of the maximum power capacity that the power battery can provide, a part of the power margin is reserved according to the actual demand. The purpose is to ensure that the sum of the actual powers of the three types of motors does not exceed the maximum power that the power source can provide, and to avoid overcharging and discharging of the power battery. When the electric rotary drilling rig completes a certain operation, the required power of the main pump motor is P1, the required power of the main hoist motor is P2, the required power of the power head motor is P3, the power that the power source can provide is Pmax, and the reserved power margin is P4. The specific distribution scheme is as follows: When Pmax - P4 < P1, the power distributed to the main pump motor is Pmax - P4, and the powers distributed to the main hoist motor and the power head motor are both 0. When P1 < Pmax - P4 < P1 + P2, the power distributed to the main pump motor is P1, the power distributed to the main hoist motor is Pmax - P4 - P1, and the power distributed to the power head motor is 0. When P1 + P2 < Pmax - P4 < P1 + P2 + P3, the power distributed to the main pump motor is P1, the power distributed to the main hoist motor is P2, and the power distributed to the power head motor is Pmax - P4 - P1 - P2. When Pmax-P4>P1+P2+P3, the power allocated to the main pump motor is P1, the power allocated to the main winch motor is P2, and the power allocated to the power head motor is P3.

2. The pure electric direct drive rotary drilling rig power system according to claim 1 is characterized in that: The main winch used for lifting and lowering the drill rod is mechanically connected to the main winch motor through a reducer. The electric energy of the main winch motor is provided by a composite power supply of cable + power battery through the output conversion controlled by the main winch motor controller; the main winch motor is the core component of the normal drilling operation of the rotary drill, which drives the lifting and lowering of the drill rod and realizes the soil unloading operation; the main winch motor is a permanent magnet synchronous motor.

3. The pure electric direct drive rotary drilling rig power system according to claim 1 is characterized in that: The power head and the power head motor are mechanically connected together through a reducer. The power head motor's electric energy is provided by a composite power supply of a cable + power battery through the power head motor controller to control the output conversion; The power head motor is the core functional component for the normal drilling operation of the rotary drill. It provides circumferential torque for the power head to rotate and drive the drill rod to rotate and cut circumferentially. The power head motor is a permanent magnet synchronous motor.

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