Control method of rotary drilling rig, hydraulic system and rotary drilling rig

Abstract

This invention relates to the field of rotary drilling rig technology, providing a rotary drilling rig control method, a rotary drilling rig hydraulic system, and a rotary drilling rig. The aforementioned rotary drilling rig control method includes: establishing a mast stress model; acquiring mast off-center load information; based on the mast off-center load information and the mast stress model, acquiring the stress state of each mast cylinder; and controlling the valve core opening of each electro-proportional balancing valve according to the stress state of each mast cylinder, so that the pressure in the rodless chamber of each mast cylinder is the same. The aforementioned rotary drilling rig control method solves the problem that the mast cylinder pressure cannot be adjusted when the flow rate and load of the mast cylinder are the same. The rotary drilling rig control method provided by this invention, by controlling the valve core opening of the electro-proportional balancing valve, can adjust the pressure in the rodless chamber of each mast cylinder, thereby making the pressure in the oil inlet of each mast cylinder the same, balancing the flow rate of the mast cylinder, and preventing mast tilting during erection and deflection.

Description

Technical Field

[0001] The present invention relates to the technical field of rotary drilling rigs, and in particular to a control method for a rotary drilling rig, a rotary drilling rig hydraulic system and a rotary drilling rig. Background Art

[0002] The mast cylinder of the rotary drilling rig controls the verticality of the mast, affecting the quality of the pile driver's hole formation. The position and force of the mast cylinder affect the operating efficiency and quality of the pile driver. In the prior art, when the flow rate and load of the mast cylinder are the same, the pressure of the two chambers of the mast cylinder cannot be adjusted, causing the mast to easily deflect during the process of erecting and lowering the mast. Summary of the invention

[0003] The invention provides a control method of a rotary drilling rig, a rotary drilling rig hydraulic system and a rotary drilling rig, which are used to solve the defect in the prior art that the pressure of a mast oil cylinder cannot be adjusted when the flow rate and load of the mast oil cylinder are the same.

[0004] The present invention provides a control method for a rotary drilling rig, comprising: establishing a mast force model; obtaining mast eccentric load information, and obtaining the force conditions of each mast oil cylinder based on the mast eccentric load information and the mast force model; and controlling the valve core opening of each electric proportional balancing valve according to the force conditions of each mast oil cylinder, so that the pressure of the rodless chamber of each mast oil cylinder is the same.

[0005] According to a control method for a rotary drilling rig provided by the present invention, before the step of obtaining mast eccentric load information, the control method further includes: inputting a mast execution mode, and the mast execution mode includes: a vertical mast mode, a reverse mast mode and a vertical adjustment mode.

[0006] According to a control method for a rotary drilling rig provided by the present invention, after the step of inputting a mast execution mode and before the step of obtaining mast eccentric load information, the control method further comprises: controlling a reversing valve to switch a working position based on the input mast execution mode.

[0007] According to a control method for a rotary drilling rig provided by the present invention, the step of obtaining mast off-load information and obtaining the force condition of each mast cylinder based on the mast off-load information and the mast force model further includes: obtaining the inclination angle of the mast, the tension of the main winch and the rope-out angle of the main winch, inputting the inclination angle, the tension and the rope-out angle into the mast force model to obtain the force condition of each mast cylinder.

[0008] According to a control method for a rotary drilling rig provided by the present invention, the step of controlling the valve core opening of each electric proportional balancing valve according to the stress condition of each mast cylinder further includes: in the upright mast mode and the inverted mast mode, according to the stress condition of each mast cylinder, the valve core opening of each electric proportional balancing valve is controlled respectively to make the pressure in the rodless chamber of each mast cylinder the same.

[0009] According to a control method for a rotary drilling rig provided by the present invention, the step of controlling the valve core opening of each electric proportional balancing valve according to the stress condition of each mast cylinder also includes: in the vertical adjustment mode, if the inclination angle of the mast is greater than a preset value, the valve core opening of each electric proportional balancing valve is controlled according to the stress condition of each mast cylinder, so that the pressure in the rodless chamber of each mast cylinder is the same; if the inclination angle of the mast is less than or equal to the preset value, the valve core opening of the electric proportional balancing valve connected to the rodless chamber of the retracting mast cylinder is controlled to be reduced, so that the pressure in the two chambers of the mast cylinder is increased.

[0010] The present invention also provides a rotary drilling rig hydraulic system, comprising a controller, multiple sensors and multiple mast control hydraulic circuits, each of the mast control hydraulic circuits is provided with a mast cylinder, a first electric proportional balancing valve, an electromagnetic reversing valve and a second electric proportional balancing valve, the rodless chamber of the mast cylinder is connected to the first working oil port of the electromagnetic reversing valve through a first oil circuit, and the rod chamber of the mast cylinder is connected to the second working oil port of the electromagnetic reversing valve through a second oil circuit; wherein the first electric proportional balancing valve is arranged in the first oil circuit, and the second electric proportional balancing valve is arranged in the second oil circuit, the controller is communicatively connected to the multiple sensors, and the controller is electrically connected to the first electric proportional balancing valve, the second electric proportional balancing valve and the electromagnetic reversing valve.

[0011] According to a rotary drilling rig hydraulic system provided by the present invention, the electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve.

[0012] According to a rotary drilling rig hydraulic system provided by the present invention, the multiple sensors include: an angle sensor, which is used to detect the inclination angle of the mast; a pressure sensor, which is used to detect the tension of the main winch; and a displacement sensor, which is used to detect the rope output displacement of the main winch.

[0013] The present invention also provides a rotary drilling rig, comprising the rotary drilling rig hydraulic system as described above.

[0014] The control method of the rotary drilling rig provided by the present invention can adjust the rodless chamber pressure of each mast cylinder by controlling the valve core opening of the electric proportional balancing valve, so that the pressure of the oil inlet circuit of each mast cylinder is the same, the flow of the mast cylinder is balanced, and the mast is prevented from being skewed during the process of erecting and lowering the mast. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a flow chart of the control method of the rotary drilling rig provided by the present invention;

[0017] Figure 2 It is a hydraulic principle diagram of the rotary drilling rig provided by the present invention;

[0018] Reference numerals:

[0019] 10: Mast cylinder; 21: First electric proportional balancing valve; 22: Second electric proportional balancing valve; 30: Solenoid reversing valve; 41: First oil circuit; 42: Second oil circuit; 50: Pump; 60: Oil tank. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The features of the terms "first" and "second" in the specification and claims of the present invention may include one or more of the features explicitly or implicitly. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0022] Combine the following Figure 1 and Figure 2 The invention describes a control method for a rotary drilling rig, a hydraulic system for a rotary drilling rig and a rotary drilling rig.

[0023] like Figure 1 As shown, in one embodiment of the present invention, the control method of the rotary drilling rig includes the following steps:

[0024] Step 101: Establish a mast force model.

[0025] Specifically, the mast of the rotary drilling rig is connected to the mast cylinder 10. Usually, the mast is connected to two mast cylinders 10. When the hydraulic rod of the mast cylinder 10 is extended or retracted, the angle between the mast and the ground can be adjusted to make the mast in an upright or horizontal state. In the present application, the mast erection mentioned below means that the mast is in an upright state when the rotary drilling rig is in operation; the mast inversion means that the mast is in a horizontal state when the rotary drilling rig stops operating and starts to be transported. During the mast erection or inversion process, the mast cylinder 10 will be subjected to force. The mast force model can reflect the force condition of the mast cylinder when the mast is at different inclination angles, different tensions of the main winch, and different rope output angles.

[0026] Step 102: Obtain mast eccentric load information, and obtain the stress condition of each mast cylinder 10 based on the mast eccentric load information and the mast stress model.

[0027] Specifically, during the mast erection process, mast fall process and mast vertical adjustment process, the mast eccentric load information is obtained. In this embodiment, the mast eccentric load information refers to: the mast tilt angle, the tension of the main winch and the displacement of the main winch. Further, the mast tilt angle refers to the mast tilt angle in the left and right directions and the tilt angle in the front and back directions. The main winch's rope output angle can be calculated based on the main winch's rope output displacement. The tilt angle, tension and rope output angle are input into the mast force model to obtain the force condition of the mast cylinder 10.

[0028] Step 103: According to the stress conditions of each mast oil cylinder 10, the valve core opening of each electric proportional balancing valve is controlled respectively to make the pressure of the rodless chamber of each mast oil cylinder 10 the same.

[0029] Specifically, during the process of raising or lowering the mast, the two mast cylinders 10 are subjected to different forces. By controlling the opening of the corresponding electric proportional balancing valve according to the force conditions of each mast cylinder 10, the pressures of the oil inlet lines of the two mast cylinders 10 can be made equal, and the flows of the two mast cylinders 10 can be balanced, thereby avoiding mast deflection due to uneven flow distribution of the two mast cylinders 10 during the process of raising or lowering the mast.

[0030] Furthermore, in this embodiment, during the movement of the mast oil cylinder 10, the oil return chamber pressure is affected by the oil return back pressure (pressure loss of the electric proportional balance valve, pressure loss during the process of hydraulic oil flowing from the electric proportional balance valve into the oil tank). The larger the opening of the electric proportional balance valve, the smaller the back pressure and the smaller the oil return chamber pressure. During the movement of the mast oil cylinder 10, the oil inlet chamber pressure is affected by factors such as the oil return back pressure, the mast oil cylinder 10 load, the mast oil cylinder 10 cylinder diameter and the mast oil cylinder 10 area ratio. Among them, the parameters of the mast oil cylinder 10 cylinder diameter and the mast oil cylinder 10 area ratio on the same rotary drilling rig are fixed values, and the mast oil cylinder 10 load and the oil return back pressure are variables. Under the condition of different loads of the two mast oil cylinders 10, controlling the valve core opening of the corresponding electric proportional balance valve can make the pressure of the oil inlet of the two mast oil cylinders 10 the same, thereby balancing the flow of the two mast oil cylinders 10.

[0031] For example, during the mast erection process, the forces on the two mast cylinders 10 are different. At this time, the opening of the electric proportional balancing valve connected to the rodless cavity of the mast cylinder 10 with greater force is increased, and the opening of the electric proportional balancing valve connected to the rodless cavity of the mast cylinder 10 with less force is reduced, so that the pressures in the rodless cavities of the two mast cylinders 10 are the same, thereby balancing the flow of the two mast cylinders 10 and avoiding mast deflection.

[0032] The control method of the rotary drilling rig provided in the embodiment of the present invention can adjust the rodless chamber pressure of each mast cylinder by controlling the valve core opening of the electric proportional balancing valve, so that the pressure of the oil inlet circuit of each mast cylinder is the same, the flow of the mast cylinder is balanced, and the mast is prevented from being skewed during the process of erecting and lowering the mast.

[0033] Furthermore, in one embodiment of the present invention, before the step of obtaining the mast eccentric load information, the control method further includes: inputting a mast execution mode, the mast execution mode including: a mast erection mode, a mast inversion mode, and a mast vertical adjustment mode. Specifically, the rotary drilling rig operation room is provided with a controller, and the controller is provided with a control panel, and the operator can input the mode to be executed on the control panel, and the controller controls the corresponding components to start the action after receiving the input signal.

[0034] In one embodiment of the present invention, after the step of inputting the mast execution mode and before the step of acquiring the mast off-load information, the control method further comprises: controlling the electromagnetic reversing valve 30 to switch the working position based on the input mast execution mode.

[0035] Specifically, the mast erecting mode, mast falling mode and vertical adjustment mode of the mast are related to the extension and retraction of the mast oil cylinder 10. When the electromagnetic reversing valve 30 is in different working positions, the hydraulic rod of the mast oil cylinder 10 can be extended, maintained and retracted. In the mast erecting mode, the hydraulic rod of the mast oil cylinder 10 is extended; in the vertical adjustment mode, the hydraulic rod of the mast oil cylinder 10 may be extended or retracted; in the mast falling mode, the hydraulic rod of the mast oil cylinder 10 is retracted.

[0036] Furthermore, in the actual working process, first, a mast force model is established, and the operator inputs the mast execution mode to be executed on the control panel. Based on the mast execution mode, the controller controls the electromagnetic reversing valve 30 to switch the working position, and the mast cylinder 10 is actuated. Each sensor obtains the mast overload information, and based on the mast overload information and the mast force model, the force condition of each mast cylinder 10 is obtained. According to the force condition of each mast cylinder 10, the valve core opening of each electric proportional balancing valve is controlled respectively to make the pressure in the rodless chamber of each mast cylinder 10 the same.

[0037] In one embodiment of the present invention, the step of obtaining mast off-load information and obtaining the stress condition of each mast cylinder based on the mast off-load information and the mast force model further includes: obtaining the mast's inclination angle, the tension of the main winch and the rope-out angle of the main winch, inputting the inclination angle, the tension and the rope-out angle into the mast force model to obtain the stress condition of the mast cylinder.

[0038] Specifically, an angle sensor is provided on the mast to detect the inclination angle of the mast, which includes the inclination angle in the left and right directions and the inclination angle in the front and back directions of the mast; a pressure sensor is also provided on the main winch to detect the tension of the main winch; a displacement sensor is also provided on the main winch to detect the rope output displacement of the main winch, and the rope output angle of the main winch can be calculated based on the rope output displacement.

[0039] After the user inputs the execution mode of the mast, the controller controls the electromagnetic reversing valve 30 to switch the working position according to the execution mode, the angle sensor sends the detected mast inclination angle data to the controller, the pressure sensor sends the tension data of the main winch to the controller, and the displacement sensor sends the rope-out displacement data of the main winch to the controller. The controller calculates the rope-out angle of the main winch according to the rope-out displacement, and inputs the inclination angle, tension and rope-out angle into the mast force model to obtain the force condition of the two mast cylinders 10. The controller controls the valve core opening of the corresponding electric proportional balancing valve according to the force condition to make the pressure of the oil inlet circuit of the two mast cylinders 10 the same.

[0040] Specifically, during the mast erection process, the two mast cylinders 10 are compressed. As the angle of the hydraulic rod of the mast cylinder 10 extending out of the mast increases, the forces of the two mast cylinders 10 change, one of the mast cylinders 10 is under pressure, and the other is under tension. At this time, the user inputs the execution mode as the mast erection mode, the controller controls the electromagnetic reversing valve 30 to switch the working position, and the controller controls the electric proportional balancing valve to open, the rodless chamber of the mast cylinder 10 enters oil, the rod chamber returns oil, and the hydraulic rod of the mast cylinder 10 extends. The angle sensor, pressure sensor and displacement sensor send the detected mast tilt angle, the tension of the main winch and the displacement of the main winch to the controller. The controller inputs the tilt angle, tension and the rope output angle into the mast force model, calculates the force conditions of the two mast cylinders, and controls the input current and opening of the electric proportional balancing valve, balances the pressure of the oil inlet of the two mast cylinders, and balances the flow of the two mast cylinders, so as to reduce the mast deflection caused by uneven flow distribution during the mast erection process. While balancing the oil inlet pressures of the two mast cylinders 10, the opening of the electric proportional balancing valve can be increased to reduce the return oil pressure loss and save energy without affecting the stability of the mast.

[0041] The force conditions of the two mast cylinders 10 during the mast-falling process are opposite to those during the mast-raising process. The control method of the electric proportional balancing valve is the same as that during the mast-raising process, so it will not be repeated here.

[0042] In the vertical adjustment mode, when the mast tilt angle is greater than the preset value, that is, when the mast tilt angle is large, the same control method as the mast erection process is used to control the opening of the electric proportional balancing valve to make the vertical adjustment process smooth. When the mast tilt angle is less than or equal to the preset value, according to the movement direction of the mast oil cylinder 10, the valve core opening of the electric proportional balancing valve connected to the rodless chamber of the mast oil cylinder 10 that is performing the contraction movement is reduced, so that the pressure of the two chambers of the mast oil cylinder 10 is increased, and the elastic modulus of the hydraulic oil in the mast oil cylinder 10 is increased, so as to improve the stability of the mast oil cylinder 10 and enhance the verticality maintenance ability of the mast oil cylinder 10.

[0043] Further, in one embodiment of the present invention, the preset value is 0.2°.

[0044] like Figure 2As shown, an embodiment of the present invention further provides a rotary drilling rig hydraulic system, including a controller, a plurality of sensors and a plurality of mast control hydraulic circuits. Each mast control hydraulic circuit is provided with a mast cylinder 10, a first electric proportional balancing valve 21, an electromagnetic reversing valve 30 and a second electric proportional balancing valve 22, the rodless chamber of the mast cylinder 10 is connected to the first working oil port of the electromagnetic reversing valve 30 through the first oil circuit 41, and the rod chamber of the mast cylinder 10 is connected to the second working oil port of the electromagnetic reversing valve 30 through the second oil circuit 42, wherein the first electric proportional balancing valve 21 is arranged in the first oil circuit 41, and the second electric proportional balancing valve 22 is arranged in the second oil circuit 42, the controller is communicatively connected with the plurality of sensors, and the controller is electrically connected with the first electric proportional balancing valve 21, the second electric proportional balancing valve 22 and the electromagnetic reversing valve 30.

[0045] Specifically, in this embodiment, the number of mast control hydraulic circuits is two, and two mast cylinders 10 are connected to the masts respectively, for adjusting the mast erection or fall. When the mast is erected, the controller controls the electromagnetic reversing valve 30 to switch the working position, and the electromagnetic reversing valve 30 is located at the left working position. The hydraulic oil enters the rodless chamber of the mast cylinder 10 through the first working oil port of the electromagnetic reversing valve 30, the first oil circuit 41 and the first electric proportional balancing valve 21, and the hydraulic oil in the rod chamber enters the oil tank 60 through the second oil circuit 42, the second electric proportional balancing valve 22 and the second working oil port of the electromagnetic reversing valve 30. During the mast erection process, the controller obtains the stress conditions of the two mast cylinders 10 according to the data detected by multiple sensors, thereby controlling the valve core opening of the first electric proportional balancing valve 21 and the second electric proportional balancing valve 22, so that the pressure of the oil inlet circuits of the two mast cylinders 10 is the same, thereby balancing the flow of the two mast cylinders 10.

[0046] Specifically, if during the mast erection process, one mast cylinder 10 is subjected to greater force and the other mast cylinder 10 is subjected to less force, the controller can control the valve core opening of the first electric proportional balancing valve 21 connected to the rodless chamber of the mast cylinder 10 subjected to greater force to increase. Correspondingly, the controller can control the valve core opening of the first electric proportional balancing valve 21 connected to the rodless chamber of the mast cylinder 10 subjected to less force to decrease, so that the pressures of the oil inlet circuits of the two mast cylinders 10 are the same, thereby balancing the flow of the mast cylinders 10 and avoiding mast deflection.

[0047] When the mast is in a vertical position and no longer needs to be adjusted, the electromagnetic reversing valve 30 is located in the middle working position, and the mast cylinder 10 maintains the status quo. During the mast-falling process, the electromagnetic reversing valve 30 is located in the right working position, and the hydraulic oil enters the rod chamber of the mast cylinder 10 through the second working oil port of the electromagnetic reversing valve 30, the second oil circuit 42 and the second electric proportional balancing valve 22, and the hydraulic oil in the rodless chamber enters the oil tank 60 through the first oil circuit 41, the first electric proportional balancing valve 21 and the first working oil port of the electromagnetic reversing valve 30, and the hydraulic rod of the mast cylinder 10 contracts. The rotary drilling rig hydraulic system provided by the embodiment of the present invention, by setting an electric proportional balancing valve in the mast control hydraulic circuit, the controller can control the valve core opening of the electric proportional balancing valve according to the force condition of the mast cylinder, so that the pressure of the oil inlet circuits of the two mast cylinders is the same, and then the flow of the two mast cylinders is balanced, so as to avoid the mast from being skewed during the mast erection and mast-falling process.

[0048] Further, in the embodiment of the present invention, the electromagnetic reversing valve 30 is a three-position four-way electromagnetic reversing valve.

[0049] like Figure 2 As shown, in one embodiment of the present invention, the rotary drilling rig hydraulic system also includes: a pump 50 and an oil tank 60, the pump 50 is connected to the oil inlet of the electromagnetic reversing valve 30 to provide a power source for the rotary drilling rig hydraulic system, and the oil tank 60 is connected to the oil return port of the electromagnetic reversing valve 30.

[0050] Furthermore, in one embodiment of the present invention, the multiple sensors include an angle sensor, a pressure sensor, and a displacement sensor. The angle sensor is arranged on the mast to detect the inclination angle of the mast; the pressure sensor is arranged on the main winch to detect the tension of the main winch; the displacement sensor is arranged on the main winch to detect the displacement of the main winch. Each sensor sends the detected data to the controller, which calculates the rope output angle of the main winch according to the rope output displacement of the main winch, and then inputs the inclination angle, tension, and rope output angle into the built-in mast force model to obtain the force condition of each mast cylinder 10.

[0051] An embodiment of the present invention further provides a rotary drilling rig, including a rotary drilling rig hydraulic system.

[0052] The rotary drilling rig provided in the embodiment of the present invention, by setting up a rotary drilling rig hydraulic system, can control the valve core opening of the electric proportional balancing valve according to the stress condition of the mast cylinder, thereby controlling the flow of the mast cylinder, making the flow of the two mast cylinders balanced, and avoiding mast deviation during the process of erecting and lowering the mast.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a rotary drilling rig, characterized in that: include: Establish mast force model; Inputting a mast execution mode, wherein the mast execution mode includes: a mast erection mode, a mast inversion mode, and a mast vertical adjustment mode; Obtaining mast eccentric load information, and obtaining the stress condition of each mast cylinder based on the mast eccentric load information and the mast stress model, including: obtaining the mast tilt angle, the tension of the main winch, and the rope output angle of the main winch, inputting the tilt angle, the tension, and the rope output angle into the mast stress model to obtain the stress condition of each mast cylinder; According to the stress conditions of the mast oil cylinders, the valve core openings of the electric proportional balancing valves are respectively controlled to make the pressures of the rodless chambers of the mast oil cylinders the same, including: in the mast erecting mode and the mast inverting mode, according to the stress conditions of the mast oil cylinders, the valve core openings of the electric proportional balancing valves are respectively controlled to make the pressures of the rodless chambers of the mast oil cylinders the same; in the vertical adjustment mode, if the inclination angle of the mast is greater than a preset value, according to the stress conditions of the mast oil cylinders, the valve core openings of the electric proportional balancing valves are respectively controlled to make the pressures of the rodless chambers of the mast oil cylinders the same; If the mast's tilt angle is less than or equal to a preset value, the valve core opening of the electric proportional balancing valve connected to the rodless chamber of the mast cylinder is controlled to decrease, thereby increasing the pressure in the two chambers of the mast cylinder.

2. The control method of the rotary drilling rig according to claim 1, characterized in that: After the step of inputting the mast execution mode and before the step of obtaining the mast eccentric load information, the control method further includes: Based on the input mast execution mode, the reversing valve is controlled to switch the working position.

3. A rotary drilling rig hydraulic system based on the rotary drilling rig control method according to claim 1 or 2, characterized in that: It includes a controller, multiple sensors and multiple mast control hydraulic circuits, each of which is provided with a mast oil cylinder, a first electric proportional balancing valve, an electromagnetic reversing valve and a second electric proportional balancing valve, the rodless chamber of the mast oil cylinder is connected to the first working oil port of the electromagnetic reversing valve through a first oil circuit, and the rod chamber of the mast oil cylinder is connected to the second working oil port of the electromagnetic reversing valve through a second oil circuit; Among them, the first electric proportional balancing valve is arranged in the first oil circuit, the second electric proportional balancing valve is arranged in the second oil circuit, the controller is communicatively connected with the plurality of sensors, and the controller is electrically connected with the first electric proportional balancing valve, the second electric proportional balancing valve and the electromagnetic reversing valve.

4. The rotary drilling rig hydraulic system according to claim 3, characterized in that: The electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve.

5. The rotary drilling rig hydraulic system according to claim 3, characterized in that: The plurality of sensors include: An angle sensor, the angle sensor is used to detect the tilt angle of the mast; A pressure sensor, wherein the pressure sensor is used to detect the tension of the main winch; A displacement sensor is used to detect the displacement of the main winch's rope.

6. A rotary drilling rig, characterized in that: A rotary drilling rig hydraulic system comprising any one of claims 3-5.

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