Control method and device for rotary drilling rig, rotary drilling rig and storage medium

Abstract

The present application discloses a control method, device, rotary drilling rig and storage medium for a rotary drilling rig, wherein the rotary drilling rig includes a generator, at least two motors and at least two hydraulic pumps, each of the motors is connected to the generator, and the at least two hydraulic pumps are connected to the at least two motors in a one-to-one correspondence, and the method includes: obtaining the working condition to be executed of the rotary drilling rig; determining a target motor from the at least two motors according to the working condition to be executed; controlling the generator to drive the target motor to drive the hydraulic pump connected to the target motor to operate and execute the working condition to be executed. In this way, according to different working conditions to be executed, the corresponding motor is selected for driving, which effectively improves the working efficiency and energy utilization rate of the rotary drilling rig, saves resource consumption, and achieves the environmental protection purpose of reducing pollutant emissions.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a control method and device for a rotary drilling rig, a rotary drilling rig and a storage medium. Background Art

[0002] With the gradual implementation of the dual carbon strategy, green emission requirements are constantly increasing, and energy conservation and emission reduction have become one of the key tasks of all industries. Figure 1 Taking the current electric drive rotary drilling rig control design as an example, the engine is used as a range extender to only drive the generator to generate electricity, and the internal energy of the fuel is converted into the electrical energy of the generator through mechanical energy, and then the generator drives the motor to operate, and finally the motor directly drives or the motor drives the hydraulic system to drive the actuator. Among them, the power head, main winch and other high-power working conditions are directly driven by the motor, and the walking, rotation, pulling, pressurization and other working conditions are completed by a single motor driving a single hydraulic pump.

[0003] However, in the design of a single pump and a single motor, since a large-displacement hydraulic pump and a hydraulic system are required to ensure that the rotary drilling rig can complete all operating conditions, and the overall power system operates under medium and low load conditions most of the time, the hydraulic system is in a low power output state on one side and a high loss state on the other side, resulting in low working efficiency and energy utilization. Because the input power of the system comes from the generator, and the power of the generator comes from the engine, the lower working efficiency and energy utilization will increase the output power of the engine, resulting in increased engine fuel consumption and increased emissions. Therefore, the existing control method of the rotary drilling rig has the problem of low working efficiency and energy utilization. Summary of the invention

[0004] The purpose of the present application is to provide a control method, device, rotary drilling rig and storage medium for a rotary drilling rig, which can effectively improve the working efficiency and energy utilization rate of the rotary drilling rig.

[0005] To achieve the above objectives:

[0006] In a first aspect, an embodiment of the present application provides a control method for a rotary drilling rig, wherein the rotary drilling rig comprises a generator, at least two motors and at least two hydraulic pumps, each of the motors is connected to the generator, and the at least two hydraulic pumps are connected to the at least two motors in a one-to-one correspondence, and the method comprises the following steps:

[0007] Obtaining the working condition to be executed of the rotary drilling rig;

[0008] Determining a target motor from the at least two motors according to the working condition to be performed;

[0009] The generator is controlled to drive the target motor to drive a hydraulic pump connected to the target motor to operate and execute the working condition to be executed.

[0010] Optionally, the working condition to be executed includes at least one of the following working conditions: walking, rotating, pulling out, and pressurizing.

[0011] Optionally, determining a target motor from the at least two motors according to the working condition to be executed includes:

[0012] A target motor is determined from the at least two motors according to the required power of the working condition to be executed and the rated output power of each of the motors.

[0013] Optionally, determining a target motor from the at least two motors according to the required power of the working condition to be performed and the rated output power of each of the motors comprises:

[0014] If the working condition to be executed is a walking working condition, the at least two motors are determined as the target motors; the sum of the rated output powers of the at least two motors meets the required power;

[0015] If the working condition to be executed is any one of the rotating, pulling out, and pressurizing working conditions, the motor whose rated output power meets the required power among the at least two motors is determined as the target motor.

[0016] Optionally, determining the motor whose rated output power meets the required power among the at least two motors as the target motor comprises:

[0017] When there are multiple motors among the at least two motors whose rated output powers meet the required power, the motor with the smallest rated output power is selected as the target motor.

[0018] Optionally, the obtaining of the working condition to be executed of the rotary drilling rig includes:

[0019] Obtain working condition operation instructions;

[0020] The working condition operation instruction is parsed to obtain the working condition to be executed by the rotary drilling rig.

[0021] Optionally, controlling the generator to drive the target motor includes:

[0022] The generator is controlled to drive the target motor, and the motors other than the target motor among the at least two motors are controlled to be in a non-operating state.

[0023] In a second aspect, an embodiment of the present application provides a control device for a rotary drilling rig, comprising: a processor and a memory storing a computer program, and when the processor runs the computer program, the steps of the above-mentioned control method for a rotary drilling rig are implemented.

[0024] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned control method for a rotary drilling rig are implemented.

[0025] In a fourth aspect, an embodiment of the present application provides a rotary drilling rig, comprising: a generator, at least two electric motors and at least two hydraulic pumps, and a control device for a rotary drilling rig according to the second aspect, each of the electric motors being connected to the generator respectively, and the at least two hydraulic pumps being connected to the at least two electric motors in a one-to-one correspondence.

[0026] The control method, device, rotary drilling rig and storage medium for a rotary drilling rig provided in an embodiment of the present application, the rotary drilling rig includes a generator, at least two motors and at least two hydraulic pumps, each of the motors is connected to the generator, and the at least two hydraulic pumps are connected to the at least two motors in a one-to-one correspondence. The method includes: obtaining the working condition to be executed of the rotary drilling rig; determining the target motor from the at least two motors according to the working condition to be executed; controlling the generator to drive the target motor to drive the hydraulic pump connected to the target motor to operate and execute the working condition to be executed. In this way, according to different working conditions to be executed, the corresponding motor is selected for driving, which effectively improves the working efficiency and energy utilization rate of the rotary drilling rig, saves resource consumption, and achieves the environmental protection purpose of reducing pollutant emissions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of an existing rotary drilling rig;

[0028] Figure 2 A schematic flow chart of a control method for a rotary drilling rig provided by an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of the structure of a rotary drilling rig provided by an embodiment of the present invention;

[0030] Figure 4 A schematic diagram showing the comparison of motor efficiency in an embodiment of the present invention;

[0031] Figure 5 A schematic diagram showing the comparison of the efficiency of hydraulic pumps in an embodiment of the present invention;

[0032] Figure 6A schematic structural diagram of a control device for a rotary drilling rig provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0034] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0035] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0036] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0037] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0038] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application and have no specific meaning. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0040] See also Figure 1 , is a control method for a rotary drilling rig provided in an embodiment of the present application. The control method for a rotary drilling rig can be executed by a control device for a rotary drilling rig provided in an embodiment of the present application. The control device for a rotary drilling rig can be implemented in software and / or hardware. In this embodiment, the control method for a rotary drilling rig is applied to a rotary drilling rig as an example. The rotary drilling rig includes a generator, at least two motors and at least two hydraulic pumps. Each of the motors is connected to the generator, and the at least two hydraulic pumps are connected to the at least two motors in a one-to-one correspondence. The control method for a rotary drilling rig provided in this embodiment includes:

[0041] Step S101: obtaining the working conditions to be executed of the rotary drilling rig.

[0042] Optionally, the rotary drilling rig may receive operation instructions input by the user through an operating device in real time or irregularly, so as to obtain the working condition to be executed. Optionally, according to the different working conditions of the rotary drilling rig, the working conditions of the rotary drilling rig may be divided into working conditions including walking, rotating, pulling out, pressurizing, etc. Optionally, the working condition to be executed may include at least one of the following working conditions: walking, rotating, pulling out, pressurizing. Optionally, the obtaining of the working condition to be executed of the rotary drilling rig includes: obtaining a working condition operation instruction; parsing the working condition operation instruction to obtain the working condition to be executed of the rotary drilling rig. It can be understood that after obtaining the working condition operation instruction input by the user, the working condition operation instruction may be parsed to obtain the working condition to be executed of the rotary drilling rig.

[0043] Step S102: Determine a target motor from the at least two motors according to the working condition to be executed.

[0044] Optionally, since the motor may be directly connected to the actuator, or the at least two hydraulic pumps are connected to the hydraulic motor or hydraulic cylinder through hydraulic valves, and the hydraulic cylinder or hydraulic motor is connected to the actuator through mechanical gears, rods or transmission shafts, and different driving mechanisms may need to be driven to execute different working conditions, it is necessary to determine the target motor from the at least two motors according to the working condition to be executed. Optionally, the target motor may be one motor or multiple motors. Optionally, for different working conditions, the corresponding relationship between different working conditions and motors can be pre-set, so as to quickly determine the target motor corresponding to the working condition to be executed.

[0045] In one embodiment, determining a target motor from the at least two motors according to the working condition to be performed includes:

[0046] A target motor is determined from the at least two motors according to the required power of the working condition to be executed and the rated output power of each of the motors.

[0047] Optionally, the power requirements for different working conditions are usually different. For example, the power requirements for the walking condition are greater than the power requirements for the rotating condition, the power requirements for the rotating condition are greater than the power requirements for the pulling condition, and the power requirements for the pulling condition are greater than the power requirements for the pressurizing condition. At the same time, the rated output powers of different motors may also be different. Therefore, the target motor can be determined from the at least two motors based on the power requirements for the working condition to be performed and the rated output power of each of the motors. For example, if the sum of the rated output powers of the at least two motors meets the power requirements for the working condition to be performed, all motors need to be determined as target motors; if the rated output power of a single motor of the at least two motors meets the power requirements for the working condition to be performed, only a single motor needs to be selected to be determined as the target motor. In this way, the target motor is determined based on the power requirements for the working condition to be performed and the rated output power of each motor. The operation method is convenient and accurate, which further improves the working efficiency and energy utilization of the rotary drilling rig.

[0048] In one embodiment, determining a target motor from the at least two motors according to the required power of the working condition to be performed and the rated output power of each of the motors comprises:

[0049] If the working condition to be executed is a walking working condition, the at least two motors are determined as the target motors; the sum of the rated output powers of the at least two motors meets the required power;

[0050] If the working condition to be executed is any one of the rotating, pulling out, and pressurizing working conditions, the motor whose rated output power meets the required power among the at least two motors is determined as the target motor.

[0051] Optionally, since the sum of the required power of the rotation condition, the required power of the pulling condition and the required power of the pressurization condition is less than the required power of the walking condition, it is sufficient to ensure that the sum of the rated output powers of the at least two motors can perform the walking condition when designing the rotary drilling rig. Optionally, when the working condition to be performed is the walking condition, the at least two motors are determined as the target motors to perform the walking condition by driving the at least two motors. When the working condition to be performed is any one of the rotation, pulling and pressurization conditions, the motor whose rated output power meets the required power among the at least two motors is determined as the target motor to perform the rotation, pulling or pressurization condition by driving the target motor. It can be understood that, considering the energy loss, the rated output power meeting the required power can be understood as the rated output power being greater than the required power. In this way, the corresponding motor is determined to be driven according to the different working conditions to be performed, the operation method is convenient and accurate, and the working efficiency and energy utilization rate of the rotary drilling rig are further improved.

[0052] In one embodiment, determining the motor whose rated output power meets the required power among the at least two motors as the target motor includes:

[0053] When there are multiple motors among the at least two motors whose rated output powers meet the required power, the motor with the smallest rated output power is selected as the target motor.

[0054] Optionally, since the rated output power of each of the at least two motors may be different, there may be multiple motors among the at least two motors whose rated output power meets the required power. In order to further reduce the energy loss of the motor and improve the working efficiency and energy utilization of the rotary drilling rig, the motor with the smallest rated output power can be selected from the multiple motors whose rated output power meets the required power and determined as the target motor.

[0055] Step S103: controlling the generator to drive the target motor to drive the hydraulic pump connected to the target motor to operate and execute the working condition to be executed.

[0056] Optionally, by controlling the generator to drive the target motor, the target motor will drive the hydraulic pump connected to the target motor, thereby driving the hydraulic pipeline corresponding to the hydraulic pump through the hydraulic valve to flow to the corresponding hydraulic motor or hydraulic cylinder, driving the corresponding execution structure to execute the working condition to be executed. In one embodiment, the control of the generator to drive the target motor includes: controlling the generator to drive the target motor, and controlling the motors of the at least two motors except the target motor to be in a non-working state. Optionally, by only controlling the generator to drive the target motor, but not driving motors other than the target motor, the energy consumption of the motor can be reduced.

[0057] In summary, in the control method for a rotary drilling rig provided in the above embodiment, a corresponding motor is selected for driving according to different working conditions to be executed, which effectively improves the working efficiency and energy utilization rate of the rotary drilling rig, saves resource consumption, and achieves the environmental protection purpose of reducing pollutant emissions.

[0058] Based on the same inventive concept as the above-mentioned embodiment, the above-mentioned embodiment is described in detail below through a specific example.

[0059] Continue reading Figure 1In the existing single-pump single-motor solution, the specific power structure is: the motor rotor is connected to the hydraulic pump rotor or the transmission shaft, the hydraulic pump, the hydraulic valve and the hydraulic cylinder or hydraulic motor are connected through the hydraulic oil pipe, and the hydraulic cylinder or hydraulic motor is connected to the actuator through a mechanical gear or rod or transmission shaft.

[0060] Its energy control logic is as follows: the actual load of the rotary drilling rig is transmitted to the controller by various sensors. The controller calculates the output power required by the entire power system based on the actual load and action instructions, and then feeds the output power back to the generator or battery pack. The generator or battery pack provides the required energy, drives the electric motor to drive the hydraulic pump, and drives the hydraulic system to drive the actuator to complete the action.

[0061] The power of the four working conditions (travel, rotation, lifting and pressurization) controlled by the above hydraulic system is set as follows: P 行走 , P 回转 , P 起拔 , P 加压 , the running time is T 行走 、T 回转 、T 起拔 、T 加压 . From the actual data, we can know that: P 行走 ≈3P 回转 ≈5P 起拔 ≈40P 加压 , That is T 行走 About 5% of the total time, T 回转 About 20% of the total time, T 起拔 About 20% of the total time, T 加压 About 55% of the total time.

[0062] For the single pump and single motor design, the motor and hydraulic pump must be selected so that their output power is slightly greater than P 行走 , can ensure the stable and reliable operation of the electric drive rotary drilling rig.

[0063] From the above relationship between power and working time, it can be seen that the entire power system only operates at a load state of ≥90% in about 5% of the working time; in about 20% of the work, it operates at a load state of about 33%; in about 20% of the work, it operates at a load state of about 20%; in about 55% of the work, it operates at a load state of 2.5%.

[0064] The system efficiency is η, and the system input power is P 电机功率 , the output power of the system is P 输出功率 , the system's energy loss power is P 能量损耗 , then we have the following formula:

[0065]

[0066] The energy loss is mainly caused by the loss of hydraulic system and electric motor.

[0067] From the above formula, we can know that the lower the loss of hydraulic system and motor, the higher the working efficiency of the system and the higher the energy utilization rate. The basic loss of the motor is related to the rated voltage and rated power. The higher the rated voltage and rated power, the greater the basic loss. Similarly, the basic loss of the hydraulic pump is also related to the displacement and rated power. The larger the displacement and rated power, the greater the basic loss.

[0068] Therefore, in the design of single pump and single motor, it is necessary to select a large-displacement hydraulic pump and hydraulic system to ensure that the rotary drilling rig can complete all operating conditions, and the overall power system will operate in medium and low load conditions for about 95% of the working time, resulting in the hydraulic system being in a low power output state on one side and a high loss state on the other side, with low working efficiency and energy utilization.

[0069] Since the input power P of the system 电机功率 The power comes from the generator, and the power of the generator comes from the engine, so lower working efficiency and energy utilization will increase the output power of the engine, resulting in higher engine fuel consumption and increased emissions.

[0070] In response to the above problems, this embodiment designs a solution to improve energy utilization according to the power demand and operating time of actual working conditions, namely, a dual-pump dual-motor driving solution, which can selectively enable the dual-pump dual-motor to perform different operating modes according to actual working needs.

[0071] See also Figure 3 The rotary drilling rig provided in this embodiment includes an engine, a generator, a plurality of motors, including at least two motors 1 and 2 driving hydraulic pumps and a motor 3 directly driving an actuator, a hydraulic pump 1 and a hydraulic pump 2 corresponding to the two motors, a hydraulic pump controller, a hydraulic valve, and a plurality of oil cylinders corresponding to the working conditions of walking, rotating, pulling out, and pressurizing. The rotating shaft of the engine is connected to the rotor of the generator, and the output current of the generator is connected to the motor 1, the motor 2, and the motor 3 through a cable. The output ends of the motor 1 and the motor 2 are respectively connected to the hydraulic pump 1 and the hydraulic pump 2, and the motor 3 is connected to the reducer of the actuator to directly drive the execution structure. The hydraulic pump 1 and the hydraulic pump 2 are connected to the hydraulic valve, the hydraulic motor or the hydraulic cylinder through a hydraulic pipeline. In addition, the motor 1 and the motor 2 are connected to the hydraulic pump controller through a cable.

[0072] When the rotary drilling rig is working, you can choose to run it with a single pump and a single motor or with two pumps and two motors at the same time according to the actual working conditions. When executing the walking condition, the two pumps and two motors work together at the same time, and the generator drives motor one and motor two at the same time. Motor one and motor two drive hydraulic pump one and hydraulic pump two respectively. The two hydraulic oil circuits meet at the hydraulic valve port and flow to the walking motor together to drive the walking mechanism. When executing the rotation, pulling and pressurization conditions, a single pump and a single motor work, and the generator only drives motor two to run, and motor two drives hydraulic pump two, driving a single hydraulic pipeline through the hydraulic valve port to flow to the corresponding hydraulic motor or hydraulic cylinder to drive the corresponding actuator. At this time, motor one and hydraulic pump one are in a non-working state.

[0073] At this time, the energy analysis is as follows:

[0074] The power of the motor and hydraulic pump of the original solution is P 原 The power of the new dual motor and dual pump is P1 and P2 respectively. 行走 ≈3P 回转 ≈5P 起拔 ≈40P 加压 It can be seen that selecting When the energy requirement of the scheme is met, the motor can be in the best working state. The specific instructions are as follows:

[0075] When the system is in walking condition, the dual motors and dual pumps work simultaneously, because P1+P2≈P 原 , it can ensure that there is still the same output power to ensure the walking action of the rotary drilling rig. When the system performs the rotation working condition, the pulling working condition, and the pressurizing working condition, only the second motor and the second hydraulic pump work separately, because among the rotation, pulling, and pressurizing working conditions, the power required for the highest rotation working condition is 1 / 3 of the walking power, so It can meet the energy requirements of three working conditions.

[0076] Through this dual-pump dual-motor control method, the overall system operating state is transformed into: about 15% of the working time runs at a load of more than 90%, 20% of the working time runs at a load of more than 60%, and 55% of the working time runs at a load of 27%. Figure 3 The dual motor design of the rotary drilling rig shown in the figure, Figure 4 is a motor efficiency comparison diagram, that is, a motor efficiency comparison diagram, motor one is motor one, motor two is motor two, and since motor one only runs in the walking condition, then Figure 4 Only the efficiency of motor 1 in the walking condition is displayed (greater than the efficiency of the original motor in the walking condition and the efficiency of motor 2 in the walking condition); Figure 5The diagram is a comparison of the efficiency of hydraulic pumps. Pump 1 is hydraulic pump 1, and pump 2 is hydraulic pump 2. Since pump 1 only operates in the walking condition, Figure 5 Only the efficiency of pump 1 in the walking condition is displayed (between the efficiency of the original pump in the walking condition and the efficiency of pump 2 in the walking condition). That is, when executing the rotation condition, the pulling condition, and the pressurization condition, the load rate of the system is improved while ensuring the output power is consistent. By selecting a low-power motor and hydraulic pump, the energy loss of the hydraulic system and the motor is reduced, and the working efficiency and energy utilization of the overall system are improved, thereby further reducing the fuel consumption of the engine, saving energy and reducing the pollutants emitted.

[0077] In addition, the dual-pump dual-motor solution can also be changed to dual-motor or multi-motor direct drive. Taking the aforementioned electric version of the construction machinery equipment as an example, it is changed to a solution directly driven by electric motors of power P1 and P2, or a solution directly driven by electric motors of more other powers. According to its different working conditions, electric motors of different powers are selected for driving to improve the overall efficiency and energy utilization of the system. Alternatively, the dual-pump dual-motor solution is changed to a multi-pump multi-motor solution. Taking the aforementioned electric version of the construction machinery equipment as an example, it is changed to an overall drive solution composed of more electric motors of other powers and hydraulic pumps of more specifications and displacements. According to its different working conditions, electric motors of different powers are selected for driving to improve the overall efficiency and energy utilization of the system.

[0078] In summary, the control method for the rotary drilling rig provided in this embodiment calculates the actual power required for its operation according to the actual working condition requirements, and then the controller determines whether a single motor or two motors work together and the output power required by each motor according to the actual power requirements, and sends instructions. The collaborative work debugging of the dual pumps and dual motors ensures that when the dual pumps and dual motors work together, the flow of the hydraulic pump, the power of the motor, etc. are synchronized and coordinated.

[0079] Based on the same inventive concept as the above embodiments, the present invention provides a control device for a rotary drilling rig, such as Figure 6 As shown, the device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 6 The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 6 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the control method for the rotary drilling rig applied to the above device is implemented.

[0080] The device may also include: at least one network interface 312. The various components in the device are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 6 Various buses are labeled as bus system 313.

[0081] The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0082] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the device. Examples of these data include: any computer program used to operate on the device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0083] Based on the same inventive concept as the aforementioned embodiments, an embodiment of the present application further provides a rotary drilling rig, comprising: a generator, at least two electric motors and at least two hydraulic pumps, and a control device for a rotary drilling rig according to the aforementioned embodiments, wherein each of the electric motors is respectively connected to the generator, and the at least two hydraulic pumps are connected to the at least two electric motors in a one-to-one correspondence.

[0084] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) or other memory; it may also be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the control method for the rotary drilling rig applied to the above-mentioned device is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 2 The description of the illustrated embodiment will not be repeated here.

[0085] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0087] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A control method for a rotary drilling rig, characterized in that: The rotary drilling rig comprises a generator, at least two motors and at least two hydraulic pumps, each of the motors is connected to the generator, the at least two hydraulic pumps are connected to the at least two motors in a one-to-one correspondence, and the method comprises: Obtaining the working condition to be executed of the rotary drilling rig; the working condition to be executed includes at least one of the following working conditions: walking, rotating, pulling out, and pressurizing; Determining a target motor from the at least two motors according to the working condition to be performed; Controlling the generator to drive the target motor to drive the hydraulic pump connected to the target motor to operate and execute the working condition to be executed; The step of determining a target motor from the at least two motors according to the working condition to be executed comprises: Determining a target motor from the at least two motors according to the required power of the working condition to be performed and the rated output power of each of the motors; The step of determining a target motor from the at least two motors according to the required power of the working condition to be executed and the rated output power of each of the motors comprises: If the working condition to be executed is a walking working condition, the at least two motors are determined as the target motors; the sum of the rated output powers of the at least two motors meets the required power; If the working condition to be performed is any one of the working conditions of rotation, pulling out, and pressurization, then the motor whose rated output power meets the required power among the at least two motors is determined as the target motor; The step of determining the motor whose rated output power meets the required power among the at least two motors as the target motor comprises: When there are multiple motors among the at least two motors whose rated output powers meet the required power, the motor with the smallest rated output power is selected as the target motor.

2. The method according to claim 1, characterized in that: The obtaining of the working condition to be executed of the rotary drilling rig comprises: Obtain working condition operation instructions; The working condition operation instruction is parsed to obtain the working condition to be executed by the rotary drilling rig.

3. The method according to claim 1, characterized in that The controlling the generator to drive the target motor includes: The generator is controlled to drive the target motor, and the motors other than the target motor among the at least two motors are controlled to be in a non-operating state.

4. A control device for a rotary drilling rig, characterized in that: include: A processor and a memory storing a computer program, wherein when the processor runs the computer program, the steps of the control method for a rotary drilling rig according to any one of claims 1 to 3 are implemented.

5. A rotary drilling rig, characterized in that: include: A generator, at least two electric motors and at least two hydraulic pumps, and a control device for a rotary drilling rig according to claim 4, wherein each of the electric motors is respectively connected to the generator, and the at least two hydraulic pumps are connected to the at least two electric motors in a one-to-one correspondence.

6. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the steps of the control method for a rotary drilling rig described in any one of claims 1 to 3 are implemented.

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