Electric drive winch safety lowering control method and system and rotary drilling rig

Abstract

The application discloses a kind of electric drive hoist safety lowering control method, system and rotary drilling rig, the method includes: the target speed of hoist set by acquisition handle, the actual speed of hoist is acquired by speed sensor acquisition, and whether actual speed exceeds target speed is judged;When hoist is lowered, hoist motor is under the action of negative load Reverse drag power generation and store to energy storage device, the torque generated by hoist motor power generation is used to balance negative load, so that the actual speed of hoist does not exceed target speed;When energy storage device works abnormally or storage capacity is full, at this time, the main pump motor of rotary drilling rig itself is actively applied to load, to consume the electric energy generated by hoist motor, so that hoist motor generates the torque required to balance negative load again.By the method of the application, the rotary drilling rig can be safely and stably lowered when the energy storage device works abnormally or the storage capacity is full.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of engineering machinery, and particularly relates to an electric drive winch safe lowering control method and system and a rotary drilling rig. BACKGROUND

[0002] The rotary drilling rig is a pile work type hole forming operation device, and the main winch is a main working component thereof. When rotary drilling is performed, the main winch rapidly lifts and lowers movement with several tons or even tens of tons of drill rods, drill bits and spoil.

[0003] With the progress of science and technology, engineering machinery is gradually electrified. In the prior art, the main winch gradually appears in the motor driving mode. In the lifting process of the main winch, the motor is in the motor working condition to provide winch driving force. In the lowering process, the motor is converted into the generator working condition to generate electricity by the load weight dragging the winch rotation. The counter-torque generated by the motor power generation is used to balance the load weight. The torque value T = U x I / n, wherein U is the motor power generation voltage, I is the motor power generation current, and n is the motor speed.

[0004] However, the premise of the motor generating the counter-torque is that the electricity generated by the motor flows to other energy storage or power consumption devices in the form of current. If the energy storage device works abnormally or the storage capacity is full and cannot form current, that is, I = 0 in the above formula, the motor cannot generate the counter-torque, which will cause the heavy object to stall and fall. At the same time, when the winch falling speed is too fast, the energy storage device cannot absorb too much electric energy, which will cause the falling speed of the heavy object to be faster and faster until the heavy object stalls and falls, thereby causing safety hazards. SUMMARY

[0005] The present application aims to overcome the deficiencies in the prior art and provide an electric drive winch safe lowering control method and system and a rotary drilling rig, so that the motor can adjust the counter-torque in real time to prevent the heavy object from stalling and falling.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] The present application provides an electric drive winch safe lowering control method. The method is based on a winch system, which includes an energy storage device, a winch motor and a main pump motor of a rotary drilling rig.

[0008] The method includes:

[0009] Obtaining a target speed of the winch;

[0010] Collecting an actual speed of the winch and determining whether the actual speed exceeds the target speed;

[0011] Detecting whether the energy storage device is normal;

[0012] When the winch is in the process of lowering, if the energy storage device is normal and the actual speed is less than the target speed, the winch motor generates electricity to the energy storage device, and the torque generated by the winch motor is used to balance the negative load, so that the actual speed of the winch does not exceed the target speed; otherwise, the main pump motor of the rotary drilling rig is used to actively apply a load to consume the electricity generated by the winch motor, so that the winch motor generates the torque required to balance the negative load again.

[0013] Further, the abnormal condition of the energy storage device includes that the energy storage device works abnormally or the energy storage capacity is full.

[0014] Further, the method further comprises:

[0015] continuously collecting the target speed and the actual speed;

[0016] when the difference between the obtained target speed and the actual speed exceeds a first threshold value, only changing the actual speed by a second threshold value based on the current speed within a set time; the first threshold value is greater than or equal to the second threshold value;

[0017] after the set time, if the difference between the obtained target speed and the actual speed still exceeds the first threshold value, only changing the actual speed by a third threshold value based on the current speed within a set time, and continuously repeating the process until the actual speed is the same as the target speed set by the handle; the third threshold value is greater than or equal to the second threshold value.

[0018] In the second aspect, the application provides a safe lowering control system for an electrically driven winch, comprising:

[0019] a handle for setting the target speed of the winch;

[0020] a speed sensor for collecting the actual speed of the winch;

[0021] a winch motor, which is used as a motor to drive the winch to rotate, and is also used as a generator to generate electricity by using the negative load of the winch;

[0022] an energy storage device, which is used to provide power sources for the winch motor and the main pump motor, and is also used to store the electricity generated by the winch motor;

[0023] a main pump motor, which is used to drive the main pump of the rotary drilling rig, and is also used to consume the electricity generated by the winch motor when the energy storage device works abnormally or the energy storage capacity is full;

[0024] A controller is connected with the handle, the speed sensor, the hoist motor, the energy storage device and the main pump motor respectively to receive the handle instruction, the speed sensor signal and the energy storage device storage capacity signal, and to send control instructions to the hoist motor inverter and the main pump motor inverter according to the handle instruction, the speed sensor signal and the energy storage device storage capacity signal to execute the electric drive hoist safe lowering control method of the first aspect.

[0025] Further, the electric drive hoist safe lowering control system further comprises:

[0026] A hoist motor inverter is connected with the controller to convert the direct current of the energy storage device and the alternating current of the hoist motor and control the running state of the hoist motor.

[0027] A main pump motor inverter is connected with the controller to convert the direct current of the energy storage device and the alternating current of the main pump motor and control the running state of the main pump motor.

[0028] Further, the electric drive hoist safe lowering control system further comprises:

[0029] A loading unit is connected with the controller to apply a load to the main pump motor.

[0030] Further, the loading unit comprises:

[0031] A main pump is connected with the output shaft of the main pump motor to provide a pressure oil source.

[0032] An overflow valve is connected in the output pipeline of the main pump to provide a load pressure for the main pump, and the overflow valve is electrically connected with the controller and changes the pressure according to the size of the loading current signal sent by the controller.

[0033] In the third aspect, the application provides a rotary drilling rig comprising the electric drive hoist safe lowering control system of any one of the second aspect.

[0034] Compared with the prior art, the application has the following beneficial effects:

[0035] 1. When the energy storage device works abnormally or the actual speed exceeds the target speed, the main pump motor can be used to consume the electric energy generated by the hoist motor to adjust the real-time reverse drag torque of the motor, ensure the safety and stability of the hoist lowering, and prevent the heavy object from stalling and falling.

[0036] 2. The main pump motor, the controller and the main pump are all existing elements in the existing system, and have simple structure and low cost.

[0037] 3. The application also sets a false touch prevention method to prevent the target speed from being set incorrectly, the hoist from descending too fast or suddenly slowing down, and the machine from being damaged, and can effectively protect the construction safety of the hoist. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a schematic diagram of the control method of the present application;

[0039] Figure 2 is a schematic diagram of the system principle of the present application;

[0040] Figure 3 is an embodiment of the loading unit of the present application.

[0041] In the figure: 1, hoist motor inverter; 2, hoist motor; 3, speed reducer; 4, main hoisting device; 5, speed sensor; 6, handle; 7, main pump motor inverter; 8, main pump motor; 9, loading unit; 10, energy storage device; 11, controller; 9-1, main pump; 9-2, reversing valve; 9-3, overflow valve; 9-4, electromagnetic valve. DETAILED DESCRIPTION

[0042] The present application will be further described below with reference to the accompanying drawings. The following examples are only used to more clearly illustrate the technical solutions of the present application, and cannot be used to limit the protection scope of the present application.

[0043] In the description of the present embodiment, it should be noted that, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like appear, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present embodiment and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present embodiment.

[0044] Example 1:

[0045] The present embodiment provides a safe lowering control method for an electric drive hoist, which is based on a hoist system including an energy storage device 10, a hoist motor 2 and a main pump motor 8 of a rotary drilling rig itself connected with each other; the hoist motor 2 is connected with a main hoisting device 4 through a speed reducer 3. The main hoisting device 4 can be driven to rotate by the hoist motor 2, or can drive the hoist motor 2 to generate electricity as a power source.

[0046] As shown in Figure 1 , the method comprises:

[0047] acquiring a target speed of hoisting;

[0048] collecting an actual speed of hoisting and determining whether the actual speed exceeds the target speed;

[0049] detecting whether the energy storage device is normal;

[0050] When the winch is lowering, if the energy storage device 10 is normal and the actual speed is less than the target speed, the winch motor 2 generates electricity normally to the energy storage device 10, and the torque generated by the winch motor 2 is used to balance the negative load, so that the actual speed of the winch does not exceed the target speed; otherwise, the main pump motor 8 of the rotary drilling machine is used to actively apply a load to consume the electricity generated by the winch motor 2, so that the winch motor 2 generates the torque required to balance the negative load again. The handle 6 is used to set the target speed of the winch, the speed sensor 5 is used to collect the actual speed of the winch, and it is judged whether the actual speed exceeds the target speed.

[0051] The method further comprises:

[0052] The target speed and the actual speed are continuously collected;

[0053] When the difference between the obtained target speed and the actual speed exceeds a first threshold value, only the actual speed is changed by a second threshold value based on the current speed within a set time; the first threshold value is greater than or equal to the second threshold value;

[0054] After the set time, if the difference between the obtained target speed and the actual speed still exceeds the first threshold value, only the actual speed is changed by a third threshold value based on the current speed within a set time, and the process is repeatedly performed until the actual speed is the same as the target speed set by the handle 6; the third threshold value is greater than or equal to the second threshold value.

[0055] The first threshold value, the second threshold value and the third threshold value can be set to fixed values, or can be set to float with the actual speed or the target speed, such as one-tenth or one-half of the actual speed, or can be combined to use different threshold values at different speeds, such as using a fixed threshold value at low speed and using a proportional threshold value at high speed. The three threshold values are set differently, which can improve the flexibility of the setting, make the speed change more sensitive, and make the speed change smoother.

[0056] The set time can be adjusted according to the actual situation, and is generally between 0.5-10 seconds.

[0057] The purpose of setting the method is to prevent the target speed from being set incorrectly, so that the winch lowers too fast or suddenly slows down, causing machine wear and tear, and the construction safety of the winch can be effectively protected.

[0058] The implementation principle is that when the winch is lowering, the winch motor 2 works in the generator working condition, and under the action of the negative load, the winch motor 2 generates electricity and stores it to the energy storage device 10, and the torque generated by the winch motor 2 is used to balance the negative load, so that the actual speed of the winch does not exceed the target speed, and the torque value T=U×I / n, wherein U is the motor generating voltage, I is the motor generating current, and n is the motor speed.

[0059] When the working of the energy storage device 10 is abnormal or the storage capacity is full, the electric energy generated by the hoist motor 2 cannot be released, that is, I = 0 in the formula, so that the torque required to balance the negative load cannot be generated, resulting in the actual speed of the hoist exceeding the target speed.

[0060] At this time, the main pump motor 8 of the rotary drilling rig itself is actively loaded to consume the electric energy generated by the hoist motor 2, that is, I in the formula is re-established to make the hoist motor 2 generate the torque required to balance the negative load.

[0061] The above-mentioned actively loading the main pump motor 8 is actually loading the main pump, and an overflow valve 9-3 can be connected in the main pump pipeline to change the pressure of the main pump outlet by controlling the current signal of the overflow valve 9-3. At this time, the torque acting on the shaft of the main pump motor 8 is T = p x Vg / (2η), wherein Vg is the displacement of the main pump, η is the total transmission efficiency of the main pump, and p is the outlet pressure of the main pump, which is in one-to-one correspondence with the loading current signal.

[0062] Embodiment two:

[0063] The embodiment provides an electric drive hoist safe lowering control system, as shown in the figure, which comprises: Figure 2 A handle 6 is used for setting the target speed of the hoist.

[0064] A speed sensor 5 is used for collecting the actual speed of the hoist.

[0065] A hoist motor 2 can drive the main hoist device 4 to rotate as a motor and generate electricity as a generator by using the negative load of the hoist.

[0066] An energy storage device 10 is used for providing the electric energy source for the hoist motor 2 and the main pump motor 8, and storing the electric energy generated by the hoist motor 2.

[0067] A main pump motor 8 is used for driving the main pump 9-1 in the loading unit 9 to work, and consuming the electric energy generated by the hoist motor 2 when the working of the energy storage device 10 is abnormal or the storage capacity is full.

[0068] A controller 11 is used for receiving the handle instruction, the speed sensor signal and the energy storage capacity signal of the energy storage device, and sending control instructions to the hoist motor inverter 1 and the main pump motor inverter 7, so as to execute the electric drive hoist safe lowering control method described in embodiment one.

[0069] A main hoist device 4 is connected with the hoist motor 2 through a speed reducer 3, and can be driven to rotate by the hoist motor 2 or generate electricity as a power source.

[0070]

[0071] ​The electric drive winch safety lowering control system of the embodiment further comprises:

[0072] The winch motor inverter 1 is used for converting direct current of the energy storage device 10 and alternating current of the winch motor 2 and controlling the operation state of the winch motor 2.

[0073] The main pump motor inverter 7 is used for converting direct current of the energy storage device 10 and alternating current of the main pump motor 8 and controlling the operation state of the main pump motor 8.

[0074] The loading unit 9 is used for applying a load to the main pump motor 8, so as to consume the electric energy generated by the winch motor 2, thereby balancing the weight of the drill pipe.

[0075] As shown in Figure 3 , the loading unit 9 comprises:

[0076] The main pump 9-1 is connected with the output shaft of the main pump motor 8 and is used for providing a pressure oil source.

[0077] The overflow valve 9-3 is connected in the output pipeline of the main pump 9-1 and is used for providing a load pressure for the main pump 9-1.

[0078] Figure 3 It is one embodiment of the loading unit 9 of the present application, the P port of the reversing valve 9-2 is connected with the A port of the main pump 9-1, the A port of the reversing valve 9-2 is connected with the A port of the overflow valve 9-3, the T port of the reversing valve 9-2 and the T port of the overflow valve 9-3 are both connected to the hydraulic oil tank; the electromagnetic valve 9-4 is connected with the a port of the reversing valve 9-2 and is used for reversing the reversing valve 9-2. The case adopts an electric proportional overflow valve.

[0079] When the load is needed, the controller 11 sends a current instruction to the overflow valve 9-3 and a reversing instruction to the electromagnetic valve 9-4, the reversing valve 9-2 is reversed under the pressure output by the electromagnetic valve 9-4, the pressure oil output by the main pump flows through the P port and the A port of the reversing valve 9-2 and the overflow valve 9-3 in turn, the overflow valve 9-3 changes the pressure according to the size of the load current signal, at this time, the torque acting on the shaft of the main pump motor 8 is T=p×Vg / (2πη), wherein Vg is the displacement of the main pump 9-1, η is the total transmission efficiency of the main pump 9-1, and p is the outlet pressure of the main pump 9-1, which is in one-to-one correspondence with the load current signal, that is, p=f(I).

[0080] The control area further comprises a mistaken touch prevention module, which continuously collects the target speed and the actual speed;

[0081] When the difference between the target speed and the actual speed exceeds a first threshold value, only the actual speed is changed by a second threshold value on the basis of the current speed within a set time; the first threshold value is greater than or equal to the second threshold value.

[0082] If the difference between the target speed and the actual speed still exceeds the first threshold value after the set time, only the actual speed is changed by a third threshold value based on the current speed within the set time, and the process is repeatedly performed until the actual speed is the same as the target speed set by the handle 6; the third threshold value is greater than or equal to the second threshold value.

[0083] The first threshold value, the second threshold value and the third threshold value can be set as fixed values, or can be set as floating values varying with the actual speed or the target speed, such as one-tenth or one-half of the actual speed, or can be combined to adopt different threshold values at different speeds, such as adopting a fixed threshold value at low speed and adopting a proportional threshold value at high speed.

[0084] The set time can be adjusted according to actual conditions, and is generally between 0.5-10 seconds.

[0085] The function of setting the method is to prevent the target speed from being set incorrectly, so that the hoist is lowered too fast or suddenly decelerated, resulting in machine loss, and the construction safety of the hoist can be effectively protected.

[0086] Embodiment three:

[0087] The embodiment provides a rotary drilling rig comprising the electric drive hoist safety lowering control method and system of embodiment two.

[0088] In addition, the terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features, and in the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0089] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, and can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0090] In the present application, unless specifically defined and limited otherwise, the "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "on", "above" and "under" of a first feature to a second feature include that the first feature is directly above and obliquely above the second feature, or only means that the first feature is higher than the second feature in horizontal height. The "under", "below" and "under" of a first feature to a second feature include that the first feature is directly above and obliquely above the second feature, or only means that the first feature is lower than the second feature in horizontal height.

[0091] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0092] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments without departing from the principles and spirit of the present application within the scope of the present application.

Claims

1. An electric drive winch safety lowering control method, characterized in that, The method is based on a hoisting system comprising a connected energy storage device, a hoisting motor and a main pump motor of a rotary drilling rig itself; The method comprises: obtaining a target speed of hoisting; collecting an actual speed of hoisting and determining whether the actual speed exceeds the target speed; detecting whether the energy storage device is normal; when the energy storage device is normal and the actual speed is less than the target speed during hoisting lowering, controlling the hoisting motor to generate electricity normally to the energy storage device, and using the torque generated by the hoisting motor to balance the negative load, so that the actual speed of hoisting does not exceed the target speed, otherwise actively applying a load to the main pump motor of the rotary drilling rig itself to consume the electric energy generated by the hoisting motor, so that the hoisting motor generates the torque required to balance the negative load again; The method further comprises a false touch prevention method for preventing the target speed from being set incorrectly; the false touch prevention method comprises: continuously collecting the target speed and the actual speed; when the difference between the obtained target speed and the actual speed exceeds a first threshold value, only changing the actual speed by a second threshold value based on the current speed within a set time; the first threshold value is greater than or equal to the second threshold value; after the set time, if the difference between the obtained target speed and the actual speed still exceeds the first threshold value, only changing the actual speed by a third threshold value based on the current speed within a set time, and continuously repeating the process until the actual speed is the same as the target speed set by the handle; the third threshold value is greater than or equal to the second threshold value.

2. The electric drive hoist safety lowering control method of claim 1, wherein, The abnormal condition of the energy storage device includes abnormal operation of the energy storage device or full storage capacity.

3. An electrically driven hoist safety lowering control system, characterized by, It comprises: a handle for setting the target speed of hoisting; a speed sensor for collecting the actual speed of hoisting; a hoisting motor which serves as both a motor to drive the hoisting rotation and a generator to generate electricity by using the negative load of hoisting; an energy storage device which serves as both a power source for the hoisting motor and the main pump motor and a storage for the electricity generated by the hoisting motor after generating electricity; a main pump motor for driving the main pump of the rotary drilling rig itself to work, and for consuming the electric energy generated by the hoisting motor when the energy storage device works abnormally or the storage capacity is full; a controller connected with the handle, the speed sensor, the hoisting motor, the energy storage device and the main pump motor to receive the handle command, the speed sensor signal and the energy storage device storage capacity signal, and to send control commands to the hoisting motor inverter and the main pump motor inverter according to the handle command, the speed sensor signal and the energy storage device storage capacity signal, and to execute the safe hoisting lowering control method of the electric drive hoist as claimed in any one of claims 1-2.

4. The electric drive hoist safety lowering control system of claim 3, wherein, The system further comprises: a hoisting motor inverter connected with the controller for converting the direct current of the energy storage device and the alternating current of the hoisting motor, and controlling the operating state of the hoisting motor; a main pump motor inverter connected with the controller for converting the direct current of the energy storage device and the alternating current of the main pump motor, and controlling the operating state of the main pump motor.

5. The electric drive hoist safety lowering control system of claim 3, wherein, It further comprises: a loading unit connected with the controller for applying a load to the main pump motor.

6. The electric drive hoist safety lowering control system of claim 5, wherein, The loading unit comprises: a main pump connected with the output shaft of the main pump motor for providing a pressure oil source; The overflow valve is connected in the output pipeline of the main pump, and is used for providing load pressure for the main pump; The overflow valve is electrically connected with the controller, and changes the pressure size according to the size of the load current signal sent by the controller.

7. A rotary drilling rig, characterized by The electrically driven hoist safety lowering control system comprises the electrically driven hoist safety lowering control system according to any one of claims 3-6.

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