A method, device, and system for controlling flow distribution during the drill rod lifting process of a rotary drilling rig.

Abstract

This invention discloses a flow distribution control method, device, and system for the drill rod lifting process of a rotary drilling rig. The method includes the following steps: obtaining the actual rotational speed of the power head system; comparing the actual rotational speed of the power head system with the desired rotational speed to obtain the rotational speed deviation e and the deviation change rate ec; inputting the deviation e and the deviation change rate ec into a fuzzy controller to obtain the proportional coefficient changes ΔKp, ΔKi, and ΔKd; inputting the proportional coefficient changes ΔKp, ΔKi, and ΔKd into a PID controller to obtain the current u(t); inputting the current u(t) into a proportional amplifier to obtain the amplified current value; and adjusting the valve opening based on the amplified current value to maintain a steady-state constant rotational speed of the power head system under a certain flow rate, thus distributing the remaining flow to the main hoisting system, thereby achieving flow distribution. This method improves the rationality of flow distribution in complex actions and overcomes the shortcomings of traditional PID parameters, which cannot be adjusted in real time when the load changes, by using a single pump to supply dual systems.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of compound action of engineering machinery hydraulic system, and relates to a rotary drilling rig drill rod lifting process flow distribution control method, device and system. BACKGROUND

[0002] In the conventional rotary drilling rig drill rod lifting, single pump is used to control single system, and the control scheme is to unlock the power head first, and then lift the main winch. More flow is used for power head reverse unlocking, compared with single action, more flow is used for power head system in compound action, and the winch system flow is less, which affects the winch lifting speed.

[0003] The ordinary open-loop control cannot guarantee the stability of the power head system when the single pump supplies double systems to improve the winch flow due to load changes, thereby affecting the winch system flow distribution. Since it is a time-varying nonlinear system, different PID parameters need to be selected at different times. The traditional PID controller is difficult to make the entire running process have good running effect. SUMMARY

[0004] In order to solve the above problems, the technical scheme adopted by the application is: a rotary drilling rig drill rod lifting process flow distribution control method, comprising the following steps:

[0005] Obtain the actual speed of the power head system;

[0006] Compare the actual speed of the power head system with the expected speed to obtain the speed deviation e and the deviation change rate ec;

[0007] Input the deviation e and the deviation change rate ec into the fuzzy controller to obtain the proportional coefficient change amount ΔKp, ΔKi and ΔKd;

[0008] Input the proportional coefficient change amount ΔKp, ΔKi and ΔKd into the PID controller to obtain the current u(t);

[0009] Input the current u(t) into the proportional amplifier to obtain the amplified current value;

[0010] Based on the amplified current value, adjust the valve opening to keep the speed of the power head system stable and constant under a certain flow, then distribute the remaining flow to the main winch system to realize flow distribution.

[0011] A rotary drilling rig drill rod lifting process flow distribution control device, comprising:

[0012] The acquisition module is used to obtain the actual speed of the power head system;

[0013] The comparison and calculation device is used to compare the actual speed of the power head system with the expected speed to obtain the speed deviation e and the deviation change rate ec;

[0014] Fuzzy controller module: for inputting the deviation e and the deviation change rate ec into the fuzzy controller to obtain the proportional coefficient change amount ΔKp, ΔKi and ΔKd;

[0015] PID controller module: for inputting the proportional coefficient change amount ΔKp, ΔKi and ΔKd into the PID controller to obtain the current u(t);

[0016] Proportional amplifier module: for inputting the current u(t) into the proportional amplifier to obtain the amplified current value;

[0017] Adjustment module: for adjusting the valve opening based on the amplified current value, so that the power head system keeps stable and constant under a certain flow, and the remaining flow is allocated to the main hoist system to realize the flow allocation.

[0018] A flow distribution control system for a rotary drilling rig during a drill rod lifting process, comprising:

[0019] A power head device for controlling the reverse unlocking process of a drill rod section during the rotary drill rod lifting process;

[0020] A main hoist device for controlling the lifting process of the drill rod during the rotary drill rod lifting process;

[0021] A pump control device for providing power flow for the power head device and the main hoist device;

[0022] And a rotary drilling rig drill rod lifting process flow distribution device, through the electric proportional pressure reducing valve receives the signal automatic control under the dynamic load power head main valve and the main hoist main valve valve opening, realize the flow distribution of power head device and main hoist device.

[0023] The rotary drilling rig drill rod lifting process flow distribution control method, device and system provided by the application improve the rationality of flow distribution in the composite action, the method uses a single pump to supply two systems, overcomes the defect that the traditional PID parameters cannot adjust the PID parameters in real time when the load changes, the control strategy of the application macro regulates and controls the speed of the power head, converts the digital signal into an electric signal through the fuzzy PID controller, and automatically controls the valve opening of the power head main valve and the main hoist main valve under the dynamic load through the electric proportional pressure reducing valve receiving signal, thereby improving the flow distribution problem of the power head and the main hoist in the composite action, ensuring the stability of the speed of the power head motor in the composite action under the variable load disturbance, improving the hoisting efficiency, optimizing the flow change rate of the power head system by controlling the valve opening of the power head main valve under the dynamic load through the proportional control, thereby improving the flow distribution problem of the power head and the main hoist in the composite action, and ensuring the stability of the speed of the power head motor in the composite action under the variable load disturbance. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained without creative labor.

[0025] Figure 1 is the principle diagram of the engineering machinery compound action flow accurate distribution method of the present application;

[0026] Figure 2 is the flow distribution control strategy diagram adopted by the present application;

[0027] Figure 3 is the simplified principle diagram of the fuzzy PID control adopted by the present application;

[0028] Figure 4 is the power head unlocking judgment schematic diagram adopted by the present application.

[0029] The accompanying drawings are as follows: 1, first main pump, 2, second main pump, 3, first main winch union, 4, second main winch union, 5, first power head union, 6, second power head union, 7, first pressure sensor, 8, second pressure sensor, 9, first check valve, 10, second check valve, 11, third check valve, 12, fourth check valve, 13, pressure reducing valve group, 14, shuttle valve, 15, balance valve, 16, main winch motor, 17, first power head motor, 18, second power head motor, 19, first electric proportional pressure reducing valve group, 19, second electric proportional pressure reducing valve group, 20, third electric proportional pressure reducing valve group, 21, fourth electric proportional pressure reducing valve group, 22, fourth brake cylinder, 23, brake cylinder. DETAILED DESCRIPTION

[0030] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, and are not all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, and is by no means any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0032] It is to be understood that the terms so far as the grammar used herein is concerned are to be interpreted in their dictionary meanings and are not to be interpreted in the context of legal terms unless so explicitly stated. It is also to be understood that the terminology and description provided above are for the purpose of simplifying the present disclosure and the invention, and are not intended to limit the scope of the application of the present invention, and the use of such terminology, and description is understood to also cover any technical equivalents for the subject matter covered. It is also to be understood that the terminology and description provided above are for the purpose of simplifying the present disclosure and the invention, and are not intended to limit the scope of the application of the present invention, and the use of such terminology, and description is understood to also cover any technical equivalents for the subject matter covered.

[0033] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless specifically so stated. It is also to be understood that the drawings are not necessarily drawn to scale and that the dimensions of the various parts shown in the drawings are intended to be illustrative only and not limiting of the scope of the application. Techniques, methods, and apparatus known to those of ordinary skill are not discussed in detail but can be employed with the systems and methods described herein. Unless otherwise specifically stated, all examples shown and discussed herein are to be interpreted as examples of the present application and not as limitations of the scope of the application. Thus, other examples of the exemplary embodiments can have different values for the components and steps. It is to be noted that like numbers and letters on the attached drawings pertain to like elements, and thus, once an element is defined in one drawing, it is not necessary to discuss it further in the remaining drawings.

[0034] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by orientation words such as "front, back, upper, lower, left, right", "horizontal, vertical, perpendicular, horizontal", and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the outline of each component itself.

[0035] For the purposes of the description, relative terms such as "on", "above", "atop", "upper", and the like can be used to describe one element's or feature's spatial or topographical relationship to other elements or features as illustrated in the figures. It is to be understood that the spatial or topographical terms are intended to encompass different orientations of the device in its operation or use, in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "up" other elements or features would then be oriented "below" or "down" the other elements or features. Accordingly, the exemplary term "above" can encompass both an orientation of above and below. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatial or topographical descriptions used herein interpreted accordingly.

[0036] In addition, it should be noted that the use of "first", "second", and the like, terminology to modify a particular element does not limit the scope of the present application to the corresponding numbered element, unless otherwise indicated. Such terminology is in some cases used for the sake of clarity in referring to a particular element, to distinguish that element from another element having a same or similar name without causing confusion, or to distinguish that element in relation to some feature of the element that is being discussed. It is also noted that the terms "comprise", "comprising", or other variations, such as "comprises", "comprising", "comprise", "comprising", "include", "including", and "includes", when used in this disclosure, specify the presence of stated features, integers, steps, or components but do not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof.

[0037] Figure 1 is the principle diagram of the method for accurately distributing flow of the compound action of the engineering machinery of the present application;

[0038] Figure 2 is the flow distribution control strategy diagram adopted by the present application;

[0039] Figure 3 is the simplified principle diagram of the fuzzy PID control adopted by the present application;

[0040] A flow distribution control method in the process of lifting the drill rod of a rotary drilling rig, comprising the following steps:

[0041] S1: obtaining the actual rotating speed of the power head system;

[0042] S2: comparing the actual rotating speed of the power head system with the expected rotating speed to obtain the rotating speed deviation e and the deviation change rate ec;

[0043] S3: inputting the deviation e and the deviation change rate ec into a fuzzy controller to obtain the proportional coefficient change amount ΔK p , ΔK i , ΔK d ;

[0044] S4: inputting the proportional coefficient change amount ΔK p , ΔK i , ΔK d into a PID controller to obtain the current u(t);

[0045] S5: the current u(t) is input to a proportional amplifier to obtain an amplified current value;

[0046] S6: based on the amplified current value, the valve opening is adjusted to keep the rotating speed of the power head system stable and constant under a certain flow, and the remaining flow is distributed to the main hoist system to realize flow distribution.

[0047] S1 / S2 / S3 / S4 / S5 / S6 are sequentially executed;

[0048] A flow distribution control device for a rotary drilling rig drill rod lifting process, comprising:

[0049] An acquisition module: for acquiring the actual rotating speed of the power head system;

[0050] A comparison and calculation device: for comparing the actual rotating speed of the power head system with the expected rotating speed to obtain the rotating speed deviation e and the deviation change rate ec;

[0051] A fuzzy controller module: for inputting the deviation e and the deviation change rate ec into a fuzzy controller to obtain the proportional coefficient change amount ΔK p , ΔK i , ΔK d ;

[0052] A PID controller module: for inputting the proportional coefficient change amount ΔK p , ΔK i , ΔK d into a PID controller to obtain the current u(t);

[0053] A proportional amplifier module: for inputting the current u(t) to a proportional amplifier to obtain an amplified current value;

[0054] An adjustment module: for adjusting the valve opening based on the amplified current value to keep the rotating speed of the power head system stable and constant under a certain flow, and the remaining flow is distributed to the main hoist system to realize flow distribution.

[0055] A flow distribution system for a rotary drilling rig drill rod lifting process, comprising: a pump control device for providing power flow, a power head device for controlling the reverse unlocking process of the drill rod section during the rotary drilling rig drill rod lifting process, a main hoist device for controlling the lifting process of the drill rod during the rotary drilling rig drill rod lifting process, and a rotary drilling rig drill rod lifting process flow distribution device;

[0056] The pump control device provides power flow for the power head device and the main hoist device;

[0057] The flow distribution device of the rotary drilling rig drill rod lifting process receives signals through the electric proportional pressure reducing valve to automatically control the opening degree of the valve port of the power head main valve and the main winch main valve under dynamic load, so as to realize the flow distribution of the power head device and the main winch device

[0058] The pump control device comprises a first main pump 1, a second main pump 2, a first pressure sensor 7, and a second pressure sensor 8; the first main pump 1 and the second main pump 2 provide oil for the entire system,

[0059] The first pressure sensor 7 and the second pressure sensor 8 detect the main oil way pressure;

[0060] The main winch device comprises a pressure reducing valve group 13, a shuttle valve 14, a balance valve 15, a main winch motor 16, and a brake cylinder 23;

[0061] When the oil way flow enters the main winch system, it should first pass through the pressure reducing valve group 13 and the shuttle valve 14 to enter the brake cylinder 23;

[0062] The brake cylinder 23: performs pressure holding, and can be opened when the pressure reaches the unlocking pressure of the brake cylinder 23;

[0063] After the brake cylinder pressure is sufficient, the balance valve is opened, and the flow can enter the main winch motor 16, and the motor starts to work;

[0064] The power head system comprises a first power head motor 17 and a second power head motor 18;

[0065] The flow enters the first power head motor 17 and the second power head motor 18, and the first power head motor 17 and the second power head motor 18 start to work, and the two motors are mechanically connected to synchronize the rotation speed and reach the minimum displacement.

[0066] The flow distribution control device comprises a first main winch connection 3 and a second main winch connection 4, a first power head connection 5, a second power head connection 6, a first electric proportional pressure reducing valve group 19, a second electric proportional pressure reducing valve group 20, a third electric proportional pressure reducing valve group 21, a fourth electric proportional pressure reducing valve group 22, a first check valve 9, a second check valve 10, a third check valve 11, and a fourth check valve 12;

[0067] The flow of the first main winch connection 3 and the second main winch connection 4 is combined and then split to enter the main winch device;

[0068] The first electric proportional pressure reducing valve group 19 and the second electric proportional pressure reducing valve group 20 receive the electric signals sent by the handle to control the opening and closing of the valve port of the first main winch connection 3 and the second main winch connection 4

[0069] The flow of the first power head connection 5 and the second power head connection 6 enters the power head device;

[0070] The third and fourth electric proportional pressure-reducing valve groups 21 and 22 receive electric signals from the handle to control the opening and closing of the valve ports of the first and second power head units 5 and 6.

[0071] The flow distribution control device controls the opening degree of the valve ports of the first and second main hoist units 3 and 4, and the first and second power head units 5 and 6, and further controls the main hoist device and the power head system device, so as to optimize the flow rate change rate of the power head system under dynamic load by proportionally controlling the opening degree of the power head main valve ports, to improve the flow distribution problem of the compound action power head and the main hoist, and to ensure the stability of the rotating speed of the power head motor under variable load disturbance.

[0072] The first main pump 1 is connected to the first and second power head units 5 and 6 through two one-way valves, i.e., the first and third one-way valves 9 and 10, and the second main pump 2 is connected to the second and first power head units 6 and 5 through two one-way valves, i.e., the second and fourth one-way valves 10 and 12. The two oil paths have first and second pressure sensors 7 and 8 to measure the pressure before the valves. The second and third electric proportional pressure-reducing valve groups 19 and 20 receive electric signals from the handle to control the opening and closing of the valve ports of the first and second main hoist units 3 and 4, and the third and fourth electric proportional pressure-reducing valve groups 21 and 22 receive electric signals from the handle to control the opening and closing of the valve ports of the first and second power head units 5 and 6. The combined flow of the first and second main hoist units 3 and 4 enters the main hoist device, passes through the shuttle valve 14, the pressure-reducing valve group 13, the brake cylinder 23, and then passes through the balance valve 15, so that the main hoist motor 16 starts to work. The combined flow of the first and second power head units 5 and 6 enters the power head device, and the first and second power head motors 17 and 18 start to work.

[0073] The system adopts first main pump 1 single pump shunt into double system, and provides flow to main hoist device and power head device, and the second main pump 2 single pump provides main hoist device, when the power head main valve front electric proportional pressure reducing valve and the main hoist main valve front electric proportional pressure reducing valve have signals at the same time, the unlocking composite action control strategy is unlocked.If the power head main valve front electric proportional pressure reducing valve has a signal, the first power head union 5 and the second power head union 6 receive the electric signal sent by the handle, the first power head union 5 and the second power head union 6 valve core moves the power head reverse unlocking;When the power head main valve front electric proportional pressure reducing valve and the main hoist main valve front electric proportional pressure reducing valve have signals at the same time, the position of the drill pipe is obtained through the position sensor on the drill pipe, the position of the power head and the drilling depth are observed, the unlocking stroke is judged, the speed of the power head device is detected, the power head speed integral is compared with the expected value, whether the power head is completely unlocked is judged, the speed sensor detects the speed of the power head, and the expected value is compared, the speed deviation e and the deviation change rate ec are obtained.Using fuzzy PID control, the valve opening is adjusted, so that the speed of the power head remains stable and constant, so that the excess flow is distributed to the main hoist system, and the rationality of flow distribution under dynamic load is improved.

[0074] Figure 4 It is the power head unlocking judgment schematic diagram adopted by the present application.

[0075] After the main pump is turned on, different actions are taken according to different signals received by the electric proportional pressure reducing valve, and the specific control process of flow distribution is as follows:

[0076] 1) The power head device main valve front electric proportional pressure reducing valve receives the electric signal sent by the handle, the power head main valve reverses, the first main pump 1 oil circuit oil enters the first power head union 5 through the check valve, the second main pump 2 oil circuit oil enters the second power head union 6 through the check valve, and then enters the power head device after converging and shunting, the first power head motor 17 and the second power head motor 18 work, the two sides of the motor are connected mechanically and have the same speed and the minimum displacement, and the power head is reversed and unlocked;

[0077] 2) When the power head device main valve receives the electric signal from the handle at the same time as the main winch main valve, the power head main valve reverses, the lowering depth, the drilling depth, the judgment of the drill rod extension, the analysis of the extension of different rods, the speed integration of the power head speed, the judgment of whether the power head is completely unlocked, if not completely unlocked, the main winch is not in action, if the power head is completely unlocked, the main winch is reversed, the first main pump 1 oil road oil enters the first main winch 3, the first power head 5, the second main pump 2 oil road oil enters the second main winch 4, 5, the first power head joint, 6, the second power head joint, and the flow is divided into the power head device, the first power head motor 17 and the second power head motor 18 work, the first power head motor 17 and the second power head motor 18 on both sides are connected mechanically to synchronize the speed and the displacement reaches the minimum. The main winch oil passes through the shuttle valve 14 and the pressure reducing valve 13, the brake cylinder 23 starts to build up pressure, and after the brake cylinder 23 is opened, the balance valve group 15 is opened, and the main winch motor 16 works.

[0078] The power head reverses and unlocks at the same time as the main winch is lifted up, the speed sensor detects the speed of the power head, and the minimum speed of the power head motor is n min , which is less than n min The motor will crawl, deducting the influence of motor leakage and main valve leakage, and the expected value is selected as 1.4n min , the actual speed is compared with the expected speed, and the speed deviation e and the deviation change rate ec are obtained, which are input into the fuzzy controller, and the output proportional coefficient change amount ΔK p, ΔK i , ΔK d is input into the PID controller, and the current u(t) is obtained by the formula:

[0079]

[0080] The current u(t) is input to the proportional amplifier, and then the valve opening is adjusted, so that the speed of the power head remains stable and constant, the excess flow is distributed to the main winch system, the flow distribution is completed, and the rationality of the flow distribution under dynamic load is improved.

[0081] The fuzzy PID control is composed of fuzzification, fuzzy reasoning and clarification. By detecting the deviation e and the deviation change rate ec, the fuzzy parameters are de-fuzzied, and K i is output. p d The de-fuzzied K i is not the actual parameter, but the correction of the control parameter; e, ec adopts a triangular function, and K p is a correction of the control parameter.​d The deviation e and the deviation change rate ec are input into the fuzzy module by using the Gaussian function, the output proportional coefficient change amount ΔKp, ΔKi, ΔKd is input into the PID controller, and the initial value of the three parameters is added to obtain a new K p , K i , K d The parameters are used to control the system, the initial value of Kp, Ki and Kd can be set according to experience, the fuzzy amount obtained by fuzzy reasoning cannot be directly used for the controlled object, and needs to be defuzzified. The invention selects the gravity method for defuzzification. The control performance of the gravity method output is smoother, and the control sensitivity changes even if a small signal is input. The expression is:

[0082]

[0083] In the formula, z0 is the accurate value of the defuzzification of the fuzzy controller output, z i is the value in the fuzzy control domain; μ c (z i ) is the membership degree value of z i .

[0084] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the invention, and not to limit them; although the invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that: they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the invention.

Claims

1. A method of flow distribution control for a rotary drilling rig rod hoisting process, characterized by: The method comprises the following steps: acquiring the actual rotating speed of the power head system; comparing the actual rotating speed of the power head system with the expected rotating speed to obtain the rotating speed deviation e and the deviation change rate ec; The deviation e and the deviation change rate ec are input to the fuzzy controller to obtain a proportional coefficient change amount ΔK p , ΔK i , ΔK d ; proportional coefficient variation ΔK p , ΔK i , ΔK d is input into the PID controller to obtain the current u(t) inputting the current u(t) to the proportional amplifier to obtain the amplified current value; adjusting the valve opening degree based on the amplified current value, so that the rotating speed of the power head system remains steady and constant under a certain flow rate, and the remaining flow rate is allocated to the main hoist system to realize flow rate allocation; The specific control process of flow rate allocation is as follows: The power head device main valve front electric proportional pressure reducing valve receives the electric signal sent by the handle, the power head main valve reverses, the first main pump oil path oil enters the first power head joint through the one-way valve, the second main pump oil path oil enters the second power head joint through the one-way valve, the combined flow is divided into two streams and then enters the power head device, the first power head motor and the second power head motor work, the two motors are mechanically connected to synchronize the rotating speed and the displacement reaches the minimum, and the power head reverses to unlock; When the power head device main valve front electric proportional pressure reducing valve and the main hoist main valve front electric proportional pressure reducing valve simultaneously receive the electric signal sent by the handle, the power head main valve reverses, the power head position, the lowering depth and the drilling depth are detected to judge the drill rod extension, the extension of different rods is analyzed, the speed integration of the power head rotating speed is performed to judge whether the power head is completely unlocked, if not, the main hoist joint does not act, if the power head is completely unlocked, the main hoist joint reverses, the first main pump oil path oil enters the first main hoist joint and the first power head joint through the one-way valve respectively, the second main pump oil path oil enters the second main hoist joint through the one-way valve, the combined flow of the first power head joint and the second power head joint is divided into two streams and then enters the power head device, the first power head motor and the second power head motor work, the two first power head motors and the second power head motors are mechanically connected to synchronize the rotating speed and the displacement reaches the minimum, the main hoist joint oil passes through the shuttle valve and the pressure reducing valve, the brake cylinder starts to build pressure, the brake cylinder is opened after the pressure demand is met, the balance valve group is opened, and the main hoist motor works; Power head reverse unlock while the main winch up, speed sensor detects the power head speed, the power head motor minimum speed n min , less than n min Motor will appear crawling, deduct the impact of the main valve leakage and motor leakage, the expected value is selected 1.4n min , the actual speed and the expected speed, get speed deviation e and the rate of change ec, the deviation e and the rate of change ec input to the fuzzy controller, the output of the proportion coefficient change ΔK p , ΔK i , ΔK d As input, input to the PID controller, by the formula: The current u(t) is obtained, input to the proportional amplifier, and then the valve opening degree is adjusted, so that the power head rotating speed remains steady and constant, the excess flow rate is allocated to the main hoist system, the flow rate allocation is completed, and the rationality of flow rate allocation under dynamic load is improved.

2. A flow distribution control device for a rotary drilling rig's rod hoisting process, using the method of claim 1, characterized in that: It comprises: an acquisition module for acquiring the actual rotating speed of the power head system; a comparison and calculation device for comparing the actual rotating speed of the power head system with the expected rotating speed to obtain the rotating speed deviation e and the deviation change rate ec; A fuzzy controller module for inputting the deviation e and the deviation change rate ec into a fuzzy controller to obtain a proportional coefficient change amount ΔK p , ΔK i , ΔK d ; PID controller module: for inputting the proportional coefficient variation ΔK p , ΔK i , ΔK d into the PID controller to obtain the current u(t); a proportional amplifier module for inputting the current u(t) to the proportional amplifier to obtain the amplified current value; an adjustment module for adjusting the valve opening degree based on the amplified current value, so that the rotating speed of the power head system remains steady and constant under a certain flow rate, and the remaining flow rate is allocated to the main hoist system to realize flow rate allocation.

3. A flow distribution control system for a rotary drilling rig rod hoisting process, characterized by: It comprises: a power head device for controlling the reverse unlocking process of the drill rod section during the lifting of the rotary drilling rod; a main hoist device for controlling the lifting process of the drill rod during the lifting of the rotary drilling rod; a pump control device for providing power flow for the power head device and the main hoist device; And according to the rotary drilling rig drill rod lifting process flow distribution device of claim 2, the power head main valve and the main winch main valve port opening under dynamic load are automatically controlled by receiving signals through the electric proportional pressure reducing valve, and the flow distribution of the power head device and the main winch device is realized.

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