Control method of electro-hydraulic control system for adaptive stepless speed regulation of drilling rig

Abstract

The present invention belongs to the technical field of stepless speed regulation of drilling rigs, and solves the problem that existing adaptive speed regulation requires very complex algorithmic logics and is difficult to implement. A control method for an electro-hydraulic control system for adaptive stepless speed regulation of a drilling rig is provided. The working oil ports A1 and B1 of the first stage of the control valve are connected to the working oil ports of the drill box motor to control the rotation action of the drill box. The working oil ports A2 and B2 of the second stage of the control valve are connected to the working oil ports of the drill box feed cylinder to control the feed action of the drill box. A throttle orifice is connected in series on the connecting branch between the working oil port A2 of the control valve and the drill box feed cylinder. Three pressure sensors are respectively used to detect the pressure P1 at the drill box feed cylinder, the pressure P2 at the second stage of the control valve, and the pressure P3 at the drill box rotation, and convert them into corresponding current signals I1, I2, and I3. The controller receives the current signals I1, I2, and I3 and outputs a current signal I4 to the signal terminal X port of the electro-proportional relief valve. The present invention can achieve stepless speed regulation during the feeding of the drilling rig without complex components and complex algorithms.

Description

Technical Field

[0001] The invention belongs to the technical field of stepless speed regulation of drilling rigs, and in particular relates to a control method of an electro-hydraulic control system for adaptive stepless speed regulation of a drilling rig. Background Art

[0002] In the bolting process, the core actions are the rotation and feeding of the drill box. Due to the complexity of geological coal rock, the workload is constantly changing in most bolting processes. Therefore, during the drilling process of the drill rod, the variable load requires the drill rig to constantly change the drilling rate to achieve power matching for soft rock, hard rock and other coal seams. Most of the existing working modes are that workers manually adjust the throttling size of the valve body according to their operating experience to achieve functional adaptation of the actuator. This method has low accuracy, long adjustment time, and serious lag in speed control, which affects the support efficiency. It will also damage the drill rod and drill box for a long time, and there are great safety hazards. At the same time, the adaptive speed regulation currently studied by scholars requires very complex algorithm logic. It is also difficult to implement. The adaptive speed regulation method studied by some scholars is step-by-step speed regulation, which is divided into 2 to 3 gears, and cannot achieve adaptive stepless speed regulation. Summary of the invention

[0003] In order to solve at least one of the above technical problems existing in the prior art, the present invention provides a control method for an electro-hydraulic control system of a drilling rig with adaptive stepless speed regulation.

[0004] The present invention is implemented by the following technical scheme: a control method of an electro-hydraulic control system for adaptive stepless speed regulation of a drilling rig, the control system comprising a control valve, a drilling box motor, a drilling box feed cylinder, three pressure sensors, a throttle hole, a controller and an electric proportional relief valve;

[0005] The working oil ports A1 and B1 of the first control valve are connected to the working oil ports of the drill box motor to control the rotation of the drill box. The working oil ports A2 and B2 of the second control valve are connected to the working oil ports of the drill box feed cylinder to control the feed action of the drill box. The throttle hole is connected in series to the connecting branch between the working oil port A2 of the control valve and the drill box feed cylinder. Three pressure sensors are respectively connected to the connecting branch between the throttle hole and the drill box feed cylinder, the connecting branch between the working oil port A2 of the control valve and the throttle hole, and the connecting branch between the working oil port A1 of the control valve and the drill box motor. The three pressure sensors are respectively used to detect the pressure P at the drill box feed cylinder. 1 , the pressure at the second joint of the control valve P 2 and the pressure P at the drill box rotation 3 , the three pressure sensors detect the pressure signal P 1 , P 2 and P 3 Converted into the corresponding current signal I 1 ,I 2 and I3 , the controller receives the current signal I 1 ,I 2 and I 3 And output current signal I 4 To the signal port X of the electric proportional relief valve, the oil inlet port A of the electric proportional relief valve is connected to the feedback loop of the second link of the control valve;

[0006] The P port of the control valve is connected to the oil inlet of the oil source, the R port of the control valve is connected to the oil return of the oil tank, the LS port of the control valve is connected to the feedback port of the load sensing pump, and the T port of the control valve is connected to the oil drain of the oil tank; the R port of the electric proportional relief valve is connected to the oil return of the oil tank;

[0007] The control method comprises the following steps:

[0008] S1: Turn the drill box rotation and drill box feed handle to the limit position, so that the drill rig enters the rotation feed no-load state; the current signal I output by the controller 4 The maximum value M1, the electric proportional relief valve is automatically set to the maximum working pressure sp1; adjust the throttle hole to make the drilling box feed speed at the standard state, and no longer adjust the throttle hole in the future;

[0009] S2: When cutting soft rock formations, go to step S3; when cutting hard rock formations, go to step S4;

[0010] S3: When cutting soft rock formations, the drill box load is small and the pressure P at the drill box feed cylinder 1 , Drill box rotation pressure P 3 Small, the controller input current signal I 1 ,I 3 Small, the pressure P at the second joint of the control valve 2 Due to the effect of the throttle hole, the pressure increases; at this time, the controller outputs the current signal I 4 Near the maximum value M1, the electric proportional relief valve will adjust the pressure P at the feed cylinder of the drilling box. 1 As the pressure increases, the pressure setting value is adaptively reduced, and the pressure setting value is close to the maximum working pressure sp1;

[0011] S4: When cutting hard rock, the drill box load is large and the pressure P at the feed cylinder of the drill box is 1 , Drill box rotation pressure P 3 Large, the controller input current signal I 1 ,I 3 Large, the pressure P at the second joint of the control valve 2 Due to the effect of the throttle hole, the pressure increases; at this time, the controller outputs the current signal I 4 When the pressure is the minimum value M2, the electric proportional relief valve will adaptively reduce the pressure setting value to the minimum working pressure sp2.

[0012] Preferably, the output current signal I 4 With the input current signal I 1 ,I 2 and I 3 The conversion relationship is: the input current signal I 2 With the input current signal I 1 and I 3 When the difference is greater than 0 and less than the preset value N, the output current signal I 4 Keep the minimum value unchanged; when the difference is greater than the preset value N, the output current signal I 4 Increases linearly from the minimum value to the maximum value.

[0013] Preferably, the overflow pressure of the electric proportional overflow valve increases with the increase of the input signal at the signal port X, and the output current signal I 4 When it is the maximum value, it corresponds to the maximum working pressure sp1 of the electric proportional relief valve; the output current signal I 4 When it is the minimum value, it corresponds to the minimum working pressure sp2 of the electric proportional relief valve.

[0014] Preferably, the output current signal I 4 The maximum value is 20mA, and the output current signal I 4 The minimum value is 5mA.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention can realize adaptive adjustment of working pressure and working flow as the load changes when the drilling rig is working, and all adjustment processes are fully automatic, without manual participation, thereby improving the working efficiency of anchor support, and can also protect working components such as drill rods and drill boxes, thereby improving the safety of coal mine production.

[0017] The present invention can realize stepless speed regulation during drilling rig feeding, all adjustments are continuously controlled without gears, and no complex components and complex algorithms are required. The implementation is relatively easy, no high-power controller is required, and the transformation cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a control method schematic diagram of the electro-hydraulic control system for the drilling rig's adaptive stepless speed regulation.

[0020] In the figure: 1-control valve; 2-drill box motor; 3-drill box feed cylinder; 4-pressure sensor; 5-throttle hole; 6-controller; 7-electric proportional relief valve. DETAILED DESCRIPTION

[0021] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0023] The present invention provides an embodiment:

[0024] like Figure 1 As shown, a control method of an electro-hydraulic control system for adaptive stepless speed regulation of a drilling rig, the control system includes a control valve 1, a drill box motor 2, a drill box feed cylinder 3, three pressure sensors 4, a throttle hole 5, a controller 6 and an electric proportional relief valve 7;

[0025] The working oil ports A1 and B1 of the first link of the control valve 1 are connected to the working oil ports of the drill box motor 2 for controlling the rotation of the drill box. The working oil ports A2 and B2 of the second link of the control valve 1 are connected to the working oil ports of the drill box feed cylinder 3 for controlling the feed action of the drill box. The throttle hole 5 is connected in series to the connecting branch between the working oil port A2 of the control valve 1 and the drill box feed cylinder 3. Three pressure sensors 4 are respectively connected to the connecting branch between the throttle hole 5 and the drill box feed cylinder 3, the connecting branch between the working oil port A2 of the control valve 1 and the throttle hole 5, and the connecting branch between the working oil port A1 of the control valve 1 and the drill box motor 2. The three pressure sensors 4 are respectively used to detect the pressure P at the drill box feed cylinder. 1 , the pressure at the second joint of the control valve P 2 and the pressure P at the drill box rotation 3 , the three pressure sensors 4 respectively detect the pressure signal P 1 , P 2 and P3 Converted into the corresponding current signal I 1 ,I 2 and I 3 , the controller 6 receives the current signal I 1 ,I 2 and I 3 And output current signal I 4 To the signal port X of the electric proportional relief valve 7, the oil inlet port A of the electric proportional relief valve 7 is connected to the feedback loop of the second link of the control valve 1.

[0026] In this embodiment, the control valve 1 is a control element for controlling the anchor drilling rig support. The present invention takes a load-sensitive proportional valve as an example for explanation. The interfaces on the valve include an oil inlet P, an oil return port R, a feedback port LS, a working oil port A1, a working oil port B1, a working oil port A2, and a working oil port B2. Among them, the working oil ports A1 and B1 are used to control the rotation of the drill box of the anchor drilling rig, and the working oil ports A2 and B2 are used to control the feed of the drill box of the anchor drilling rig. The proportional valve core is in a fully open state. The present invention does not have control over the proportional valve, and the proportional valve can also be replaced by a switch valve, etc.

[0027] The P port of the control valve 1 is connected to the oil inlet of the oil source, the R port of the control valve 1 is connected to the oil return of the oil tank, the LS port of the control valve 1 is connected to the feedback port of the load sensing pump, and the T port of the control valve 1 is connected to the oil drain of the oil tank; the R port of the electric proportional relief valve 7 is connected to the oil return of the oil tank.

[0028] The drill box motor 2 mainly realizes the execution action 1 of the anchor drilling rig: drill box rotation.

[0029] The drill box feed cylinder 3 mainly realizes the execution action 2 of the anchor drilling rig: drill box feed.

[0030] The throttle hole 5 is mainly used to realize the throttling speed regulation of the drilling box feeding action, and is also a key element for realizing the pressure difference control of the present invention according to the pressure difference before and after throttling.

[0031] The controller 6 mainly processes the feedback signal of the pressure sensor 4. 1 ,I 2 ,I 3 Converted into output current signal I 4 The input and output relationship is shown in Figure 1 The controller 6 is shown. The output current signal I 4 With the input current signal I 1 ,I 2 and I 3 The conversion relationship is: the input current signal I 2 With the input current signal I 1 and I 3When the difference is greater than 0 and less than the preset value N, the output current signal I 4 Keep the minimum value unchanged; when the difference is greater than the preset value N, the output current signal I 4 It increases linearly from the minimum value to the maximum value. The output current signal I 4 The maximum value is 20mA, and the output current signal I 4 The minimum value is 5mA.

[0032] The overflow pressure of the electric proportional overflow valve 7 increases with the increase of the input signal at the signal port X. In the present invention, the overflow pressure of the electric proportional overflow valve 7 is 0MPa when the input signal is 0mA, the overflow pressure of the electric proportional overflow valve 7 is sp2 when the input signal is 5mA, and the overflow pressure of the electric proportional overflow valve 7 is sp1 when the input signal is 20mA.

[0033] The control method comprises the following steps:

[0034] First, according to Figure 1 The present invention is system-connected to ensure that there is no abnormality such as leakage and circuit short circuit in the system.

[0035] S1: Turn the drill box rotation and drill box feed handle to the limit position, so that the drill enters the rotation feed no-load state; the current signal I output by the controller 6 4 The maximum value M1, the electric proportional relief valve 7 is automatically set to the maximum working pressure sp1; the throttle hole 5 is adjusted to make the feed speed of the drill box to the standard state, and the throttle hole 5 is no longer adjusted subsequently;

[0036] When starting without load, according to the ideal state, the pressure P at the feed cylinder of the drill box 1 , Drill box rotation pressure P 3 Both are 0. Pressure P at the drilling box feed control valve 2 Due to the effect of the throttle hole 5, the pressure increases. At this time, the pressure difference before and after the throttle hole 5 is the largest, and the working pressure of the drilling box motor 2 is the smallest. Figure 1 The controller 6 in the controller 6, at this time the output current signal I 4 is 20mA, the electric proportional relief valve 7 is automatically set to the maximum working pressure sp1.

[0037] S2: When cutting soft rock formations, go to step S3; when cutting hard rock formations, go to step S4;

[0038] S3: Due to the small load, the pressure P at the feed cylinder of the drill box 1 , Drill box rotation pressure P 3 Small, that is, the current signal I input by the controller 6 1 ,I 3 Small. The pressure P at the drilling box feed control valve 2Due to the effect of the throttle hole 5, the pressure increases. At this time, the pressure difference before and after the throttle hole 5 is slightly reduced compared with the no-load state, and the working pressure of the drilling box motor 2 is slightly increased compared with the no-load state. Figure 1 The controller 6 in the controller 6, at this time the output current signal I 4 It will be slightly less than 20mA, that is, the electric proportional relief valve 7 will be adjusted according to the pressure P at the feed cylinder of the drilling box. 1 The increase in adaptive reduction pressure set point is slightly less than sp1.

[0039] S4: When cutting hard rock, the drill box load is large and the pressure P at the feed cylinder of the drill box is 1 , Drill box rotation pressure P 3 Larger, that is, the current signal I input by the controller 6 1 ,I 3 Larger. Pressure P at the drilling box feed control valve 2 Due to the effect of the throttle hole 5, the pressure increases. At this time, the pressure difference before and after the throttle hole 5 is greatly reduced compared with the no-load state, and the working pressure of the drilling box motor 2 is greatly increased compared with the no-load state. Figure 1 The controller 6 in the controller 6, at this time the current signal I 4 Equal to 5mA, that is, the electric proportional relief valve 7 will adaptively reduce the pressure setting value to the minimum value sp2 when cutting very hard rock formations in extreme conditions.

[0040] In small hole throttling, there is a formula: When the throttle hole is fixed, the pressure difference between the front and rear is proportional to the flow rate. That is, as the pressure P at the feed cylinder of the drill box increases, the pressure difference between the front and rear is proportional to the flow rate. 1 As the load increases, the pressure difference before and after the throttle hole 5 decreases, the flow rate also decreases, and the adaptive adjustment also reduces the pressure setting value. Therefore, the control result of the present invention is: the smaller the load, the greater the flow rate, the greater the pressure, the feed speed can be adaptively increased to improve the feed rate; the larger the load, the smaller the flow rate, the smaller the pressure, the feed power can be adaptively reduced to protect the drill rod and drill box and other equipment. At the same time, all control washes are analog input and output, which is continuous stepless control.

[0041] The present invention increases a throttle hole between the feed oil cylinder and the valve, uses a pressure sensor to detect the feed pressure difference, the rotation pressure, etc., and realizes adaptive stepless speed regulation of the feed speed and the feed pressure when the drilling rig is working through simple calculations by the controller without the need for complex algorithms and complex components.

[0042] The present invention can allow the drill box motor 2 and the drill box feed cylinder 3 to simultaneously participate in the adaptive control, thereby realizing that two actuators control and guide a hydraulic valve.

[0043] Alternative technologies or solutions in the present invention: 1. The control valve 1 does not participate in the control process and can be replaced by a switch valve or other oil source valve group. 2. The output value of the controller 6 described in the text first maintains the minimum value and then increases proportionally to the maximum value as the input value increases. The minimum output is set to 5mA and the maximum output is set to 20mA. The curve trend and the minimum and maximum output values ​​can be changed according to actual conditions. 3. The throttle hole 5 can also be integrated with the control valve 1 into the same component, which is split here for illustration. 4. The pressure points of the drill box motor 2 and the drill box feed cylinder 3 are used as input, and the set pressure of the control electric proportional relief valve 7 is output after processing by the controller 6. The number of input points can also be increased according to demand.

[0044] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control method for an electro-hydraulic control system with adaptive stepless speed regulation of a drilling rig, Features: The control system comprises a control valve (1), a drill box motor (2), a drill box feed cylinder (3), three pressure sensors (4), a throttle hole (5), a controller (6) and an electric proportional relief valve (7); The working oil ports A1 and B1 of the first group of the control valve (1) are connected to the working oil ports of the drilling box motor (2) for controlling the rotation of the drilling box. The working oil ports A2 and B2 of the second group of the control valve (1) are connected to the working oil ports of the drilling box feed cylinder (3) for controlling the feeding action of the drilling box. The throttle hole (5) is connected in series to the connecting branch between the working oil port A2 of the control valve (1) and the drilling box feed cylinder (3). Three pressure sensors (4) are respectively connected to the connecting branch between the throttle hole (5) and the drilling box feed cylinder (3), the connecting branch between the working oil port A2 of the control valve (1) and the throttle hole (5), and the connecting branch between the working oil port A1 of the control valve (1) and the drilling box motor (2). The three pressure sensors (4) are respectively used to detect the pressure P at the drilling box feed cylinder. 1 , the pressure at the second joint of the control valve P 2 and the pressure P at the drill box rotation 3 , the three pressure sensors (4) respectively detect the pressure signal P 1 , P 2 and P 3 Converted into the corresponding current signal I 1 ,I 2 and I 3 , the controller (6) receives the current signal I 1 ,I 2 and I 3 And output current signal I 4 The signal port X of the electric proportional relief valve (7) is connected to the oil inlet port A of the electric proportional relief valve (7) and the feedback loop of the second link of the control valve (1); The P port of the control valve (1) is connected to the oil inlet of the oil source, the R port of the control valve (1) is connected to the oil return of the oil tank, the LS port of the control valve (1) is connected to the feedback port of the load sensing pump, and the T port of the control valve (1) is connected to the oil drain of the oil tank; the R port of the electric proportional relief valve (7) is connected to the oil return of the oil tank; The control method comprises the following steps: S1: The drill box rotation and the drill box feed handle are turned to the limit position, so that the drill rig enters the rotation feed no-load state; the current signal I output by the controller (6) 4 The maximum value M1, the electric proportional relief valve (7) is automatically set to the maximum working pressure sp1; the throttle hole (5) is adjusted to make the drilling box feed speed at the standard state, and the throttle hole (5) is no longer adjusted subsequently; S2: When cutting soft rock formations, go to step S3; when cutting hard rock formations, go to step S4; S3: When cutting soft rock formations, the drill box load is small and the pressure P at the drill box feed cylinder 1 , Drill box rotation pressure P 3 The current signal I of the controller (6) is small. 1 ,I 3 Small, the pressure P at the second joint of the control valve 2 Due to the effect of the throttle hole (5), the pressure increases; at this time, the current signal I output by the controller (6) 4 Near the maximum value M1, the electric proportional relief valve (7) will adjust the pressure at the feed cylinder of the drilling box according to the pressure P 1 As the pressure increases, the pressure setting value is adaptively reduced, and the pressure setting value is close to the maximum working pressure sp1; S4: When cutting hard rock, the drill box load is large and the pressure P at the feed cylinder of the drill box is 1 , Drill box rotation pressure P 3 The current signal I of the controller (6) is large. 1 ,I 3 Large, the pressure P at the second joint of the control valve 2 Due to the effect of the throttle hole (5), the pressure increases; at this time, the current signal I output by the controller (6) 4 When the pressure is at the minimum value M2, the electric proportional relief valve (7) will adaptively reduce the pressure setting value to the minimum working pressure sp2.

2. The control method of the electro-hydraulic control system for adaptive stepless speed regulation of a drilling rig according to claim 1, Features: Output current signal I 4 With the input current signal I 1 ,I 2 and I 3 The conversion relationship is: the input current signal I 2 With the input current signal I 1 and I 3 When the difference is greater than 0 and less than the preset value N, the output current signal I 4 Keep the minimum value unchanged; when the difference is greater than the preset value N, the output current signal I 4 Increases linearly from the minimum value to the maximum value.

3. The control method of the electro-hydraulic control system for the drilling rig adaptive stepless speed regulation according to claim 2, Features: The overflow pressure of the electric proportional overflow valve (7) increases with the increase of the input signal at the signal port X. The output current signal I 4 When it is the maximum value, it corresponds to the maximum working pressure sp1 of the electric proportional relief valve (7); the output current signal I 4 When it is the minimum value, it corresponds to the minimum working pressure sp2 of the electric proportional relief valve (7).

4. The control method of the electro-hydraulic control system for adaptive stepless speed regulation of a drilling rig according to claim 3, Features: Output current signal I 4 The maximum value is 20mA, and the output current signal I 4 The minimum value is 5mA.

Images