A synchronous high-precision control method based on a drill pipe hydraulic clamping system

Abstract

The application discloses a synchronous high-precision control method based on a drill pipe hydraulic clamping system and belongs to the intelligent control field, which comprises the following steps: receiving a clamping control instruction; collecting first oil temperature information and second oil temperature information of first and second hydraulic pistons and collecting first error information and second error information of first and second clamping arms; analyzing clamping force synchronization error and clamping size synchronization error of the first and second clamping arms under the clamping control instruction, and optimizing and determining synchronous control flow; adjusting and controlling the first and second hydraulic pistons to obtain optimal synchronous control parameters, and controlling the drill pipe hydraulic clamping system. Through real-time collection of oil temperature and error information, analysis and calculation of synchronization error, optimization and solution and control of oil flow applied to the two hydraulic pistons, the synchronous control precision of the clamping force and clamping size of the two clamping arms in the drill pipe hydraulic clamping system is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent control, and specifically to a synchronous high-precision control method based on a drill pipe hydraulic clamping system. Background Technology

[0002] During drilling, reliable clamping and precise positioning of the drill pipe are crucial for ensuring drilling quality and efficiency. Existing hydraulic drill pipe clamping systems typically employ two symmetrically arranged hydraulic pistons to drive two clamping arms. The opening and closing of the clamping arms is adjusted by controlling the displacement of the hydraulic pistons, thereby achieving the clamping and positioning of the drill pipe. However, due to limitations in the hydraulic system and mechanical structure, the two hydraulic pistons often experience differences in oil temperature and displacement deviations during operation. This leads to inconsistent clamping forces between the two clamping arms, making it difficult to precisely match the clamping dimensions and guarantee synchronous control accuracy. Uneven distribution of clamping force can damage the drill pipe surface, while deviations in clamping dimensions can affect the accuracy of the drilling trajectory. Summary of the Invention

[0003] This application provides a synchronous high-precision control method based on a drill pipe hydraulic clamping system, which aims to improve the consistency of clamping force and the synchronization accuracy of clamping dimensions of the two clamping arms in the drill pipe hydraulic clamping system, thereby improving the synchronous control accuracy of the two clamping arms.

[0004] In view of the above problems, this application provides a synchronous high-precision control method based on a drill pipe hydraulic clamping system.

[0005] The first aspect of this application discloses a synchronous high-precision control method based on a drill pipe hydraulic clamping system. The method includes: receiving a clamping control command, wherein the clamping control command includes clamping pressure; acquiring first and second oil temperature information of a first hydraulic piston and a second hydraulic piston within a hydraulic piston module in the drill pipe hydraulic clamping system, and acquiring first and second error information of a first clamping arm and a second clamping arm within the clamping system; and analyzing the clamping force synchronization error and clamping dimension synchronization error of the first clamping arm and the second clamping arm under the clamping control command based on the first oil temperature information, the second oil temperature information, the first error information, and the second error information, including: according to the clamping control... The clamping pressure within the command is used to obtain the first and second basic control parameters of the first and second hydraulic pistons; based on the operating data of the drill pipe hydraulic system, the following sets of information are obtained: a first set of sample oil temperature information, a second set of sample oil temperature information, a first set of sample error information, and a second set of sample error information, as well as a first set of sample control parameters, a second set of sample control parameters, a set of sample clamping force error, and a set of sample clamping size error; using the first set of sample oil temperature information, the second set of sample oil temperature information, the first set of sample error information, the second set of sample error information, the first set of sample control parameters, and the second set of sample control parameters, respectively, combined with the set of sample clamping force error and the sample clamping... A set of dimensional errors is used to construct a clamping force error analysis branch and a clamping dimensional error analysis branch. Connecting these branches yields a clamping synchronization error analyzer, which analyzes the first basic control parameter, the second basic control parameter, the first oil temperature information, the second oil temperature information, the first error information, and the second error information to obtain the clamping force synchronization error and the clamping dimensional synchronization error. Based on these errors, the synchronization control flow rate for adjusting the first and second hydraulic pistons is optimized. Following this flow rate, the adjustment and control of the first and second hydraulic pistons are optimized to obtain the optimal synchronization control parameters for the drill pipe hydraulic clamping system. The system is controlled by: obtaining first and second basic control parameters of the first and second hydraulic pistons based on the clamping pressure in the clamping control command, wherein the first and second basic control parameters include the same hydraulic flow rate; randomly adjusting the first and second basic control parameters using the synchronous control flow rate to obtain first and second adjustment control parameters; and performing clamping synchronization analysis based on the first and second adjustment control parameters, combined with the first oil temperature information, the second oil temperature information, the first error information, and the second error information, to obtain the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error.Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and combining the clamping force synchronization error and the clamping size synchronization error, a first control correction fitness is calculated; the first adjustment control parameter and the second adjustment control parameter are then adjusted and optimized to obtain the first control parameter and the second control parameter with the largest control correction fitness, which are taken as the optimal synchronization control parameters; wherein, calculating the first control correction fitness based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and combining the clamping force synchronization error and the clamping size synchronization error, includes: based on the first adjustment... The clamping force synchronization error and the first adjusted clamping size synchronization error are combined to calculate the clamping force error correction amplitude and the clamping size error correction amplitude. Based on these two errors, a first correction fitness is calculated using a weighted average. The clamping force error amplitude and the clamping size error amplitude are then calculated based on the first adjusted clamping force synchronization error and the first adjusted clamping size synchronization error, and a first control fitness is calculated using a weighted average. Finally, the first correction fitness and the first control fitness are weighted averaged to obtain the first control correction fitness.

[0006] Another aspect of this application discloses a synchronous high-precision control system based on a drill pipe hydraulic clamping system. The system includes: a control command receiving unit for receiving clamping control commands, wherein the clamping control commands include clamping pressure; an information acquisition unit for acquiring first and second oil temperature information of the first and second hydraulic pistons within the hydraulic piston module of the drill pipe hydraulic clamping system, and acquiring first and second error information of the first and second clamping arms of the clamping system within the drill pipe hydraulic clamping system; and an error analysis unit for analyzing, based on the first oil temperature information, the second oil temperature information, the first error information, and the second error information, the first and second error information, the first and second clamping arms under the clamping control command. The system includes a clamping force synchronization error and a clamping size synchronization error for the two clamping arms; a control flow optimization unit, used to optimize and determine the synchronous control flow for adjusting the first and second hydraulic pistons based on the clamping force synchronization error and the clamping size synchronization error; and a clamping system control unit, used to optimize the adjustment control of the first and second hydraulic pistons according to the synchronous control flow to obtain the optimal synchronous control parameters and control the drill pipe hydraulic clamping system. The error analysis unit is further used to: obtain the first and second basic control parameters of the first and second hydraulic pistons based on the clamping pressure in the clamping control command; and obtain sample data based on the operating data of the drill pipe hydraulic system. A first oil temperature information set, a second sample oil temperature information set, a first sample error information set, and a second sample error information set, as well as a first sample control parameter set, a second sample control parameter set, a sample clamping force error set, and a sample clamping size error set; using the first sample oil temperature information set, the second sample oil temperature information set, the first sample error information set, the second sample error information set, the first sample control parameter set, and the second sample control parameter set, and combining them with the sample clamping force error set and the sample clamping size error set, respectively, a clamping force error analysis branch and a clamping size error analysis branch are constructed; connecting the clamping force error analysis branch and the clamping size error analysis branch, the clamping force error analysis branch is obtained. The system uses a synchronization error analyzer to analyze the first basic control parameter, the second basic control parameter, the first oil temperature information, the second oil temperature information, the first error information, and the second error information to obtain the clamping force synchronization error and the clamping size synchronization error. The clamping system control unit is also used to: obtain the first basic control parameter and the second basic control parameter of the first hydraulic piston and the second hydraulic piston according to the clamping pressure in the clamping control command, wherein the first basic control parameter and the second basic control parameter include the same hydraulic flow rate; and randomly adjust the first basic control parameter and the second basic control parameter using the synchronization control flow rate to obtain the first adjustment control parameter and the second adjustment control parameter.Based on the first and second adjustment control parameters, and combined with the first oil temperature information, second oil temperature information, first error information, and second error information, a clamping synchronization analysis is performed to obtain the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error. Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and combined with the clamping force synchronization error and clamping size synchronization error, a first control correction fitness is calculated. The first and second adjustment control parameters are then further adjusted and optimized to obtain the first and second control parameters with the highest control correction fitness, which are used as the optimal synchronization control parameters. The clamping... The system control unit is further configured to: calculate, based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and in conjunction with the clamping force synchronization error and the clamping size synchronization error, obtain a clamping force error correction amplitude and a clamping size error correction amplitude; calculate, based on the clamping force error correction amplitude and the clamping size error correction amplitude, obtain a first correction fitness; calculate, based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, obtain a clamping force error amplitude and a clamping size error amplitude, and calculate, based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, obtain a first control fitness; and perform a weighted calculation on the first correction fitness and the first control fitness to obtain the first control correction fitness.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0008] By receiving clamping control commands and acquiring the target clamping pressure, a reference basis is provided for subsequent synchronous control. Oil temperature information of the two hydraulic pistons and error information of the two clamping arms within the hydraulic piston module are collected to obtain state parameters affecting synchronization accuracy. Based on the oil temperature and error information, the clamping force synchronization error and clamping dimension synchronization error of the two clamping arms under the current clamping control command are analyzed and calculated to quantitatively evaluate the degree of deviation in synchronous control. Based on the calculated clamping force synchronization error and clamping dimension synchronization error, the synchronous control flow rate for adjusting the two hydraulic pistons is determined through an optimization algorithm to obtain the optimal control compensation amount. The synchronous control flow rate obtained from the optimization solution is then used... This technical solution applies a quantity to two hydraulic pistons for adjustment and control, obtaining optimal synchronization control parameters to achieve high-precision synchronous control of the drill pipe hydraulic clamping system. It minimizes the deviation in clamping force and clamping size, solving the technical problem of inconsistent clamping force and clamping size synchronization control in existing drill pipe hydraulic clamping systems due to differences in hydraulic piston oil temperature and mechanical structure errors. The solution achieves the technical effect of improving the precise synchronous control accuracy of the clamping force and clamping size of the two clamping arms in the drill pipe hydraulic clamping system by real-time acquisition of oil temperature and error information, analysis and calculation of synchronization errors, optimization and control of the oil flow applied to the two hydraulic pistons.

[0009] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0010] Figure 1 This application provides a schematic flowchart of a synchronous high-precision control method based on a drill pipe hydraulic clamping system.

[0011] Figure 2 This application provides a schematic diagram of a synchronous high-precision control system based on a drill pipe hydraulic clamping system.

[0012] Explanation of reference numerals in the attached drawings: Control command receiving unit 11, Information acquisition unit 12, Error analysis unit 13, Control flow optimization unit 14, Clamping system control unit 15. Detailed Implementation

[0013] The overall concept of the technical solution provided in this application is as follows:

[0014] This application provides a synchronous high-precision control method based on a drill pipe hydraulic clamping system. First, a clamping control command is received, and the clamping pressure is acquired. Then, oil temperature information of the two hydraulic pistons and error information of the two clamping arms are collected. Based on this, the synchronous error of the clamping force and the synchronous error of the clamping dimension are analyzed and calculated. Next, the optimal synchronous control flow rate is determined and applied to the hydraulic pistons for adjustment to obtain the optimal synchronous control parameters. These optimal synchronous control parameters are then used to control the drill pipe hydraulic clamping system, achieving a high-precision synchronous effect with consistent clamping force and accurate clamping dimensions.

[0015] By collecting oil temperature and error information reflecting the status of the drill pipe hydraulic clamping system in real time, analyzing and calculating the synchronization error of clamping force and clamping size, and optimizing the synchronous control flow applied to the hydraulic piston accordingly, the hydraulic piston is adjusted in a closed loop to compensate for system errors, thereby improving the synchronous control accuracy of the clamping arms and enhancing the consistency of clamping force and the accuracy of clamping size of the two clamping arms in the drill pipe hydraulic clamping system.

[0016] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0017] Example 1

[0018] like Figure 1 As shown in the figure, this application provides a synchronous high-precision control method based on a drill pipe hydraulic clamping system, the method comprising:

[0019] S100: Receive clamping control command, wherein the clamping control command includes clamping pressure.

[0020] In this embodiment, the clamping control command is issued by the host computer and transmitted to the drill pipe hydraulic clamping system via the communication module. The clamping control command includes the clamping pressure required for the current clamping action, which is preset based on parameters such as the diameter, wall thickness, and material of the pipe being clamped.

[0021] After receiving the clamping control command, the drill pipe hydraulic clamping system parses the clamping pressure from the command and uses it as the target for subsequent control. Simultaneously, the system can also perform a feasibility check on the clamping pressure, such as determining whether it is within the working range of the clamping arm and whether it matches the current pipe type. If the check passes, clamping control is executed; otherwise, an alarm message is sent to the host computer, and further instructions are awaited.

[0022] In addition to clamping pressure, the clamping control commands also include other parameters such as clamping time, release time, and number of repetitions. The drill pipe hydraulic clamping system processes and executes these parameters according to actual needs. However, the core of this embodiment is to achieve synchronous high-precision control of the clamping arms by adjusting two hydraulic pistons; therefore, the focus is on clamping pressure.

[0023] S200: Collect the first and second oil temperature information of the first and second hydraulic pistons in the hydraulic piston module of the drill pipe hydraulic clamping system, and collect the first and second error information of the first and second clamping arms of the clamping system in the drill pipe hydraulic clamping system.

[0024] The acquisition of first and second error information of the first and second clamping arms of the hydraulic clamping system within the drill pipe clamping system includes:

[0025] S210: Based on the historical operating data of the drill pipe hydraulic clamping system, obtain the historical synchronization error information of the first clamping arm and the second clamping arm, and obtain the first historical error information set and the second historical error information set;

[0026] S220: Based on the first set of historical error information and the second set of historical error information, calculate the first error information and the second error information of the first clamping arm and the second clamping arm.

[0027] In this embodiment, the drill pipe hydraulic clamping system includes a hydraulic piston module comprising two hydraulic pistons: a first hydraulic piston and a second hydraulic piston. The first and second hydraulic pistons are connected to a first clamping arm and a second clamping arm, respectively, and the extension and retraction of the pistons drives the opening and closing of the clamping arms. However, due to differences in oil temperature between the two hydraulic circuits and factors such as mechanical assembly and wear of the clamping arms, even applying the same control quantity to the two pistons may result in inconsistent clamping forces or clamping dimension deviations. Therefore, oil temperature information of the two hydraulic pistons and error information of the two clamping arms are collected.

[0028] Since the viscosity of hydraulic fluid changes with temperature, thus affecting the piston's extension and retraction speed and force, oil temperature information can be used to estimate and compensate for control parameters. First, oil temperature sensors are installed in the cavities of the first and second hydraulic pistons respectively to collect oil temperature data in real time, thereby obtaining the oil temperature information of the first hydraulic piston (as the first oil temperature information) and the oil temperature information of the second hydraulic piston (as the second oil temperature information).

[0029] The drill pipe hydraulic clamping system stores its historical operating data, including clamping control commands and actual displacement parameters for each clamping action. By comparing the difference between the actual displacement and the commanded displacement of the two clamping arms at the same moment, the synchronization error of that clamping action can be obtained. The error data from multiple clamping actions in the historical operating data are summarized to obtain the first historical error information set for the first clamping arm and the second historical error information set for the second clamping arm. These two historical error information sets reflect the synchronization accuracy level of the two clamping arms under different working conditions. After obtaining the two historical error information sets, the average value of the historical error data in each set is calculated to obtain the first and second error information for the first and second clamping arms, respectively representing the average error level of the first and second clamping arms.

[0030] S300: Based on the first oil temperature information, the second oil temperature information, the first error information, and the second error information, analyze the clamping force synchronization error and clamping size synchronization error of the first clamping arm and the second clamping arm under the clamping control command.

[0031] Furthermore, the S300 includes:

[0032] S310: Based on the clamping pressure in the clamping control command, obtain the first basic control parameters and the second basic control parameters of the first hydraulic piston and the second hydraulic piston;

[0033] S320: Based on the operating data of the drill pipe hydraulic system, obtain the sample first oil temperature information set, sample second oil temperature information set, sample first error information set and sample second error information set, as well as the sample first control parameter set, sample second control parameter set, sample clamping force error set and sample clamping size error set;

[0034] S330: Using the sample first oil temperature information set, sample second oil temperature information set, sample first error information set, sample second error information set, sample first control parameter set, and sample second control parameter set, and combining them with the sample clamping force error set and sample clamping size error set, respectively, construct the clamping force error analysis branch and the clamping size error analysis branch;

[0035] S340: Connect the clamping force error analysis branch and the clamping size error analysis branch to obtain a clamping synchronization error analyzer. Analyze the first basic control parameter, the second basic control parameter, the first oil temperature information, the second oil temperature information, the first error information, and the second error information to obtain the clamping force synchronization error and the clamping size synchronization error.

[0036] In this embodiment, while acquiring the first oil temperature information, the second oil temperature information, the first error information, and the second error information, the clamping pressure within the clamping control command is extracted and input into a table showing the correspondence between clamping pressure and hydraulic piston control parameters obtained from experimental testing. This yields the basic control parameters for the first and second hydraulic pistons, which are respectively the first basic control parameter and the second basic control parameter. Then, the first basic control parameter, the second basic control parameter, the first oil temperature information, the second oil temperature information, the first error information, and the second error information are input into a clamping synchronization error analyzer to obtain the clamping force synchronization error and the clamping size synchronization error.

[0037] The clamping synchronization error analyzer is pre-built. During the actual operation of the drill pipe hydraulic clamping system, various operating parameters, including historical operating data such as oil temperature, displacement, and pressure, are collected and recorded in real time. First, a certain number of sample points are selected from the historical operating data to construct a sample set, including a first sample oil temperature information set, a second sample oil temperature information set, a first sample error information set, a second sample error information set, a first sample control parameter set, a second sample control parameter set, a sample clamping force error set, and a sample clamping dimension error set. Each sample contains complete state information at a certain moment, namely the oil temperature value, displacement error value, and control parameter value of the two hydraulic pistons, as well as the clamping force error value and clamping dimension error value of the entire system. Then, using a branch modeling strategy, two aspects, clamping force error and clamping dimension error, are set up, and independent analysis models are built for each. For clamping force error, based on a convolutional neural network, the model utilizes the first set of sample oil temperature information, the second set of sample oil temperature information, the first set of sample error information, the second set of sample error information, the first set of sample control parameters, the second set of sample control parameters, and the sample clamping force error set. The model input information is the first set of sample oil temperature information, the second set of sample oil temperature information, the first set of sample error information, the second set of sample error information, the first set of sample error information, and the second set of sample error information. The clamping force error is used as the supervision label. By training and optimizing the model parameters, a clamping force error analysis branch is obtained, which can accurately predict the clamping force error based on the input information. For clamping size error, a convolutional neural network is also used. This network utilizes a set of sample first oil temperature information, a set of sample second oil temperature information, a set of sample first error information, a set of sample second error information, a set of sample first control parameters, a set of sample second control parameters, and a set of sample clamping size errors. These are used as model inputs, with the sample clamping size error serving as the supervision label. The model parameters are trained and optimized to obtain a clamping size error analysis branch, enabling it to accurately predict clamping size errors based on the input information. Subsequently, the obtained clamping force error analysis branch and clamping size error analysis branch are combined to form a complete clamping synchronization error analyzer. This analyzer predicts possible clamping force synchronization errors and clamping size synchronization errors during clamping based on current operating conditions and state information, providing a basis for subsequent error compensation and control optimization.

[0038] S400: Based on the clamping force synchronization error and the clamping size synchronization error, determine the synchronous control flow rate for adjusting the first hydraulic piston and the second hydraulic piston.

[0039] Furthermore, the S400 includes:

[0040] S410: Based on the clamping force synchronization error and clamping size synchronization error, construct a synchronization control flow optimization function to optimize the synchronization control flow for adjusting the first hydraulic piston and the second hydraulic piston, as shown in the following formula:

[0041] ;

[0042] Where FC stands for flow fitness. , and As weight, To compensate for the synchronous error of the clamping force, For clamping dimension synchronization error, L is the synchronization control flow rate. The maximum flow rate of the first and second hydraulic pistons;

[0043] S420: Based on the synchronization control flow optimization function, optimize and obtain the synchronization control flow.

[0044] Furthermore, the S420 includes:

[0045] S421: Within the flow range of the first hydraulic piston and the second hydraulic piston, a first control flow rate is randomly generated;

[0046] S422: Calculate the first flow fitness of the first control flow according to the synchronous control flow optimization function;

[0047] S423: Within the preset adjustment range of the first control flow, a second control flow is randomly generated, and the fitness of the second flow is calculated.

[0048] S424: When the second flow fitness is greater than the first flow fitness, continue to optimize based on the second control flow; when the second flow fitness is not greater than the first flow fitness, optimize based on the second control flow according to probability, and the probability decreases as the number of optimizations increases.

[0049] S425: Continue optimization until the number of optimization attempts converges, and output the final control flow as the synchronization control flow.

[0050] In one feasible implementation, after obtaining the clamping force synchronization error and the clamping size synchronization error, it is necessary to further determine the synchronization control flow rate of the hydraulic piston to reduce the synchronization error. At this point, the synchronization control flow rate optimization function is constructed as follows:

[0051] ;

[0052] Where FC stands for flow fitness. , and As weight, To compensate for the synchronous error of the clamping force, For clamping dimension synchronization error, L is the synchronization control flow rate. This represents the maximum flow rate of the first and second hydraulic pistons.

[0053] This synchronous control flow optimization function comprehensively considers clamping force error, clamping size error, and synchronous control flow rate to quantitatively evaluate the fitness of the synchronous control flow rate. The first two terms of the synchronous control flow optimization function reflect the impact of the synchronous control flow rate on the synchronization error, while the last term reflects the quality of the synchronous control flow rate itself.

[0054] Among them, the first item It is the ratio of the clamping force synchronization error to the synchronization control flow rate, multiplied by the weight. Given a synchronously controlled flow rate, a larger clamping force error indicates poorer control performance and lower adaptability of that synchronously controlled flow rate. (Second item) It is the ratio of clamping dimension synchronization error to control flow rate, multiplied by a weight. Given a synchronously controlled flow rate, a larger clamping size error indicates poorer control performance and lower adaptability of the synchronously controlled flow rate. (Third item) It is the logarithmic ratio of the synchronous control flow to the maximum flow, multiplied by the weight. This indicates that, under the premise of meeting the synchronization error requirement, the smaller the synchronous control flow, the better the energy-saving effect and the higher the adaptability. The three weighting coefficients in the synchronous control flow optimization function... , and This reflects the relative importance of the three indicators, and the emphasis of the optimization function can be flexibly adjusted according to actual working conditions and performance requirements. For example, when high accuracy is required, the emphasis can be appropriately increased. and The weighting; when energy-saving requirements are high, the weighting should be appropriately increased. The weights. It should be noted that this synchronous control flow optimization function is only one possible construction method, not the only option.

[0055] After constructing the synchronous control flow optimization function, the flow ranges of the first and second hydraulic pistons are determined based on the design parameters and working characteristics of the hydraulic pistons in the drill pipe hydraulic clamping system. Then, using random generation methods such as the Monte Carlo method or the Latin hypercube method, a synchronous control flow is randomly generated within the flow range of the first and second hydraulic pistons, serving as the first control flow. Next, the obtained first control flow, along with the previously obtained clamping force synchronization error and clamping size synchronization error, are substituted into the synchronous control flow optimization function to obtain the first flow fitness. After obtaining the first control flow fitness, within a preset adjustment range of the first control flow, a second control flow is generated in the same manner as the first control flow. This second control flow, combined with the clamping force synchronization error and clamping size synchronization error, is then substituted into the synchronous control flow optimization function to obtain the second flow fitness. The preset adjustment range is set according to the magnitude of the first flow fitness.

[0056] Then, the fitness of the second flow is compared with that of the first flow. If the fitness of the second flow is greater than that of the first flow, it means that the newly generated second control flow is closer to the optimal solution than the original first control flow. Therefore, the search should continue based on the second control flow. At this point, the next control flow is randomly generated within the preset adjustment range of the second control flow, and its fitness is obtained. If the fitness of the second flow is less than or equal to that of the first flow, it means that the second control flow has not brought about an improvement in the optimization effect. If we still stick to the second control flow, we will miss a better solution. At this point, a random strategy is adopted to accept the second control flow with a certain probability, jump out of the current local extreme point, explore a new search area, and dynamically adjust the probability of accepting the second control flow according to the progress of the optimization process. In the early stage of optimization, since the optimal solution is still uncertain, the optimization potential of the second control flow may be greater, so the acceptance probability is relatively high; in the later stage of optimization, since the quality of the solution is relatively high, the optimization space of the second control flow becomes smaller and smaller, so the acceptance probability gradually decreases. By optimizing based on the second control flow according to probability, we can escape the local extremum trap and improve the global optimization capability. As the number of iterations increases, we can gradually reduce the probability to accelerate the local convergence speed.

[0057] After generating, evaluating, and selecting a new solution, the process checks if a termination condition is met to decide whether to end the entire optimization process. The termination condition is that the optimization process has reached a preset number of convergent optimization iterations, meaning that a sufficient number of iterations have been performed and the quality of the solution no longer significantly improves. When the optimization reaches the convergent optimization number, iteration stops, and the current optimal solution is output as the final control flow, serving as the synchronization control flow.

[0058] S500: According to the synchronous control flow rate, the first hydraulic piston and the second hydraulic piston are adjusted and optimized to obtain the optimal synchronous control parameters, and the drill pipe hydraulic clamping system is controlled.

[0059] Furthermore, the S500 includes:

[0060] S510: Based on the clamping pressure in the clamping control command, obtain the first basic control parameters and the second basic control parameters of the first hydraulic piston and the second hydraulic piston, wherein the first basic control parameters and the second basic control parameters include the same hydraulic flow rate.

[0061] S520: Using the synchronous control flow, the first basic control parameter and the second basic control parameter are randomly adjusted to obtain the first adjusted control parameter and the second adjusted control parameter;

[0062] S530: Based on the first adjustment control parameter and the second adjustment control parameter, and combined with the first oil temperature information, the second oil temperature information, the first error information and the second error information, perform clamping synchronization analysis to obtain the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error.

[0063] S540: Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and combining the clamping force synchronization error and the clamping size synchronization error, calculate the first control correction fitness.

[0064] S550: Continue to adjust and optimize the first and second adjustment control parameters to obtain the first and second control parameters with the greatest control correction fitness, which are then used as the optimal synchronization control parameters.

[0065] Furthermore, the S540 includes:

[0066] S541: Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and in combination with the clamping force synchronization error and the clamping size synchronization error, calculate the clamping force error correction amplitude and the clamping size error correction amplitude.

[0067] S542: Based on the clamping force error correction amplitude and the clamping size error correction amplitude, a first correction fitness is obtained by weighted calculation;

[0068] S543: Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, calculate the clamping force error amplitude and the clamping size error amplitude, and calculate the first control fitness by weighting.

[0069] S544: Perform a weighted calculation on the first correction fitness and the first control fitness to obtain the first control correction fitness.

[0070] In one feasible implementation, when obtaining the optimal synchronization control parameters, firstly, the first and second basic control parameters are extracted. These parameters include the same hydraulic flow rate, ensuring that the first and second hydraulic pistons synchronously control the first and second clamping arms. Then, based on the optimization results of the synchronization control flow rate, the first and second basic control parameters are dynamically adjusted and corrected to compensate for differences that may occur under actual working conditions, achieving precise synchronization control of clamping force and clamping size. Specifically, while maintaining a constant total flow rate, the first and second basic control parameters are increased or decreased according to the magnitude and direction of the synchronization control flow rate to change the relative flow distribution between the two hydraulic pistons, generating first and second adjustment control parameters. Subsequently, the obtained first and second adjustment control parameters, combined with first and second oil temperature information, first and second error information, and second error information, are input into a clamping synchronization error analyzer to obtain the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error.

[0071] Next, the clamping force synchronization error and clamping size synchronization error under unadjusted conditions are extracted. The deviation between the clamping force synchronization error and the first adjusted clamping force synchronization error is calculated to obtain the clamping force error correction amplitude. The deviation between the clamping size synchronization error and the first adjusted clamping size synchronization error is also calculated to obtain the clamping size error correction amplitude. Then, weighting coefficients are set for the clamping force error correction amplitude and the clamping size error correction amplitude, respectively. These weighted coefficients are then used to perform a weighted sum of the clamping force error correction amplitude and the clamping size error correction amplitude to obtain the first correction fitness. Simultaneously, based on the first adjusted clamping force synchronization error and the first adjusted clamping size synchronization error, the current actual control effect is further evaluated, i.e., the level of synchronization control achievable under the influence of these errors. This is achieved by calculating the absolute value of the first adjusted clamping force synchronization error as the clamping force error amplitude, and the absolute value of the first adjusted clamping size synchronization error as the clamping size error amplitude. Then, a weighting system is extracted based on the actual requirements for the clamping force error amplitude and the clamping size error amplitude. This weighted system is then used to obtain the first control fitness. Specifically, if the clamping force requirement is higher, the weighting coefficient for the clamping force error amplitude is larger; if the clamping size requirement is higher, the weighting coefficient for the clamping size error amplitude is larger. Next, the relative importance of the control parameter's correction effect and control effect to system performance is set, thus determining the weighting coefficients for the first correction fitness and the first control fitness. If the degree of improvement of the parameter on the original error is more important, the weighting coefficient of the first correction fitness is increased; if the absolute control accuracy and stability of the parameter are more important, the weighting coefficient of the first control fitness is increased; if both factors are equally important, the weighting coefficients of the first correction fitness and the first control fitness are the same, both being 0.5. Finally, the first correction fitness and the first control fitness are weighted and summed according to the set weighting coefficients to obtain the first control correction fitness.

[0072] After obtaining the first control correction fitness, the first and second adjustment control parameters are further optimized. A maximum number of iterations is set. When the number of optimization iterations reaches N, the optimization stops, and the first and second control parameters with the highest control correction fitness during the optimization process are extracted as the optimal synchronization control parameters. Then, the first control parameter contained in the optimal synchronization control parameters is converted into a control command for the first hydraulic piston, and the second control parameter contained in the optimal synchronization control parameters is converted into a control command for the second hydraulic piston. The first and second hydraulic pistons are controlled simultaneously, thereby controlling the first and second clamping arms and achieving synchronous control accuracy of the drill pipe hydraulic clamping system.

[0073] In summary, the synchronous high-precision control method based on a drill pipe hydraulic clamping system provided in this application has the following technical effects:

[0074] The system receives clamping control commands and clarifies the synchronous control objectives, providing a reference for subsequent error analysis and parameter optimization. It collects the first and second oil temperature information of the first and second hydraulic pistons within the hydraulic piston module of the drill pipe hydraulic clamping system, as well as the first and second error information of the first and second clamping arms within the clamping system, providing data support for analyzing and calculating synchronization errors. Based on the first and second oil temperature information, and the first and second error information, it analyzes the synchronization errors of the clamping force and clamping dimensions of the first and second clamping arms under the clamping control commands, quantifying the degree of deviation between the two clamping arms in terms of force and displacement, providing an optimization target for optimizing the synchronous control flow rate. Based on the clamping force and clamping dimension synchronization errors, it optimizes and determines the synchronous control flow rate for adjusting the first and second hydraulic pistons, laying the foundation for precise adjustment of clamping force and clamping dimensions. Based on the synchronous control flow rate, the first and second hydraulic pistons are adjusted and optimized to obtain the optimal synchronous control parameters. The drill pipe hydraulic clamping system is then controlled by controlling the hydraulic pistons through synchronous control flow rate, thereby compensating for errors, minimizing the deviation of clamping force and clamping size, and improving the synchronous control accuracy of the clamping arm.

[0075] Example 2

[0076] Based on the same inventive concept as the synchronous high-precision control method based on a drill pipe hydraulic clamping system in the foregoing embodiments, such as Figure 2 As shown in the embodiment of this application, a synchronous high-precision control system based on a drill pipe hydraulic clamping system is provided. The system includes:

[0077] The control command receiving unit 11 is used to receive clamping control commands, wherein the clamping control commands include clamping pressure;

[0078] The information acquisition unit 12 is used to acquire the first oil temperature information and the second oil temperature information of the first hydraulic piston and the second hydraulic piston in the hydraulic piston module of the drill pipe hydraulic clamping system, and to acquire the first error information and the second error information of the first clamping arm and the second clamping arm of the clamping system in the drill pipe hydraulic clamping system.

[0079] Error analysis unit 13 is used to analyze the clamping force synchronization error and clamping size synchronization error of the first clamping arm and the second clamping arm under the clamping control command based on the first oil temperature information, the second oil temperature information, the first error information and the second error information.

[0080] The flow control optimization unit 14 is used to determine the synchronous control flow for adjusting the first hydraulic piston and the second hydraulic piston based on the clamping force synchronization error and the clamping size synchronization error.

[0081] The clamping system control unit 15 is used to adjust and optimize the first hydraulic piston and the second hydraulic piston according to the synchronous control flow rate to obtain the optimal synchronous control parameters and control the drill pipe hydraulic clamping system.

[0082] Furthermore, the information acquisition unit 12 includes the following execution steps:

[0083] Based on the historical operating data of the drill pipe hydraulic clamping system, the historical synchronization error information of the first clamping arm and the second clamping arm is obtained, and the first historical error information set and the second historical error information set are obtained.

[0084] Based on the first set of historical error information and the second set of historical error information, the first error information and the second error information of the first clamping arm and the second clamping arm are calculated.

[0085] Furthermore, the error analysis unit 13 includes the following execution steps:

[0086] Based on the clamping pressure in the clamping control command, obtain the first basic control parameters and the second basic control parameters of the first hydraulic piston and the second hydraulic piston.

[0087] Based on the operating data of the drill pipe hydraulic system, the following sets of information are obtained: first oil temperature information, second oil temperature information, first error information, and second error information; first control parameter set, second control parameter set, clamping force error set, and clamping size error set.

[0088] Using the sample first oil temperature information set, sample second oil temperature information set, sample first error information set, sample second error information set, sample first control parameter set, and sample second control parameter set, and combining them with the sample clamping force error set and sample clamping size error set, respectively, clamping force error analysis branch and clamping size error analysis branch are constructed;

[0089] By connecting the clamping force error analysis branch and the clamping size error analysis branch, a clamping synchronization error analyzer is obtained. The first basic control parameter, the second basic control parameter, the first oil temperature information, the second oil temperature information, the first error information, and the second error information are analyzed to obtain the clamping force synchronization error and the clamping size synchronization error.

[0090] Furthermore, the control flow optimization unit 14 includes the following execution steps:

[0091] Based on the clamping force synchronization error and the clamping size synchronization error, a synchronization control flow optimization function is constructed to optimize the synchronization control flow for adjusting the first hydraulic piston and the second hydraulic piston, as shown in the following equation:

[0092] ;

[0093] Where FC stands for flow fitness. , and As weight, To compensate for the synchronous error of the clamping force, For clamping dimension synchronization error, L is the synchronization control flow rate. The maximum flow rate of the first and second hydraulic pistons;

[0094] The synchronization control flow is obtained by optimizing the synchronization control flow based on the synchronization control flow optimization function.

[0095] Furthermore, the control flow optimization unit 14 also includes the following execution steps:

[0096] Within the flow range of the first hydraulic piston and the second hydraulic piston, a first control flow is randomly generated;

[0097] The first flow fitness of the first control flow is calculated based on the synchronous control flow optimization function.

[0098] Within the preset adjustment range of the first control flow, a second control flow is randomly generated, and the fitness of the second flow is calculated.

[0099] When the second flow fitness is greater than the first flow fitness, continue to optimize based on the second control flow. When the second flow fitness is not greater than the first flow fitness, optimize based on the second control flow according to probability. The probability decreases as the number of optimizations increases.

[0100] Continue optimization until the number of optimization attempts converges, and output the final control flow as the synchronization control flow.

[0101] Furthermore, the clamping system control unit 15 includes the following execution steps:

[0102] Based on the clamping pressure in the clamping control command, the first basic control parameters and the second basic control parameters of the first hydraulic piston and the second hydraulic piston are obtained, and the first basic control parameters and the second basic control parameters include the same hydraulic flow rate.

[0103] Using the aforementioned synchronous control flow, the first basic control parameter and the second basic control parameter are randomly adjusted to obtain the first adjusted control parameter and the second adjusted control parameter;

[0104] Based on the first adjustment control parameter and the second adjustment control parameter, combined with the first oil temperature information, the second oil temperature information, the first error information and the second error information, a clamping synchronization analysis is performed to obtain the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error.

[0105] Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and in combination with the clamping force synchronization error and the clamping size synchronization error, the first control correction fitness is calculated.

[0106] Continue to adjust and optimize the first and second adjustment control parameters to obtain the first and second control parameters with the greatest control correction fitness, which are then used as the optimal synchronization control parameters.

[0107] Furthermore, the clamping system control unit 15 also includes the following execution steps:

[0108] Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and in combination with the clamping force synchronization error and the clamping size synchronization error, the clamping force error correction amplitude and the clamping size error correction amplitude are calculated.

[0109] The first correction fitness is obtained by weighted calculation based on the clamping force error correction amplitude and the clamping size error correction amplitude;

[0110] Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, the clamping force error amplitude and the clamping size error amplitude are calculated, and the first control fitness is obtained by weighted calculation.

[0111] The first control correction fitness is obtained by weighting the first correction fitness and the first control fitness.

[0112] In summary, any step of the method described above can be stored as a computer instruction or program in an unrestricted computer memory, and can be called and identified by an unrestricted computer processor to implement any method in the embodiments of this application, without any additional restrictions.

[0113] Furthermore, the "first" or "second" mentioned above may not only represent a sequential relationship, but may also represent a specific concept, and / or refer to the individual or collective selection of multiple elements. Clearly, those skilled in the art can make various modifications and variations to this application without departing from its scope. Therefore, if such modifications and variations fall within the scope of this application and its equivalents, this application intends to include such modifications and variations.

Claims

1. A synchronous high-precision control method based on a drill pipe hydraulic clamping system, characterized in that, The method includes: Receive clamping control commands, wherein the clamping control commands include clamping pressure; Collect the first and second oil temperature information of the first and second hydraulic pistons in the hydraulic piston module within the drill pipe hydraulic clamping system, and collect the first and second error information of the first and second clamping arms of the clamping system within the drill pipe hydraulic clamping system. Based on the first oil temperature information, the second oil temperature information, the first error information, and the second error information, the synchronization error of the clamping force and the synchronization error of the clamping size of the first clamping arm and the second clamping arm under the clamping control command are analyzed, including: Based on the clamping pressure in the clamping control command, obtain the first basic control parameters and the second basic control parameters of the first hydraulic piston and the second hydraulic piston. Based on the operating data of the drill pipe hydraulic system, the following sets of information are obtained: sample first oil temperature, sample second oil temperature, sample first error, and sample second error; as well as sample first control parameter, sample second control parameter, sample clamping force error, and sample clamping size error. Using the sample first oil temperature information set, sample second oil temperature information set, sample first error information set, sample second error information set, sample first control parameter set, and sample second control parameter set, and combining them with the sample clamping force error set and sample clamping size error set, respectively, clamping force error analysis branch and clamping size error analysis branch are constructed; By connecting the clamping force error analysis branch and the clamping size error analysis branch, a clamping synchronization error analyzer is obtained. The first basic control parameter, the second basic control parameter, the first oil temperature information, the second oil temperature information, the first error information, and the second error information are analyzed to obtain the clamping force synchronization error and the clamping size synchronization error. Based on the clamping force synchronization error and the clamping size synchronization error, determine the synchronous control flow rate for adjusting the first hydraulic piston and the second hydraulic piston; According to the aforementioned synchronous control flow rate, the first and second hydraulic pistons are adjusted and optimized to obtain optimal synchronous control parameters, thereby controlling the drill pipe hydraulic clamping system, including: Based on the clamping pressure in the clamping control command, the first basic control parameters and the second basic control parameters of the first hydraulic piston and the second hydraulic piston are obtained, and the first basic control parameters and the second basic control parameters include the same hydraulic flow rate. Using the aforementioned synchronous control flow, the first basic control parameter and the second basic control parameter are randomly adjusted to obtain the first adjusted control parameter and the second adjusted control parameter; Based on the first adjustment control parameter and the second adjustment control parameter, combined with the first oil temperature information, the second oil temperature information, the first error information and the second error information, a clamping synchronization analysis is performed to obtain the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error. Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and in combination with the clamping force synchronization error and the clamping size synchronization error, the first control correction fitness is calculated. Continue to adjust and optimize the first and second adjustment control parameters to obtain the first and second control parameters with the greatest control correction fitness, which are then used as the optimal synchronization control parameters. Specifically, based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and combining the clamping force synchronization error and the clamping size synchronization error, a first control correction fitness is calculated, including: Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and combined with the clamping force synchronization error and the clamping size synchronization error, the clamping force error correction amplitude and the clamping size error correction amplitude are calculated. The first correction fitness is obtained by weighted calculation based on the clamping force error correction amplitude and the clamping size error correction amplitude; Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, the clamping force error amplitude and the clamping size error amplitude are calculated, and the first control fitness is obtained by weighted calculation. The first control correction fitness is obtained by weighting the first correction fitness and the first control fitness.

2. The method according to claim 1, characterized in that, The system collects first and second error information of the first and second clamping arms of the hydraulic clamping system within the drill pipe clamping system, including: Based on the historical operating data of the drill pipe hydraulic clamping system, the historical synchronization error information of the first clamping arm and the second clamping arm is obtained, and the first historical error information set and the second historical error information set are obtained. Based on the first set of historical error information and the second set of historical error information, the first error information and the second error information of the first clamping arm and the second clamping arm are calculated.

3. The method according to claim 1, characterized in that, Based on the clamping force synchronization error and the clamping size synchronization error, the synchronous control flow rate for adjusting the first hydraulic piston and the second hydraulic piston is determined, including: Based on the clamping force synchronization error and the clamping size synchronization error, a synchronization control flow optimization function is constructed to optimize the synchronization control flow for adjusting the first hydraulic piston and the second hydraulic piston, as shown in the following equation: ； Where FC stands for Flow Fitness. , and As weight, To compensate for the synchronous error of the clamping force, For clamping dimension synchronization error, L is the synchronization control flow rate. The maximum flow rate of the first and second hydraulic pistons; The synchronization control flow is obtained by optimizing the synchronization control flow based on the synchronization control flow optimization function.

4. The method according to claim 3, characterized in that, Based on the aforementioned synchronization control flow optimization function, the synchronization control flow is optimized to obtain the following: Within the flow range of the first hydraulic piston and the second hydraulic piston, a first control flow is randomly generated; The first flow fitness of the first control flow is calculated based on the synchronous control flow optimization function. Within the preset adjustment range of the first control flow, a second control flow is randomly generated, and the fitness of the second flow is calculated. When the second flow fitness is greater than the first flow fitness, continue to optimize based on the second control flow. When the second flow fitness is not greater than the first flow fitness, optimize based on the second control flow according to probability. The probability decreases as the number of optimizations increases. Continue optimization until the number of optimization attempts converges, and output the final control flow as the synchronization control flow.

5. A synchronous high-precision control system based on a drill pipe hydraulic clamping system, characterized in that, A synchronous high-precision control method based on a drill pipe hydraulic clamping system as described in any one of claims 1-4, the system comprising: A control command receiving unit is configured to receive clamping control commands, wherein the clamping control commands include clamping pressure. The information acquisition unit is used to acquire the first oil temperature information and the second oil temperature information of the first hydraulic piston and the second hydraulic piston in the hydraulic piston module of the drill pipe hydraulic clamping system, and to acquire the first error information and the second error information of the first clamping arm and the second clamping arm of the clamping system in the drill pipe hydraulic clamping system. An error analysis unit is used to analyze the clamping force synchronization error and clamping size synchronization error of the first clamping arm and the second clamping arm under the clamping control command based on the first oil temperature information, the second oil temperature information, the first error information and the second error information. The flow control optimization unit, wherein the error analysis unit is used to determine the synchronous control flow for adjusting the first hydraulic piston and the second hydraulic piston based on the clamping force synchronization error and the clamping size synchronization error; The clamping system control unit is used to adjust and optimize the first hydraulic piston and the second hydraulic piston according to the synchronous control flow rate to obtain the optimal synchronous control parameters and control the drill pipe hydraulic clamping system. The error analysis unit is further used for: Based on the clamping pressure in the clamping control command, obtain the first basic control parameters and the second basic control parameters of the first hydraulic piston and the second hydraulic piston. Based on the operating data of the drill pipe hydraulic system, the following sets of information are obtained: sample first oil temperature, sample second oil temperature, sample first error, and sample second error; as well as sample first control parameter, sample second control parameter, sample clamping force error, and sample clamping size error. Using the sample first oil temperature information set, sample second oil temperature information set, sample first error information set, sample second error information set, sample first control parameter set, and sample second control parameter set, and combining them with the sample clamping force error set and sample clamping size error set, respectively, clamping force error analysis branch and clamping size error analysis branch are constructed; By connecting the clamping force error analysis branch and the clamping size error analysis branch, a clamping synchronization error analyzer is obtained. The first basic control parameter, the second basic control parameter, the first oil temperature information, the second oil temperature information, the first error information, and the second error information are analyzed to obtain the clamping force synchronization error and the clamping size synchronization error. The clamping system control unit is also used for: Based on the clamping pressure in the clamping control command, the first basic control parameters and the second basic control parameters of the first hydraulic piston and the second hydraulic piston are obtained, and the first basic control parameters and the second basic control parameters include the same hydraulic flow rate. Using the aforementioned synchronous control flow, the first basic control parameter and the second basic control parameter are randomly adjusted to obtain the first adjusted control parameter and the second adjusted control parameter; Based on the first adjustment control parameter and the second adjustment control parameter, combined with the first oil temperature information, the second oil temperature information, the first error information and the second error information, a clamping synchronization analysis is performed to obtain the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error. Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and in combination with the clamping force synchronization error and the clamping size synchronization error, the first control correction fitness is calculated. Continue to adjust and optimize the first and second adjustment control parameters to obtain the first and second control parameters with the greatest control correction fitness, which are then used as the optimal synchronization control parameters. The clamping system control unit is also used for: Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, and combined with the clamping force synchronization error and the clamping size synchronization error, the clamping force error correction amplitude and the clamping size error correction amplitude are calculated. The first correction fitness is obtained by weighted calculation based on the clamping force error correction amplitude and the clamping size error correction amplitude; Based on the first adjustment clamping force synchronization error and the first adjustment clamping size synchronization error, the clamping force error amplitude and the clamping size error amplitude are calculated, and the first control fitness is obtained by weighted calculation. The first control correction fitness is obtained by weighting the first correction fitness and the first control fitness.

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