Intelligent drilling rig winch and monitoring control method thereof

Abstract

The invention relates to the technical field of oil field drilling, in particular to an intelligent drilling rig winch and a monitoring control method thereof. A roller is rotationally connected into the shell, and a winch shaft is connected into the roller in a penetrating mode. One end of the winch shaft is sleeved with a low-speed clutch static plate, and the other end of the winch shaft is sleeved with a high-speed clutch static plate; the end faces of the two sides of the winch shaft are each provided with two acceleration acquisition modules. Magnetic coding rings are fixed on the winch shaft close to the end faces of the two sides of the roller through bolts; rotation speed collecting modules are arranged on the inner walls of the two sides of the roller, a low-speed driving motor is fixedly connected to the outer wall of one side of the shell, and a high-speed driving motor is fixed to the outer wall of the other side of the shell through bolts. And a low-speed clutch mechanism and a high-speed clutch mechanism are respectively arranged on two sides of the roller in the shell. According to the invention, the axial symmetry characteristic of the roller and the data measured by the sensor embedded in the roller are utilized to judge the faults such as abnormal vibration, sliding and instability of the roller.

Description

Technical Field

[0001] The invention relates to the technical field of oilfield drilling, and in particular to an intelligent drilling rig winch and a monitoring and control method thereof. Background Art

[0002] The winch is an important core component of the drilling rig. During the drilling process of the oil rig, the winch must be used to operate the drilling tools, the casing, the feed speed control, and the handling of the drill bit stuck during the drilling process. At the same time, the lifting and lowering of the derrick and the base of the drilling rig must also rely on the winch to complete the operation. Once the winch fails, it will seriously affect the drilling efficiency and even cause serious safety accidents.

[0003] Most existing winches are driven by a single drive motor, but the speed range of a single motor is limited, which limits the scope of application of the winch and makes it impossible to freely adjust high and low speeds. In addition, the speed monitoring and vibration monitoring of existing drilling rig winches are mostly based on adding external components, such as photoelectric sensors, magnetoelectric sensors, etc., which easily lead to installation difficulties and introduce additional fault points. At the same time, most monitoring methods do not consider the axial symmetry conditions of the drum itself, and cannot determine whether the winch drum is slipping or unstable. In addition, most existing winches do not consider comparing the speed with the actual speed when implementing speed adjustment, and no algorithm is proposed to achieve motor compensation, resulting in an error between the theoretical speed and the actual speed. Summary of the invention

[0004] To solve the above problems, the present invention provides an intelligent drilling rig winch and a monitoring and control method thereof, which are used to realize speed and vibration monitoring, and compensate the motor through a feedback correction algorithm based on the error between the theoretical speed and the actual speed of the drum, so that the actual speed is close to the theoretical speed, and at the same time, the axially symmetrical structure of the drum itself is used to realize abnormal diagnosis.

[0005] In order to achieve the above-mentioned object, the technical solution of the present invention is as follows: an intelligent drilling rig winch comprises a housing;

[0006] A drum is rotatably connected inside the shell, a winch shaft is fixedly connected inside the drum, and the winch shaft passes through the drum;

[0007] A low-speed clutch static plate is sleeved on one end of the winch shaft, and a high-speed clutch static plate is sleeved on the other end of the winch shaft;

[0008] Two acceleration acquisition modules are provided on both side end faces of the winch shaft;

[0009] The winch shafts near the end faces of both sides of the drum are bolted with magnetic encoding rings;

[0010] The inner walls on both sides of the drum are provided with speed acquisition modules, the outer wall on one side of the shell is fixedly connected with a low-speed drive motor, and the outer wall on the other side of the shell is bolted with a high-speed drive motor;

[0011] A low-speed clutch mechanism and a high-speed clutch mechanism are respectively arranged on both sides of the drum inside the shell. The low-speed clutch mechanism is located on the side where the winch shaft sleeve is connected to the low-speed clutch static plate, and the high-speed clutch mechanism is located on the side where the winch shaft sleeve is connected to the high-speed clutch static plate.

[0012] Further, the acceleration acquisition module includes a MEMS acceleration sensor, a first filter, a first amplifier, a first sampling circuit, a first sample-and-hold circuit, and a first AD converter, and the MEMS acceleration sensor, the first filter, the first amplifier, the first sampling circuit, the first sample-and-hold circuit, and the first AD converter are sequentially signal-connected;

[0013] The acceleration acquisition modules are distributed orthogonally on the end face of the winch shaft to collect the vibration signals of the x-axis and y-axis respectively.

[0014] Further, the speed acquisition module includes a Hall sensor, a second filter, a second amplifier, a second sampling circuit, a second sample-and-hold circuit, and a second AD converter, and the Hall sensor, the second filter, the second amplifier, the second sampling circuit, the second sample-and-hold circuit, and the second AD converter are sequentially signal-connected;

[0015] The speed acquisition module is embedded on the side wall of the drum, and the embedding height is aligned with the notch of the encoding ring.

[0016] Furthermore, the low-speed clutch mechanism includes a low-speed brake cylinder, a low-speed clutch movable plate and a low-speed transmission shaft. The output shaft of the low-speed brake cylinder is fixedly connected to the low-speed clutch movable plate, and the low-speed clutch movable plate is sleeved on the low-speed transmission shaft.

[0017] Furthermore, the high-speed clutch mechanism includes a high-speed brake cylinder and a high-speed clutch movable plate, the output shaft of the high-speed brake cylinder is fixedly connected to the high-speed clutch movable plate, and the high-speed clutch movable plate is sleeved on the output shaft of the high-speed drive motor.

[0018] Furthermore, a primary planetary reducer is provided between the low-speed drive motor and the low-speed transmission shaft, and the low-speed drive motor and the low-speed transmission shaft are driven by the primary planetary reducer.

[0019] Furthermore, a positioning stud is provided on the shell, a stud groove is provided on an outer wall of one side of the drum, and the shell and the drum are connected by an embedded clamping connection of the positioning stud and the stud groove.

[0020] Furthermore, it also includes an assembly disk; the outer wall of the assembly disk is provided with an assembly screw, the outer wall of the other side of the drum is provided with an assembly groove, and the assembly disk and the drum are embedded and connected through the assembly screw and the assembly groove.

[0021] Furthermore, the low-speed drive motor and the high-speed drive motor are connected to the high-speed and low-speed adjustment switches through wires, and the high-speed and low-speed adjustment switches are controlled by a central control computer using the Python programming language;

[0022] The central control machine includes a human-machine interaction interface, which is used to control the winch on and off, display the axis trajectory diagram and fault alarm.

[0023] A monitoring and control method for an intelligent drilling rig winch is applied to the above-mentioned intelligent drilling rig winch, comprising the following steps:

[0024] Step 1: Obtain the speed data and acceleration data of the speed acquisition module and the acceleration acquisition module;

[0025] Step 2: Send the average error between the actual speed and the theoretical speed measured by the speed acquisition modules on both sides of the drum into the optimized speed closed loop to achieve speed regulation;

[0026] The specific steps are as follows:

[0027] S1: The average error e, motor speed n and the output u of the fuzzy PID controller are used as inputs of the optimization algorithm;

[0028] S2: The optimized fuzzy PID parameters are obtained through global optimization of the algorithm;

[0029] S3: The fuzzy PID controller outputs to the frequency adjustment reference c, and then performs frequency adjustment to finally control the speed;

[0030] Step 3: Monitor the acceleration data on both sides. When the acceleration data changes suddenly or the difference between the accelerations on both sides is greater than a threshold, an audible and visual alarm is sounded and the winch is shut down forcibly.

[0031] The above scheme has the following beneficial effects:

[0032] 1. This solution realizes speed monitoring and vibration monitoring through the embedded Hall sensor and uniaxial MEMS acceleration sensor instead of installing external equipment. It does not need to be disassembled for measurement and is not easy to cause additional fault points. In addition, this device realizes high and low speed free adjustment of winch rotation through high and low speed drive motors on both sides and switching switches. At the same time, this device uses the axial symmetry characteristics of the drum and the data measured by the embedded sensor to judge the abnormal vibration, sliding and instability of the drum. Once an abnormality is found, an audible and visual alarm will be issued immediately and the winch will be forced to shut down to protect the safety of the device and personnel.

[0033] 2. This scheme uses fuzzy PID control based on adaptive collective decision optimization to realize speed correction and adjustment in a negative feedback closed loop so that the actual speed approaches the theoretical speed.

[0034] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the structure of an intelligent drilling rig winch according to an embodiment of the present invention;

[0036] Figure 2 This is a training flow chart of a collective decision-making optimization algorithm based on adaptive probability according to an embodiment of the present invention;

[0037] Figure 3 This is a speed closed-loop circuit diagram based on adaptive collective decision optimization according to an embodiment of the present invention.

[0038] The figure marks in the drawings of the specification include: 1. housing; 2. low-speed clutch stator; 3. first-stage planetary reducer; 4. acceleration acquisition module; 5. encoding ring; 6. drum; 7. high-speed clutch stator; 8. speed acquisition module; 9. low-speed drive motor; 10. high-speed drive motor; 11. low-speed transmission shaft; 12. winch shaft. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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 embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The following is further described in detail through specific implementation methods:

[0043] Embodiment 1:

[0044] As attached Figure 1 As shown: an intelligent drilling rig winch, including a shell 1, a drum 6 is rotatably connected inside the shell 1, and the inside of the drum 6 is penetrated by a winch shaft 12, and the winch shaft 12 is fixedly connected to the drum 6; one end of the winch shaft 12 is sleeved with a low-speed clutch static plate 2, and the other end is sleeved with a high-speed clutch static plate 7; a low-speed drive motor 9 is bolted to the outer wall of one side of the shell 1; a high-speed drive motor 10 is bolted to the outer wall of the other side of the shell 1; a low-speed clutch mechanism and a high-speed clutch mechanism are respectively arranged inside the shell 1 and on both sides of the drum 6.

[0045] The low-speed clutch mechanism is composed of a low-speed brake cylinder and a low-speed clutch movable plate. The output shaft of the low-speed brake cylinder is fixedly connected to the low-speed clutch movable plate, and the low-speed clutch movable plate is sleeved on the low-speed transmission shaft 11. A primary planetary reducer 3 is arranged between the low-speed drive motor 9 and the low-speed transmission shaft 11. The low-speed drive motor 9 and the low-speed transmission shaft 11 are driven by the primary planetary reducer 3.

[0046] The high-speed clutch mechanism is composed of a high-speed brake cylinder and a high-speed clutch movable plate. The output shaft of the high-speed brake cylinder is fixedly connected to the high-speed clutch movable plate, and the high-speed clutch movable plate is sleeved on the output shaft of the high-speed drive motor 10.

[0047] The low-speed drive motor 9 and the high-speed drive motor 10 are both connected to the high-speed and low-speed adjustment switches through wires, and the high-speed and low-speed adjustment switches are controlled by a central control machine in the Python programming language. The central control machine includes a human-computer interaction interface, and the central control machine is used to control the winch on and off, display the axis trajectory diagram, and fault alarm.

[0048] In this embodiment, the speed gear of the intelligent winch is selected through the high and low speed adjustment switches of the human-machine interaction interface, and the central control machine sends instructions to the electric adjustment proportional valve. When low-speed operation is selected, the electric regulating proportional valve controls the pressure oil in the pressure cylinder to flow to the oil pipe on one side of the low-speed drive motor 9, and introduces the pressure oil into the low-speed brake cylinder in the low-speed clutch mechanism through the shuttle valve, pushing the low-speed clutch moving plate on the low-speed transmission shaft 11 to move toward the drum 6, and finally combines with the low-speed clutch static plate 2, thereby connecting the winch shaft 12 to the low-speed transmission shaft 11, and the high-speed clutch mechanism is disengaged from the drum 6. On the basis of the first-stage planetary reducer 3 decelerating and adjusting the driving force output by the low-speed drive motor 9, the drum 6 runs normally at a low speed with the low-speed drive motor 9; when high-speed operation is selected, the electric regulating proportional valve controls the pressure oil in the pressure cylinder to flow to the oil pipe on one side of the high-speed drive motor 10, and introduces the pressure oil into the high-speed brake cylinder in the high-speed clutch mechanism through the shuttle valve, pushing the high-speed clutch moving plate on the high-speed transmission shaft to move toward the drum 6, and finally combines with the high-speed clutch static plate 7, thereby connecting the winch shaft 12 to the high-speed transmission shaft, and the low-speed clutch mechanism is disengaged from the drum 6. At this time, the drum 6 runs normally at a high speed with the high-speed drive motor 10.

[0049] Two acceleration acquisition modules 4 are provided on both side end faces of the winch shaft 12. In this embodiment, the acceleration acquisition module 4 includes a MEMS acceleration sensor, a first filter, a first amplifier, a first sampling circuit, a first sampling and holding circuit, and a first AD converter, and the MEMS acceleration sensor, the first filter, the first amplifier, the first sampling circuit, the first sampling and holding circuit, and the first AD converter are sequentially connected in signal.

[0050] The acceleration acquisition module 4 is distributed in an orthogonal form on the end face of the winch shaft 12, and collects the vibration signals of the x and y axes respectively. Its function is to collect the acceleration analog signal and output the acceleration digital signal, which is used to analyze whether there is any abnormality in the drum 6 through the central control machine and draw the axis trajectory diagram.

[0051] The end faces of both sides of the drum 6 are bolted with magnetic encoding rings 5, and the inner walls of both sides of the drum 1 are provided with speed acquisition modules 8. In this embodiment, the magnetic encoding ring 5 is gear-shaped, and is combined with the speed acquisition module 8 to output a pulse waveform; the speed acquisition module 8 includes a Hall sensor, a second filter, a second amplifier, a second sampling circuit, a second sampling and holding circuit, and a second AD converter, and the Hall sensor, the second filter, the second amplifier, the second sampling circuit, the second sampling and holding circuit, and the second AD converter are sequentially connected in signal; the embedding height of the Hall sensor on the housing is aligned with the notch of the encoding ring.

[0052] The speed acquisition module 8 is embedded on the side wall of the drum 6, and the embedding height should be aligned with the notch of the encoding ring 5. Its function is to collect analog pulse signals, output digital pulse signals and transmit them to the central control machine, and the central control machine measures the pulse frequency to calculate the speed. The formula is as follows:

[0053] RPM = (PPS / n) × (60 / CPR)

[0054] Wherein: RPM represents the rotation speed of the drum 6; PPS represents the number of pulses per second; n represents the number of points corresponding to each pulse, which is determined by the specifications of the encoder ring 5; CPR represents the number of pulses per encoder rotation.

[0055] A positioning stud is provided on the shell 1, and a stud groove is opened on the outer wall of one side of the drum 6. The shell 1 is connected to the drum 6 by the embedded clamping of the positioning stud and the stud groove; an assembly screw is provided on the outer wall of the assembly disk, and an assembly groove is opened on the outer wall of the other side of the drum 6. The assembly disk is connected to the drum 6 by the embedded clamping of the assembly screw and the assembly groove.

[0056] In the present embodiment, the embedded snap-in connection between the shell 1 and the drum 6 can realize accurate positioning and alignment of the shell 1 and the drum 6, ensuring that they maintain a correct positional relationship when connected, and enhancing the connection stability between the shell 1 and the drum 6, preventing the drum 6 from shaking due to the vibration of the drive motor, thereby ensuring the signal acquisition accuracy of the speed acquisition module 8 on the shell 1, and convenient assembly and disassembly, and easy maintenance; the embedded snap-in connection between the assembly disk and the drum 6 further reinforces the assembly disk, and at the same time, when the drum 6 is connected to the high-speed clutch mechanism for driving, it transmits and buffers the rotational shock force generated by the high-speed drive motor 10, thereby ensuring the safe and stable operation of the drum 6.

[0057] In this embodiment, the control of the winch on and off can be achieved through the central control and the built-in human-computer interaction interface, and the axis trajectory diagram drawn by the acceleration signal collected by the acceleration acquisition module 4 can be displayed in real time, which is convenient for manual observation whether there is abnormal vibration and the approximate type of abnormality can be judged based on experience; when the central control machine detects that the acceleration difference on both sides of the drum 6 exceeds the normal threshold or the acceleration suddenly changes based on the acceleration data collected by the acceleration acquisition module 4, the central control machine immediately issues a command for sound and light alarm and forcibly shuts down the winch.

[0058] Embodiment 2:

[0059] As attached Figure 2 and attached Figure 3 As shown, this embodiment provides a monitoring and control method for the intelligent drilling rig winch applicable to embodiment 1, comprising the following steps:

[0060] Step 1: Acquire the rotation speed data and acceleration data of the rotation speed acquisition module 8 and the acceleration acquisition module 4;

[0061] The double-sided acquisition modules acquire two sets of acceleration data and two sets of rotational speed data in total. One set of acceleration data is the acceleration data of the x and y axes acquired by the acceleration acquisition module 4 on one side of the drum 6; and one set of rotational speed data is the rotational speed data acquired by the rotational speed acquisition module 8 on one side of the drum 6.

[0062] Step 2: Send the average error between the actual speed and the theoretical speed measured by the speed acquisition modules 8 on both sides of the drum 6 into the optimized speed closed loop to achieve speed regulation.

[0063] In order to correct the average error between the actual speed and the theoretical speed on both sides of the drum 6, the motor speed is regulated by a negative feedback closed loop. The specific steps are as follows:

[0064] S01: The average error e(t), motor speed n(t) and the output u(t) of the fuzzy PID controller are used as inputs of the collective decision-making optimization algorithm based on adaptive probability;

[0065] S02: Obtain optimized fuzzy PID parameters through global optimization by collective decision-making optimization algorithm based on adaptive probability;

[0066] S03: The fuzzy PID controller outputs to the frequency adjustment reference c, and then performs frequency adjustment to finally control the speed;

[0067] The key parameters of fuzzy PID control include fuzzy logic rules, fuzzification and defuzzification methods, and PID parameters. The fuzzy PID controller needs to adjust Kp, Ki, and Kd online according to the fuzzy control rules, where Kp represents the proportional coefficient, Ki represents the integral coefficient, and Kd represents the differential coefficient. However, the input and output of the fuzzy PID controller cannot directly act on the fuzzy set of the controlled object. Combined with the Mamdani fuzzy system, n fuzzy rules are given based on the input and output variables and the experience of professional construction personnel and experts. The form of fuzzy rules is:

[0068] IF{e is A i andΔe is B j THEN{Kp=C ij , Ki=D ij , Kd=E ij}

[0069] Where: e is the speed error; Δe is the error change rate; A i , B j , C ij , D ij 、E ij A fuzzy set of manually set thresholds or threshold ranges.

[0070] This embodiment uses a collective decision optimization algorithm based on adaptive probability to optimize the parameters of fuzzy rules in the fuzzy rule base, such as the shape of the membership function of the fuzzy set, the weight or the weight of the rule, etc., to find the optimal fuzzy rule combination to optimize the overall performance of the fuzzy control system, as follows:

[0071] S1: Generate the initial group. To simulate the decision-making behavior, randomly generate N fuzzy rule combinations of different sizes from the fuzzy rule base as members to form the initial group pop; set the maximum number of iterations T max , and T = 0, initial probability p = 0.5;

[0072] pop(t)={X1(t),X2(t),…,X N (t)}

[0073]

[0074] Where: N is the population size; D is the number of fuzzy rules contained in each fuzzy rule combination, that is, the population dimension; t is the current generation number; r is a random number between 0 and 1; are the lower and upper limits of the variable’s variation range, respectively; is the variation of the ith individual in the kth dimension; U represents uniform distribution; X i (t) represents the i-th member in the group.

[0075] S2: mutate each member. If member X i (t) is the best member in the group, then update the membership according to step S24 and jump to S5, otherwise execute S3;

[0076] S21: Personal experience stage: Select the best individual designed operator according to the fitness value of each member in the population. The formula is as follows:

[0077]

[0078] Where: step(t) represents the step size of the tth iteration; is an arbitrary vector uniformly distributed on the interval (0, 1); T max Indicates the maximum number of iterations; newX i0 represents the current best position based on the member's personal experience; d0 represents the moving direction; X b Represents the individual with the best fitness value; X i (t) represents the i-th member in the group.

[0079] S22: Mutual communication phase: Randomly select a member that is smaller than the current generation member X i (t) Member X with high fitness j (t) Guide individual learning, the formula is as follows:

[0080]

[0081] Where: step(t) represents the step size of the tth iteration; is an arbitrary vector uniformly distributed in the interval (0, 1); d1 represents the moving direction; newX i1 represents the current best position of members after exchanging experiences; α1 and β1 are random numbers in (-1, 1) and (0, 2) respectively; j is a random integer in [1, N]; X j (t) indicates a member with better fitness than the current member; X i (t) represents the i-th member in the group.

[0082] S23: Group thinking stage: Select the geometric center of all individuals as the position of group thinking. The formula is as follows:

[0083]

[0084] Where: X G is the geometric center of all individuals, that is, the location of group thinking; N is the population size; X i (t) represents the i-th member; Represents the geometric center coordinates obtained by uniform distribution.

[0085] The new position of the member learning from the group is calculated as follows:

[0086]

[0087] Where: newX i2 is the new position of each member after learning from the group; step(t) represents the step size of the tth iteration; is an arbitrary vector uniformly distributed in the interval (0, 1); d2 represents the moving direction; α2 and β2 are random numbers in (-1, 1) and (0, 2) respectively.

[0088] S24: Leadership decision stage: Correspondingly, the member with the best fitness in the population is selected as the leader. The formula is as follows:

[0089]

[0090] Where: newX i3 is the new position of each member after the leader’s decision; step(t) represents the step size of the tth iteration; is an arbitrary vector uniformly distributed in the interval (0, 1); d3 represents the moving direction; α3 and β3 are random numbers in (-1, 1) and (0, 2) respectively; X L Member of the leadership team.

[0091] In addition, the decision of the leader can only be changed by himself. Therefore, the present invention uses a random walk strategy as a local search to slightly change the position of the decision maker, that is, local search, and the formula is as follows:

[0092]

[0093] X L =newX k

[0094] k=min_ObjFun(newX q )

[0095] Where: is a random vector in the interval (0, 1); X Lis the new leader; min_ObjFun is the indicator of the minimum objective function value; newX q is the new position of the leader; k represents the minimum value of the evaluation index after the mutation operation for the new individual solution; newX k Represents the new individual solution obtained after the mutation operation.

[0096] S25: Innovation stage: Use innovation to make subtle changes among members to increase the diversity of the population. The formula is as follows:

[0097] newX i3 =newX i4

[0098]

[0099] Where: r1 and r2 represent two random values ​​distributed in the interval (0, 1); p represents a random number generated in the range [1, D]; MF is the innovation factor, which is used to improve the diversity of the population to prevent the algorithm from converging prematurely. In this embodiment, it is set to 0.8; newX i4 is the position of the i-th individual after innovation, which is equivalent to newX i3 ; are the lower and upper limits of the variable variation range respectively;.

[0100] S3: Randomly generate a uniformly distributed random number RAND from (0, 1). If RAND < p, then for X i (t) Execute steps S21 and S22 to generate new members; otherwise, i (t) Execute steps S23 and S24 to generate new members;

[0101] S4: Execute the innovation phase S25 on the new member to generate a new member newpop i ;

[0102] S5: The newly generated newpop i Descendant members and X i (t) The parent generation members retain members with higher fitness;

[0103] S6: Record the values ​​of ns1, nf1, ns2, and nf2, and substitute them into the formula to calculate the value of p. The calculation formula for probability p is as follows:

[0104]

[0105] Where: p is the adaptive probability; the mutation operator that learns from the individual is selected for mutation, and the number of members mutated by this operator is ns1, and the number of these members that successfully enter the next generation compared with the parent generation is nf1; the mutation operator that learns from the leader is selected for mutation, and the number of members mutated by this operator is ns2, and the number of these members that successfully enter the next generation compared with the parent generation is nf2.

[0106] S7: Accumulate the number of iterations T = T + 1;

[0107] S8: Repeat S2-S7 until T reaches the maximum number of iterations T max , and finally the optimal fuzzy rule combination is obtained, and then after inverse fuzzy processing, the accurate optimal fuzzy reasoning result, that is, the optimal Kp, Ki and Kd, is obtained.

[0108] Step 3: Output the optimal fuzzy reasoning result obtained by the fuzzy PID controller to the frequency adjustment reference c(t), and then perform frequency adjustment to finally control the speed.

[0109] The frequency adjustment reference c(t) is applied to the frequency regulator of the AC motor, and the frequency regulator will adjust the power supply frequency of the AC motor according to the input reference to achieve the desired AC motor speed and ultimately the desired drum 6 speed.

[0110] Step 4: Finally, based on the feedback information of the actual speed, compare it with the target speed, and use the error as the input variable to calculate and update the fuzzy PID controller. At the same time, the acceleration data also has a monitoring effect on the speed regulation. When the acceleration data is abnormal, the central control machine will immediately issue a command to force the motor to shut down.

[0111] When the acceleration data suddenly increases, it indicates that the vibration amplitude increases, which may mean that the winch shaft 12 is damaged, the locking device is out of service, and other faults occur inside the winch; when the acceleration data suddenly decreases, it indicates that the vibration amplitude decreases, which may mean abnormal stoppage of the drum 6 and other faults; when the acceleration data on both sides differ too much, exceeding the normal error threshold, it indicates that the drum 6 may slip or become unstable.

[0112] Step 5: Repeat steps 2 to 4. When the difference between the actual rotation speed of the drum 6 and the theoretical rotation speed does not exceed the set threshold range, the execution is terminated.

[0113] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. An intelligent drilling rig winch, characterized in that: including a housing; A drum is rotatably connected inside the shell, a winch shaft is fixedly connected inside the drum, and the winch shaft passes through the drum; A low-speed clutch static plate is sleeved on one end of the winch shaft, and a high-speed clutch static plate is sleeved on the other end of the winch shaft; Two acceleration acquisition modules are provided on both side end faces of the winch shaft; The winch shafts near the end faces of both sides of the drum are bolted with magnetic encoding rings; The inner walls on both sides of the drum are provided with speed acquisition modules, the outer wall on one side of the shell is fixedly connected with a low-speed drive motor, and the outer wall on the other side of the shell is bolted with a high-speed drive motor; A low-speed clutch mechanism and a high-speed clutch mechanism are respectively arranged on both sides of the drum inside the shell. The low-speed clutch mechanism is located on the side where the winch shaft sleeve is connected to the low-speed clutch static plate, and the high-speed clutch mechanism is located on the side where the winch shaft sleeve is connected to the high-speed clutch static plate.

2. The intelligent drilling rig winch according to claim 1, characterized in that: The acceleration acquisition module includes a MEMS acceleration sensor, a first filter, a first amplifier, a first sampling circuit, a first sample-and-hold circuit, and a first AD converter, and the MEMS acceleration sensor, the first filter, the first amplifier, the first sampling circuit, the first sample-and-hold circuit, and the first AD converter are sequentially signal-connected; The acceleration acquisition modules are distributed orthogonally on the end face of the winch shaft to collect the vibration signals of the x-axis and y-axis respectively.

3. The intelligent drilling rig winch according to claim 1, characterized in that: The speed acquisition module includes a Hall sensor, a second filter, a second amplifier, a second sampling circuit, a second sample-and-hold circuit, and a second AD converter, and the Hall sensor, the second filter, the second amplifier, the second sampling circuit, the second sample-and-hold circuit, and the second AD converter are sequentially signal-connected; The speed acquisition module is embedded on the side wall of the drum, and the embedding height is aligned with the notch of the encoding ring.

4. The intelligent drilling rig winch according to claim 1, characterized in that: The low-speed clutch mechanism comprises a low-speed brake cylinder, a low-speed clutch movable plate and a low-speed transmission shaft. The output shaft of the low-speed brake cylinder is fixedly connected to the low-speed clutch movable plate, and the low-speed clutch movable plate is sleeved on the low-speed transmission shaft.

5. The intelligent drilling rig winch according to claim 1, characterized in that: The high-speed clutch mechanism comprises a high-speed brake cylinder and a high-speed clutch movable plate. The output shaft of the high-speed brake cylinder is fixedly connected to the high-speed clutch movable plate, and the high-speed clutch movable plate is sleeved on the output shaft of the high-speed drive motor.

6. The intelligent drilling rig winch according to claim 4, characterized in that: A primary planetary reducer is arranged between the low-speed driving motor and the low-speed transmission shaft, and the low-speed driving motor and the low-speed transmission shaft are driven by the primary planetary reducer.

7. The intelligent drilling rig winch according to claim 1, characterized in that: A positioning stud is arranged on the shell, a stud groove is opened on one side outer wall of the drum, and the shell and the drum are connected by embedded clamping of the positioning stud and the stud groove.

8. The intelligent drilling rig winch according to claim 7, characterized in that: It also includes an assembly disk; an assembly screw is arranged on the outer wall of the assembly disk, an assembly groove is opened on the outer wall of the other side of the drum, and the assembly disk and the drum are connected by embedded clamping of the assembly screw and the assembly groove.

9. The intelligent drilling rig winch according to claim 1, characterized in that: The low-speed drive motor and the high-speed drive motor are connected to the high-speed and low-speed adjustment switches through wires, and the high-speed and low-speed adjustment switches are controlled by the central control computer using the Python programming language; The central control machine includes a human-machine interaction interface, which is used to control the winch on and off, display the axis trajectory diagram and fault alarm.

10. A monitoring and control method for an intelligent drilling rig winch, applied to the intelligent drilling rig winch according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: Obtain the speed data and acceleration data of the speed acquisition module and the acceleration acquisition module; Step 2: Send the average error between the actual speed and the theoretical speed measured by the speed acquisition modules on both sides of the drum into the optimized speed closed loop to achieve speed regulation; The specific steps are as follows: S1: The average error e, motor speed n and the output u of the fuzzy PID controller are used as inputs of the optimization algorithm; S2: The optimized fuzzy PID parameters are obtained through global optimization of the algorithm; S3: The fuzzy PID controller outputs to the frequency adjustment reference c, and then performs frequency adjustment to finally control the speed; Step 3: Monitor the acceleration data on both sides. When the acceleration data changes suddenly or the difference between the accelerations on both sides is greater than a threshold, an audible and visual alarm is sounded and the winch is shut down forcibly.

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