Intelligent control method and system for steel pipe perforation extension

Abstract

The present invention belongs to the technical field of seamless steel pipe production, and relates to an intelligent control method and system for the punching extension of a steel pipe, which determines the optimal extension position of the push rod relative to the target steel pipe by analyzing the dynamic relationship between the temperature and displacement of the push rod in the initial punching section and the punching distance of the target steel pipe, thereby realizing the online and accurate determination of the personalized extension of the steel pipe, and then combines the vibration condition and the temperature rise condition during the continuous punching section advancement process to judge the control demand and control parameters of the push rod advancement pressure in real time, and evaluates the control effect of each push pressure control in the accumulated preset number of times of the push rod, and judges whether the push pressure control mechanism of the continuous punching section of the push rod meets the standard, thereby avoiding invalid punching, and when the push rod stops the forward extension punching operation, it identifies whether there is a deviation between the final punching position of the push rod and the optimal forward extension position, and performs corresponding position supplementary processing, thereby significantly enhancing the control quality of the steel pipe forward extension.

Description

Technical Field

[0001] The invention belongs to the technical field of seamless steel pipe production, and relates to an intelligent control method and system for the punching extension of a steel pipe. Background Art

[0002] In the manufacturing process of seamless steel pipes, the steel pipe perforation process constitutes the basis of product quality and performance, and is directly related to the geometric forming accuracy, dimensional consistency and overall production efficiency of the steel pipe. In this link, the push rod is the core actuator, and the precise control of its extension is the key factor to ensure the uniform distribution of steel pipe wall thickness and prevent adhesion caused by long-term friction and heat generation. In view of this, the development of an intelligent control strategy for the extension of steel pipe perforation is particularly necessary.

[0003] In the prior art, there are also related solutions related to the control of the punching extension of steel pipes. For example, the method for controlling the punching extension of a rough pipe with improved longitudinal wall thickness uniformity, which is disclosed in Chinese Patent Publication No. CN117655110A, obtains a historical optimized punching ternary data combination according to the variety and specification of the target formed rough pipe, including the head extension adjustment amount, and constructs a practical application head extension adjustment strategy based on this. During the punching process of the pipe blank, the roll gap and the head extension adjustment amount of the punching machine are dynamically adjusted according to the practical application of the punching ternary data combination. Although the wall thickness of the rough pipe after punching can be uniform in the longitudinal direction, it still has the limitations of the prior art, specifically: 1. The prior art usually relies on historical reference data for determining the position of the steel pipe extension, and does not have an online accurate extension determination mechanism. On the one hand, the individual differences of the steel pipes make it difficult to ensure the accuracy of the steel pipe extension determined under the historical reference data. On the other hand, the variability of the punching process makes the existing steel pipe extension determination less adaptable and flexible.

[0004] 2. The existing technology lacks an online monitoring mechanism for the steel pipe forward extension perforation process, resulting in the inability to timely monitor the vibration and temperature rise conditions of the push rod during the forward extension perforation process, making it difficult to ensure the uniformity of steel pipe perforation.

[0005] 3. The existing technology lacks a verification mechanism for the steel pipe extension position, which results in an inability to accurately understand whether the push rod has accurately reached the steel pipe extension position in actual operation, making it difficult to ensure that the perforation operation is carried out as expected, thereby increasing the risk of quality problems such as uneven wall thickness of the rough pipe and skewed perforation. Summary of the invention

[0006] In view of this, in order to solve the problems raised in the above background technology, an intelligent control method and system for the penetration extension of a steel pipe is proposed.

[0007] The technical solution adopted by the present invention to solve its technical problems is: in the first aspect, the present invention provides an intelligent control method for the forward extension of steel pipe perforation, including: S1. Starting a push rod, requiring it to perform a forward extension perforation operation on a target steel pipe according to a preset propulsion pressure, cutting off a pipe section of a preset length after the starting end point of the target steel pipe as an initial perforation section, monitoring the temperature data and displacement data of the push rod during the advancement of the initial perforation section in real time, and determining the optimal forward extension position of the push rod relative to the target steel pipe.

[0008] S2. The pipe section between the end position of the initial perforation section of the target steel pipe and the optimal forward extension position is used as the continuous perforation section. The vibration and temperature rise conditions of the push rod during the advancement of the continuous perforation section are monitored in real time, and the control requirements and control parameters of the push rod advancement pressure are determined in real time.

[0009] S3. Evaluate the control effect of each adjustment of the pushing pressure during the continuous perforation section of the push rod for a cumulative preset number of times, and determine whether the pushing pressure control mechanism of the push rod in the continuous perforation section meets the standard. If not, terminate the perforation operation, otherwise continue the perforation operation.

[0010] S4. After the ejector stops the forward extension and the punching operation, the position verification mechanism is started to identify whether there is a deviation between the final punching position of the ejector and the optimal forward extension position. If so, position compensation is performed.

[0011] In a second aspect, the present invention provides an intelligent control system for steel pipe perforation extension, including: an optimal extension position determination module, a thrust pressure control module, a control effect evaluation module, a position verification compensation module and a cloud database.

[0012] The optimal reach position determination module is connected to the propulsion pressure control module, the propulsion pressure control module is connected to the control effect evaluation module, the control effect evaluation module is connected to the position verification compensation module, and the cloud database is respectively connected to the optimal reach position determination module and the propulsion pressure control module.

[0013] The optimal forward extension position determination module is used to start the push rod and require it to perform forward extension perforation operation on the target steel pipe according to the preset pushing pressure, cut off the pipe section of the preset length after the starting end point of the target steel pipe as the initial perforation section, monitor the temperature data and displacement data of the push rod in the process of pushing the initial perforation section in real time, and determine the optimal forward extension position of the push rod relative to the target steel pipe.

[0014] The pushing pressure control module is used to take the pipe section between the end position of the initial perforation section of the target steel pipe and the optimal forward extension position as the continuous perforation section, monitor the vibration and temperature rise of the push rod during the advancement of the continuous perforation section in real time, and judge the control requirements and control parameters of the push rod pushing pressure in real time.

[0015] The control effect evaluation module is used to evaluate the control effect of each adjustment of the pushing pressure in the cumulative preset number of times during the continuous perforation section of the push rod, and to determine whether the pushing pressure control mechanism of the push rod in the continuous perforation section meets the standard. If not, the perforation operation is terminated, otherwise the perforation operation is continued.

[0016] The position verification and compensation module is used to start the position verification mechanism to identify whether there is a deviation between the final punching position of the push rod and the optimal forward extension position when the push rod stops the forward extension punching operation. If so, position compensation processing is performed.

[0017] The cloud database is used to store the critical temperature threshold of thermal expansion and the critical deviation displacement threshold of thermal expansion of the material specification of the push rod, and to store the critical threshold of vibration warning coefficient and the critical threshold of temperature rise warning coefficient preset for the push rod perforation operation.

[0018] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects: (1) The present invention constructs a dynamic relationship between the temperature and displacement of the push rod and the perforation distance of the target steel pipe through the propulsion performance of the push rod in the initial perforation section, thereby determining the optimal forward extension position of the push rod relative to the target steel pipe, achieving online and precise determination of the personalized forward extension of the steel pipe, and effectively improving the flexibility and adaptability of the steel pipe forward extension control system.

[0019] (2) The present invention combines the vibration warning coefficient of the push rod at each unit time point and the temperature rise warning coefficient of the unit pipe section during the continuous perforation section advancement process to determine the regulation requirements and regulation parameters of the advancement pressure in real time, which helps to ensure the smooth progress of the perforation operation and reduce problems such as perforation deviation or equipment damage caused by improper pressure.

[0020] (3) The present invention evaluates the effect of the push rod propulsion pressure regulation to determine whether the push rod propulsion pressure regulation mechanism in the continuous perforation section meets the standards, and uses this as a basis for terminating the perforation operation or continuing the perforation operation, thereby avoiding ineffective perforation caused by the regulation mechanism not meeting the standards, ensuring the continuity and efficiency of the perforation operation, and thus improving the overall production efficiency and reducing resource waste.

[0021] (4) The present invention uses a position verification mechanism to identify whether there is a deviation between the final punching position of the push rod and the optimal forward extension position, and performs corresponding position supplementary processing, thereby significantly improving the precision and accuracy of the punching, thereby enhancing the control quality of the forward extension of the steel pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0023] Figure 1The present invention is a flow chart of the method.

[0024] Figure 2 It is a schematic diagram of module connection of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0026] Reference Figure 1 As shown, the first aspect of the present invention provides an intelligent control method for the forward extension of steel pipe perforation, including: S1. Starting a push rod, requiring it to perform a forward extension perforation operation on a target steel pipe according to a preset propulsion pressure, cutting a pipe section of a preset length after the starting end point of the target steel pipe as an initial perforation section, and monitoring the temperature data and displacement data of the push rod in real time during the advancement of the initial perforation section to determine the optimal forward extension position of the push rod relative to the target steel pipe.

[0027] Specifically, the method for determining the optimal extension position of the push rod relative to the target steel pipe includes: S11. collecting the temperature value and displacement value of the push rod at each unit time point during the advancement of the initial perforation section, respectively drawing the temperature history curve and displacement history curve of the initial perforation section of the push rod, and importing them into Matlab software for fitting, so as to obtain the overall temperature history prediction curve and the overall displacement history prediction curve of the push rod for the perforation operation of the target steel pipe, identify the turning point time point of the temperature change rate and the turning point time point of the displacement change rate, take the earlier time point as the reference time point, collect the perforation distance of the target steel pipe at each unit time point during the advancement of the initial perforation section, and similarly obtain the overall perforation distance history prediction curve of the perforation operation of the target steel pipe, and match the perforation distance d1 corresponding to the reference time point.

[0028] It should be noted that the temperature value and displacement value of the above-mentioned push rod at each unit time point during the advancement of the initial perforation section are respectively acquired in real time by its built-in temperature sensor and displacement sensor, and the perforation distance of the target steel pipe at each unit time point during the advancement of the initial perforation section is acquired in real time by a laser displacement sensor or an ultrasonic sensor.

[0029] The temperature history curve of the initial perforation section of the above-mentioned push rod is obtained by importing the temperature value of each unit time point in the process of advancing the push rod in the initial perforation section into a rectangular coordinate system with time as the horizontal axis and the temperature value as the vertical axis. The displacement history curve of the initial perforation section of the push rod is obtained by importing the displacement value of each unit time point in the process of advancing the push rod in the initial perforation section into a rectangular coordinate system with time as the horizontal axis and the displacement value as the vertical axis.

[0030] S12. The temperature value of the push rod during the initial perforation section is synchronized with the perforation distance of the target steel pipe, and a temperature-perforation distance characteristic curve of the push rod for the initial perforation section of the target steel pipe is constructed and imported into the Matlab software for fitting, so as to obtain the overall characteristic prediction curve of the temperature-perforation distance of the push rod for the initial perforation section of the target steel pipe, and the critical temperature threshold of thermal expansion of the push rod material specification stored in the WEB cloud is combined to match the perforation distance d2 of the corresponding target steel pipe.

[0031] S13. The displacement value of the push rod during the initial perforation section is synchronized with the perforation distance of the target steel pipe, and the absolute difference between the displacement value of the push rod and the perforation distance of the target steel pipe at the same time point is taken as the deviation displacement. The displacement-perforation distance overall characteristic prediction curve of the push rod for the initial perforation section of the target steel pipe is obtained, and the critical deviation displacement threshold of thermal expansion of the push rod material specification stored in the WEB cloud is combined to match the perforation distance d3 of the corresponding target steel pipe.

[0032] S14. By formula The critical perforation distance of the push rod relative to the thermal expansion of the target steel pipe is obtained, where Δd is the preset error perforation distance, and the position on the target steel pipe with a distance d from its starting position is determined as the optimal forward extension position.

[0033] The identification process of the temperature change rate turning point includes: performing a ratio analysis on the absolute temperature difference between each unit time point and the next unit time point on the overall temperature history prediction curve of the push rod for the initial perforation section of the target steel pipe, and the temperature value at the corresponding unit time point, so as to obtain the temperature change rate of the push rod at each unit time point of the initial perforation section of the target steel pipe. If the temperature change rate of a unit time point is greater than or equal to a preset temperature change rate threshold and the temperature change rate of the previous unit time point is less than the preset temperature change rate threshold, then the unit time point is identified as the temperature change rate turning point.

[0034] It should be noted that the above-mentioned identification process of the turning point of the displacement change rate is consistent with the identification process of the turning point of the temperature change rate, and will not be elaborated here.

[0035] The embodiment of the present invention constructs a dynamic relationship between the temperature and displacement of the push rod and the punching distance of the target steel pipe through the propulsion performance of the push rod in the initial punching section, so as to determine the optimal forward extension position of the push rod relative to the target steel pipe, realize online and accurate determination of the personalized forward extension of the steel pipe, and effectively improve the flexibility and adaptability of the steel pipe forward extension control system.

[0036] S2. The pipe section between the end position of the initial perforation section of the target steel pipe and the optimal forward extension position is used as the continuous perforation section. The vibration and temperature rise conditions of the push rod during the advancement of the continuous perforation section are monitored in real time, and the control requirements and control parameters of the push rod advancement pressure are determined in real time.

[0037] Specifically, the real-time judgment of the control requirements and control parameters of the push rod advancement pressure includes: collecting the vibration signal of the push rod at each unit time point in the continuous perforation section advancement process and constructing its corresponding vibration time domain waveform diagram, splicing the vibration time domain waveforms in chronological order, obtaining the overall vibration time domain waveform diagram corresponding to each unit time point in the continuous perforation section advancement process of the push rod, and analyzing the vibration warning coefficient VW of the push rod at each unit time point in the continuous perforation section advancement process. i , i is the number of each unit time point during the continuous perforation segment advancement process, i = 1, 2, ..., a.

[0038] It should be noted that the vibration time domain waveform is constructed based on the vibration velocity value fed back by the vibration signal. i The specific analysis process is as follows: the overall vibration time domain waveform corresponding to each unit time point in the process of the push rod in the continuous perforation section is differentiated and integrated respectively, and the overall vibration acceleration history curve and the overall vibration displacement curve corresponding to each unit time point in the process of the push rod in the continuous perforation section are obtained; the vibration acceleration change rate and the vibration displacement change rate of each unit time point in the process of the push rod in the continuous perforation section are calculated; the vibration acceleration change rate and the vibration displacement change rate of each unit time point before a unit time point in the process of the push rod in the continuous perforation section are averaged respectively to obtain the average vibration acceleration change rate and the average vibration displacement change rate before the unit time point; and the vibration acceleration change rate at the unit time point is extracted. The rate of change of the vibration acceleration is compared with its previous average rate of change of vibration acceleration. If the comparison relationship is greater than, the difference between the two is made, and the difference is used as the vibration acceleration warning factor of the unit time point. Otherwise, if the comparison relationship is less than or equal to, the vibration acceleration warning factor of the unit time point is set to 0. Similarly, the vibration displacement change rate of the unit time point is compared with its previous average rate of change of vibration displacement to obtain the vibration displacement warning factor of the unit time point. The cumulative value of the vibration acceleration warning factor and the vibration displacement warning factor of the unit time point is used as its vibration warning coefficient. According to the calculation method of the vibration warning coefficient of the unit time point, the vibration warning coefficient of each unit time point in the process of pushing the push rod in the continuous perforating section is obtained.

[0039] It should also be noted that the specific calculation process of the vibration acceleration change rate of the above-mentioned push rod at each unit time point in the continuous perforation section is as follows: subtract the vibration acceleration of the push rod at a certain unit time point in the continuous perforation section from that of the previous unit time point, and use the ratio of the difference to the vibration acceleration at the unit time point as the vibration acceleration change rate at the unit time point, thereby obtaining the vibration acceleration change rate of the push rod at each unit time point in the continuous perforation section. Similarly, the vibration displacement change rate of the push rod at each unit time point in the continuous perforation section is calculated.

[0040] The temperature value of the mandrel at the starting point of the continuous perforation section is collected and the absolute difference between it and the critical temperature threshold of thermal expansion of the mandrel material specification is used as the allowable limit of temperature rise in the mandrel continuous perforation section. The temperature rise value of each unit pipe section during the advancement of the mandrel in the continuous perforation section is monitored to analyze the temperature rise warning coefficient TW of each unit pipe section during the advancement of the mandrel in the continuous perforation section. j , j is the number of each unit pipe section during the continuous perforation section advancement process, j = 1, 2, ..., b.

[0041] It should be noted that the above TW j The specific analysis process is as follows: the ratio of the allowable limit of temperature rise of the continuous perforation section of the mandrel to the value of the unit pipe section contained in the continuous perforation section is taken as the allowable limit of temperature rise of the unit pipe section; if the temperature rise value of a unit pipe section during the advancement of the mandrel in the continuous perforation section is greater than the allowable limit of temperature rise of the unit pipe section, then the difference between the temperature rise value of the unit pipe section during the advancement of the mandrel in the continuous perforation section and the allowable limit of temperature rise of the unit pipe section is taken as the temperature rise warning coefficient of the unit pipe section; conversely, if the temperature rise value of a unit pipe section during the advancement of the mandrel in the continuous perforation section is less than or equal to the allowable limit of temperature rise of the unit pipe section, then the temperature rise warning coefficient of the unit pipe section is set to 0. The temperature rise warning coefficients of each unit pipe section during the advancement of the mandrel in the continuous perforation section are obtained through analysis.

[0042] Extract the preset critical threshold value VW0 of the vibration warning coefficient and the critical threshold value TW0 of the temperature rise warning coefficient of the top rod perforation operation stored in the WEB cloud. If the top rod meets VW0 at a certain unit time point during the continuous perforation section, i ≥VW0 condition, it is judged that there is a need to control the push rod pushing pressure at this unit time point, or if a unit pipe section meets TW during the continuous perforation section of the push rod j ≥TW0 condition, it is judged that there is a need to regulate the pushing pressure at the time when the push rod reaches the end position of the unit pipe section.

[0043] Each time point at which it is determined that there is a need for regulation of the push rod propulsion pressure is recorded as each regulation time point, and the regulation parameters of each regulation time point are analyzed, thereby judging the regulation demand and regulation parameters of the push rod propulsion pressure in real time.

[0044] Specifically, the analysis of the control parameters of each control time point includes: recording the control time point that is first in the time order among the control time points as the target time point, and extracting the vibration warning coefficient VW of the target time point and the temperature rise warning coefficient TW of the unit pipe section where it is located.

[0045] If VW≥VW0∩TW<TW0, the vibration signal of the push rod at the target time point is extracted and converted into the frequency domain. The frequency components and amplitudes in the frequency domain are analyzed to evaluate the frequency drift Drift of the vibration signal of the push rod at the target time point. If it is greater than the preset frequency drift threshold Drift′, it is judged that the control direction of the preset thrust pressure f0 of the push rod at the target time point is downward adjustment, otherwise it is judged to be upward adjustment. According to the formula Get the control parameters at the target time point, where To control the direction status indicator, or -1, Indicates the upward state. Indicates the downward adjustment state, π is 180°.

[0046] It should be noted that the specific evaluation process of the above-mentioned Drift is: extract the frequency components and amplitudes existing in the frequency domain of the vibration signal at a unit time point before the target time point, compare and search whether the vibration signal at the target time point has frequency components that do not exist in the frequency domain of the vibration signal at the previous unit time point, and if new frequency components are found, count the number of new frequency components and set the value as the frequency component drift factor of the vibration signal at the target time point.

[0047] The amplitude deviation ratio of each overlapping frequency component in the frequency domain of the vibration signal at the target time point is obtained, and the frequency amplitude drift factor of the vibration signal at the target time point is accumulated. The frequency amplitude drift factor and the frequency component drift factor of the vibration signal at the target time point are further accumulated to obtain the frequency drift degree of the top rod vibration signal at the target time point.

[0048] It should also be noted that the specific calculation process of the above-mentioned amplitude deviation ratio is: if the amplitude of a certain overlapping frequency component between the target time point and the previous unit time point in the frequency domain of the vibration signal is greater than the amplitude of the corresponding overlapping frequency component at the previous unit time point, then the difference between the two is subjected to a ratio analysis with the amplitude of the overlapping frequency component at the target time point, so as to obtain the amplitude deviation ratio when the comparison relationship is greater than; if the amplitude of a certain overlapping frequency component between the target time point and the previous unit time point in the frequency domain of the vibration signal is less than or equal to the amplitude of the corresponding overlapping frequency component at the previous unit time point, then the amplitude deviation ratio of the overlapping frequency component is automatically set to 0.

[0049] It should be further explained that the basis for using the frequency drift to determine the direction of the push rod push pressure control in the above-mentioned case of VW≥VW0∩TW<TW0 is: during the push rod push process, the frequency drift of the vibration signal is used to evaluate the working state and mechanical performance of the push rod. When the frequency drift is greater than the preset frequency drift threshold, it indicates that the vibration characteristics of the push rod have changed significantly, which may be caused by excessive push pressure, loose or worn mechanical parts, etc. In this case, lowering the push pressure can reduce the vibration of the push rod and protect the equipment from further damage. On the contrary, when the frequency drift is less than the preset frequency drift threshold, the vibration characteristics of the push rod are relatively stable, usually due to slight vibration caused by changes in external resistance. In this case, appropriately increasing the push pressure can effectively overcome the external resistance and improve the efficiency and quality of the perforation operation.

[0050] If VW<VW0∩TW≥TW0, then the preset thrust pressure control direction of the push rod at the target time point is set to downward adjustment, according to the formula Get the control parameters at the target time point.

[0051] If VW≥VW0∩TW≥TW0, the corresponding control parameters of VW≥VW0 and TW≥TW0 are calculated respectively, and the control parameters at the target time point are accumulated.

[0052] The control parameters at each control time point were analyzed in the same manner as the analysis method for the control parameters at the target time point.

[0053] The embodiment of the present invention combines the vibration warning coefficient of the push rod at each unit time point and the temperature rise warning coefficient of the unit pipe section during the continuous perforation section advancement process to judge the regulation demand and regulation parameters of the advancement pressure in real time, which helps to ensure the smooth progress of the perforation operation and reduce problems such as perforation deviation or equipment damage caused by improper pressure.

[0054] S3. Evaluate the control effect of each adjustment of the pushing pressure during the continuous perforation section of the push rod for a cumulative preset number of times, and determine whether the pushing pressure control mechanism of the push rod in the continuous perforation section meets the standard. If not, terminate the perforation operation, otherwise continue the perforation operation.

[0055] Specifically, the evaluation of the control effect of each control of the pushing pressure during the continuous perforation section of the push rod during the cumulative preset number of times includes: extracting each control time point before the cumulative preset number of times as each inspection time point, obtaining the vibration warning coefficient deviation value ΔVW between each inspection time point and the next unit time point r , r is the number of each inspection time point, r = 1, 2, ..., c, obtain the temperature rise warning coefficient deviation value ΔTW between the unit pipe section at each inspection time point and its next unit pipe section r , combined with the interval Δt between each inspection time point and the next inspection time pointr , according to the formula The control effect evaluation index of the push rod pushing pressure at each inspection time point is obtained. Δt0, ΔVW0, and ΔTW0 are the preset reference interval duration, vibration warning coefficient deviation value, and temperature rise warning coefficient deviation value of the push rod pushing pressure control effect evaluation, respectively. Each inspection time point is matched one by one with each control of the pushing pressure in the cumulative preset number of times, so as to obtain the control effect evaluation index of each control of the pushing pressure in the cumulative preset number of times during the continuous perforation section advancement process of the push rod.

[0056] Specifically, the judgment condition for whether the push rod continuous perforation section advancement pressure regulation mechanism meets the standard is that the proportion of the effective regulation times of the advancement pressure in the accumulated preset times during the advancement of the push rod in the continuous perforation section is greater than the preset value.

[0057] It should be noted that the process of obtaining the proportion of the effective control times of the propulsion pressure in the cumulative preset times during the continuous perforation section advancement of the above-mentioned push rod is as follows: each control in which the propulsion pressure control effect evaluation index is greater than the qualified threshold of the preset control effect evaluation index in the cumulative preset times during the continuous perforation section advancement of the push rod is recorded as an effective control, and the number of effective controls is counted, and the ratio of the effective control times to the cumulative preset times is taken as the proportion of the effective control times of the propulsion pressure in the cumulative preset times during the continuous perforation section advancement of the push rod.

[0058] The embodiment of the present invention evaluates the effect of the push rod propulsion pressure regulation to determine whether the push rod propulsion pressure regulation mechanism in the continuous perforation section meets the standards, and uses this as a basis for terminating the perforation operation or continuing the perforation operation, thereby avoiding invalid perforations caused by the regulation mechanism not meeting the standards, ensuring the continuity and efficiency of the perforation operation, and thus improving overall production efficiency and reducing resource waste.

[0059] S4. After the ejector stops the forward extension and the punching operation, the position verification mechanism is started to identify whether there is a deviation between the final punching position of the ejector and the optimal forward extension position. If so, position compensation is performed.

[0060] Specifically, the identification of whether there is a deviation between the final perforation position of the push rod and the optimal forward extension position includes: obtaining the front and rear positioning points corresponding to the final perforation position of the push rod through position sensors respectively arranged on the front and rear cylinders of the push rod; if the distances of the front and rear positioning points relative to the optimal forward extension position are both within their corresponding preset reasonable distance ranges, then it is identified that there is no deviation between the final perforation position of the push rod and the optimal forward extension position; otherwise, it is identified that there is a deviation.

[0061] It should be noted that the distance between the above-mentioned front and rear positioning points and the optimal forward reach position is obtained by subtracting the optimal forward reach position from the coordinates of the front and rear positioning points. Therefore, there is a positive and negative relationship in the calculated distance. If it is a positive value, it means that the positioning point is located after the optimal forward reach position. If it is a negative value, it means that the positioning point is located before the optimal forward reach position.

[0062] Specifically, the position compensation processing includes: determining the deviation direction and deviation distance of the final punching position of the push rod relative to the optimal forward extension position, driving the liquid flow and flow direction in the corresponding oil cylinder, so that the front positioning point of the push rod punching position coincides with the optimal forward extension position, thereby realizing position compensation processing.

[0063] It should be noted that the above is to determine the deviation direction and deviation distance of the final perforation position of the push rod relative to the optimal forward extension position by measuring the distance between the front and rear positioning points corresponding to the final perforation position of the push rod and the optimal forward extension position. The specific analysis process is as follows: if the distance between the front positioning point corresponding to the final perforation position of the push rod and the optimal forward extension position is a positive value, and the distance is greater than the upper limit value of the corresponding preset reasonable distance interval, then it means that the deviation direction of the final perforation position of the push rod relative to the optimal forward extension position is backward, that is, the final perforation position of the push rod is located after the optimal forward extension position. The difference between the distance between the front positioning point corresponding to the final perforation position of the push rod and the upper limit value of the corresponding preset reasonable distance interval is taken as the initial deviation distance. At this time, the distance between the rear positioning point corresponding to the final perforation position of the push rod and the optimal forward extension position is extracted, and the difference between it and the initial deviation distance is taken as the analysis distance after control. If it is less than the lower limit value of the corresponding reasonable preset distance interval, the absolute difference between the two is taken as the initial deviation. The correction distance of the distance is deducted from the initial deviation distance to determine the deviation distance of the final perforation position of the push rod relative to the optimal forward extension position. If it is greater than or equal to the corresponding reasonable preset distance interval lower limit value, the initial deviation distance is directly used as the deviation distance determined by the final perforation position of the push rod relative to the optimal forward extension position. Similarly, if the distance of the front positioning point corresponding to the final perforation position of the push rod relative to the optimal forward extension position is a negative value, and the distance is less than the corresponding preset reasonable distance interval lower limit value, it means that the deviation direction of the final perforation position of the push rod relative to the optimal forward extension position is forward movement, that is, the final perforation position of the push rod is located before the optimal forward extension position. The absolute difference between the distance of the front positioning point corresponding to the final perforation position of the push rod relative to the optimal forward extension position and the corresponding preset reasonable distance interval lower limit value is used as the initial deviation distance, and combined with the distance of the rear positioning point corresponding to the final perforation position of the push rod relative to the optimal forward extension position, correction is performed to determine the deviation distance of the final perforation position of the push rod relative to the optimal forward extension position.

[0064] It should also be noted that the above-mentioned process of determining the optimal forward extension position of the push rod relative to the target steel pipe takes into account factors such as the pushing effect of the push rod, the error when the operation is stopped, and the accuracy limitation of the equipment itself. The preset error perforation distance is included in the optimal forward extension position determination calculation as a safety margin or adjustment space. Therefore, when the final perforation position of the push rod deviates from the optimal forward extension position in the direction of backward movement, that is, it exceeds the optimal forward extension position, its backward movement is still within an acceptable range. At this time, the push rod can be quickly and accurately adjusted back to the calculated optimal forward extension position through position compensation, which can still ensure the smooth progress of subsequent high-quality steel pipe perforation operations.

[0065] The embodiment of the present invention uses a position verification mechanism to identify whether there is a deviation between the final perforation position of the push rod and the optimal forward extension position, and performs corresponding position supplementary processing, thereby significantly improving the precision and accuracy of the perforation, thereby enhancing the control quality of the forward extension of the steel pipe.

[0066] Reference Figure 2 As shown, the second aspect of the present invention provides an intelligent control system for steel pipe perforation extension, including: an optimal extension position determination module, a thrust pressure control module, a control effect evaluation module, a position verification compensation module and a cloud database.

[0067] The optimal reach position determination module is connected to the propulsion pressure control module, the propulsion pressure control module is connected to the control effect evaluation module, the control effect evaluation module is connected to the position verification compensation module, and the cloud database is respectively connected to the optimal reach position determination module and the propulsion pressure control module.

[0068] The optimal forward extension position determination module is used to start the push rod and require it to perform forward extension perforation operation on the target steel pipe according to the preset pushing pressure, cut off the pipe section of the preset length after the starting end point of the target steel pipe as the initial perforation section, monitor the temperature data and displacement data of the push rod in the process of pushing the initial perforation section in real time, and determine the optimal forward extension position of the push rod relative to the target steel pipe.

[0069] The pushing pressure control module is used to take the pipe section between the end position of the initial perforation section of the target steel pipe and the optimal forward extension position as the continuous perforation section, monitor the vibration and temperature rise of the push rod during the advancement of the continuous perforation section in real time, and judge the control requirements and control parameters of the push rod pushing pressure in real time.

[0070] The control effect evaluation module is used to evaluate the control effect of each adjustment of the pushing pressure in the cumulative preset number of times during the continuous perforation section of the push rod, and to determine whether the pushing pressure control mechanism of the push rod in the continuous perforation section meets the standard. If not, the perforation operation is terminated, otherwise the perforation operation is continued.

[0071] The position verification and compensation module is used to start the position verification mechanism to identify whether there is a deviation between the final punching position of the push rod and the optimal forward extension position when the push rod stops the forward extension punching operation. If so, position compensation processing is performed.

[0072] The cloud database is used to store the critical temperature threshold of thermal expansion and the critical deviation displacement threshold of thermal expansion of the material specification of the push rod, and to store the critical threshold of vibration warning coefficient and the critical threshold of temperature rise warning coefficient preset for the push rod perforation operation.

[0073] It should be noted that the critical temperature threshold of thermal expansion and the critical deviation displacement threshold of thermal expansion of the push rod material specifications stored in the above-mentioned cloud database can be specifically referred to the scientific engineering technical manual related to the push rod material, and the critical threshold of vibration warning coefficient and temperature rise warning coefficient preset for the push rod punching operation can be specifically referred to the push rod operation guide.

[0074] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. An intelligent control method for steel pipe punching extension, characterized in that: The method includes: S1. Start the mandrel and require it to perform the forward extension perforation operation on the target steel pipe according to the preset pushing pressure, cut off the pipe section of the preset length after the starting end point of the target steel pipe as the initial perforation section, monitor the temperature data and displacement data of the mandrel in the process of pushing the initial perforation section in real time, and determine the optimal forward extension position of the mandrel relative to the target steel pipe; The method for determining the optimal forward extension position of the push rod relative to the target steel pipe comprises: S11. collecting the temperature value and displacement value of the push rod at each unit time point during the advancement of the initial perforation section, respectively drawing the temperature history curve and displacement history curve of the initial perforation section of the push rod, and importing them into Matlab software for fitting, so as to obtain the overall temperature history prediction curve and the overall displacement history prediction curve of the push rod for the perforation operation of the target steel pipe, identify the turning point time point of the temperature change rate and the turning point time point of the displacement change rate, take the earlier time point of the turning point time point of the temperature change rate and the turning point time point of the displacement change rate as the reference time point, collect the perforation distance of the target steel pipe at each unit time point during the advancement of the initial perforation section, and similarly obtain the overall perforation distance history prediction curve of the perforation operation of the target steel pipe, and match the perforation distance corresponding to the reference time point therefrom. ; S12. The temperature value of the mandrel during the initial perforation section is time-synchronized with the perforation distance of the target steel pipe, a temperature-perforation distance characteristic curve of the mandrel for the initial perforation section of the target steel pipe is constructed and imported into the Matlab software for fitting, and the overall characteristic prediction curve of the temperature-perforation distance of the mandrel for the initial perforation section of the target steel pipe is obtained. Combined with the critical temperature threshold of thermal expansion of the mandrel material specification stored in the WEB cloud, the perforation distance of the target steel pipe corresponding to the critical temperature threshold of thermal expansion of the mandrel material specification is matched. ; S13. The displacement value of the mandrel during the initial perforation section is time-synchronized with the perforation distance of the target steel pipe, and the absolute difference between the displacement value of the mandrel and the perforation distance of the target steel pipe at the same time point is used as the deviation displacement, and the displacement-perforation distance overall characteristic prediction curve of the mandrel for the initial perforation section of the target steel pipe is obtained, and the critical deviation displacement threshold of the thermal expansion of the mandrel material specification stored in the WEB cloud is combined to match the perforation distance of the target steel pipe corresponding to the critical deviation displacement threshold of the thermal expansion of the mandrel material specification ; S14. By formula The critical perforation distance of the push rod relative to the target steel pipe for thermal expansion is obtained, where To preset the error perforation distance, determine the distance from the starting end of the target steel pipe to be The position is the optimal forward extension position; S2. The pipe section between the end position of the initial perforation section of the target steel pipe and the position of the optimal forward extension is used as the continuous perforation section, and the vibration and temperature rise of the mandrel during the advancement of the continuous perforation section are monitored in real time, and the control requirements and control parameters of the mandrel advancement pressure are determined in real time; S3. Evaluate the control effect of each adjustment of the pushing pressure during the continuous perforation section of the push rod for the accumulated preset number of times, and determine whether the control mechanism of the pushing pressure during the continuous perforation section of the push rod meets the standard. If not, terminate the perforation operation, otherwise continue the perforation operation; S4. After the ejector stops the forward extension and the punching operation, the position verification mechanism is started to identify whether there is a deviation between the final punching position of the ejector and the optimal forward extension position. If so, position compensation is performed.

2. According to claim 1, a steel pipe punching extension intelligent control method is characterized by: The identification process of the temperature change rate turning point includes: performing a ratio analysis on the absolute temperature difference between each unit time point and the next unit time point on the overall temperature history prediction curve of the mandrel for the initial perforation section of the target steel pipe, and the temperature value at the corresponding unit time point, so as to obtain the temperature change rate of the mandrel at each unit time point for the initial perforation section of the target steel pipe. If the temperature change rate at a certain unit time point is greater than or equal to a preset temperature change rate threshold and the temperature change rate at the previous unit time point is less than the preset temperature change rate threshold, then the unit time point is identified as the temperature change rate turning point.

3. The method for intelligently controlling the steel pipe punching extension according to claim 1 is characterized in that: The real-time judgment of the control demand and control parameters of the push rod advancement pressure includes: collecting the vibration signal of the push rod at each unit time point in the continuous perforation section advancement process and constructing a vibration time domain waveform corresponding to the vibration signal at each unit time point, splicing the vibration time domain waveforms in chronological order, obtaining the overall vibration time domain waveform corresponding to each unit time point in the push rod advancement process of the continuous perforation section, and analyzing the vibration warning coefficient of the push rod at each unit time point in the continuous perforation section advancement process. , It is the number of each unit time point during the continuous perforation section advancement. ; The temperature value of the mandrel at the beginning of the continuous perforation section is collected and the absolute difference between the temperature value and the critical temperature threshold of thermal expansion of the mandrel material specification is used as the allowable limit of temperature rise in the mandrel continuous perforation section. The temperature rise value of each unit pipe section during the advancement of the mandrel in the continuous perforation section is monitored to analyze the temperature rise warning coefficient of each unit pipe section during the advancement of the mandrel in the continuous perforation section. , It is the number of each unit pipe section during the continuous perforation section advancement. ; Extract the preset critical threshold value of vibration warning factor for the top rod piercing operation stored in the WEB cloud and critical threshold of temperature rise warning factor , if the push rod satisfies the following condition at a certain time point during the continuous perforation process: If the push rod push pressure at this unit time point has a need for regulation, or if a unit pipe section meets the requirement during the continuous perforation section, If the condition is met, it is judged that there is a need to regulate the push rod pushing pressure at the time when the push rod arrives at the end position of the unit pipe section; Each time point at which it is determined that there is a need for regulation of the push rod propulsion pressure is recorded as each regulation time point, and the regulation parameters of each regulation time point are analyzed, thereby judging the regulation demand and regulation parameters of the push rod propulsion pressure in real time.

4. The method for intelligently controlling the steel pipe punching extension according to claim 3 is characterized in that: The analysis of the control parameters of each control time point includes: recording the control time point that is first in the time order among the control time points as the target time point, extracting the vibration warning coefficient of the target time point and Temperature rise warning coefficient of the unit pipe section ; like , the vibration signal of the top rod at the target time point is extracted and converted into the frequency domain, the frequency components and amplitudes in the frequency domain of the vibration signal of the top rod at the target time point are analyzed, and the frequency drift degree of the vibration signal of the top rod at the target time point is evaluated. ,like Greater than the preset frequency drift threshold , then determine the preset thrust pressure of the push rod at the target time point The control direction is downward, otherwise it is upward. According to the formula Get the control parameters at the target time point, where To control the direction status indicator, , Indicates the upward state. Indicates downgrade status, for ; like , then the preset thrust pressure control direction of the push rod at the target time point is set to downward adjustment, according to the formula Obtain the control parameters at the target time point; like , then calculate , Corresponding to the control parameters, the control parameters at the target time point are accumulated; The control parameters at each control time point were analyzed in the same manner as the analysis method for the control parameters at the target time point.

5. The method for intelligently controlling the steel pipe punching extension according to claim 3 is characterized in that: The evaluation of the control effect of each control of the pushing pressure during the continuous perforation section of the push rod during the cumulative preset number of times includes: extracting each control time point before the cumulative preset number of times as each inspection time point, obtaining the vibration warning coefficient deviation value between each inspection time point and the next unit time point , is the number of each inspection time point, , obtain the temperature rise warning coefficient deviation value between the unit pipe section at each inspection time point and the next unit pipe section , combined with the interval between each inspection time point and the next inspection time point , according to the formula The evaluation index of the control effect of the push rod thrust pressure at each inspection time point is obtained. They are the preset reference interval duration, vibration warning coefficient deviation value and temperature rise warning coefficient deviation value for evaluating the control effect of the push rod pushing pressure, and each inspection time point is matched one by one with each control of the pushing pressure in the cumulative preset number of times, so as to obtain the control effect evaluation index of each control of the pushing pressure in the cumulative preset number of times during the continuous perforation section pushing process of the push rod.

6. The method for intelligently controlling the steel pipe punching extension according to claim 1 is characterized in that: The judgment condition for whether the push rod continuous perforation section advancement pressure control mechanism meets the standard is that the proportion of the effective control times of the advancement pressure in the accumulated preset times during the advancement of the push rod in the continuous perforation section is greater than the preset value.

7. The method for intelligently controlling the steel pipe punching extension according to claim 1 is characterized in that: The method of identifying whether there is a deviation between the final perforation position of the push rod and the optimal forward extension position includes: obtaining the front and rear positioning points corresponding to the final perforation position of the push rod through position sensors respectively arranged on the front and rear cylinders of the push rod; if the distances between the front and rear positioning points and the optimal forward extension position are both within their respective corresponding preset reasonable distance intervals, then it is identified that there is no deviation between the final perforation position of the push rod and the optimal forward extension position; otherwise, it is identified that there is a deviation.

8. The method for intelligently controlling the steel pipe punching extension according to claim 7 is characterized in that: The position compensation processing process includes: determining the deviation direction and deviation distance of the final punching position of the push rod relative to the optimal forward extension position, driving the liquid flow and flow direction in the corresponding oil cylinder, so that the front positioning point of the push rod punching position coincides with the optimal forward extension position, thereby realizing position compensation processing.

9. An intelligent control system for steel pipe punching extension, used to execute the steps in the intelligent control method according to claim 1, characterized in that: The system includes: The module for determining the optimal forward extension position is used to start the ejector rod, requiring the ejector rod to perform forward extension perforation operation on the target steel pipe according to the preset pushing pressure, intercepting a pipe section of a preset length after the starting end point of the target steel pipe as the initial perforation section, and monitoring the temperature data and displacement data of the ejector rod in the process of pushing the initial perforation section in real time to determine the optimal forward extension position of the ejector rod relative to the target steel pipe; The push pressure control module is used to take the pipe section between the end position of the initial perforation section of the target steel pipe and the optimal forward extension position as the continuous perforation section, monitor the vibration and temperature rise of the push rod in the continuous perforation section in real time, and judge the control demand and control parameters of the push rod push pressure in real time; The control effect evaluation module is used to evaluate the control effect of each adjustment of the pushing pressure during the continuous perforation section of the push rod for a cumulative preset number of times, and to determine whether the control mechanism of the pushing pressure during the continuous perforation section of the push rod meets the standard. If not, the perforation operation is terminated, otherwise the perforation operation is continued; The position verification and compensation module is used to start the position verification mechanism to identify whether there is a deviation between the final punching position of the ejector and the optimal forward extension position when the ejector stops the forward extension punching operation. If there is a deviation, position compensation processing is performed; The cloud database is used to store the critical temperature threshold of thermal expansion and the critical deviation displacement threshold of thermal expansion of the material specification of the push rod, and to store the critical threshold of vibration warning coefficient and the critical threshold of temperature rise warning coefficient preset for the push rod perforation operation.

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