Self-adaptive control method for lifting force of main winch of rotary drilling rig and rotary drilling rig

Abstract

The rotary drilling rig comprises an engine, a main pump, a winch motor, the main winch and a controller, the main pump is connected with the engine, the engine drives the main pump to output flow through a coupler, the main pump is used for supplying oil to the winch motor, the winch motor is connected with the main winch, and the controller is connected with the main winch. An electric proportional control valve is arranged in the winch motor, the controller controls the real-time displacement of the winch motor by controlling the input current of the electric proportional control valve, the torque generated by the real-time displacement of the winch motor is converted into the lifting force of the main winch, and the torque generated by the real-time displacement of the winch motor is converted into the lifting force of the main winch by controlling the real-time displacement of the winch motor. And the main winch can obtain the fastest lifting speed meeting the real-time load. According to the self-adaptive control method for the lifting force of the main winch of the rotary drilling rig, the problem that in the prior art, stepless regulation and control of the displacement of the winch motor cannot be achieved can be solved, and the construction efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of foundation construction, and in particular to a self-adaptive control method for the lifting force of a main winch of a rotary drilling rig and a rotary drilling rig. Background Art

[0002] The existing main winch motors of rotary drilling rigs are generally divided into two types. The first type uses a fixed-displacement motor, which is common in small models. Since the lifting force requirement of small models is small, the motor displacement is also small, so a fixed-displacement motor is used. For models using a fixed-displacement motor, the displacement of the motor is fixed whether the main winch is rising or lowering. Therefore, the structure of the fixed-displacement motor is relatively simple, and the lifting speed of the main winch under light or medium loads is not considered, or when the maximum lifting force is not required, the motor is still at the maximum displacement, which seriously affects the construction efficiency; the other type uses a variable motor, which is common in medium and large models. The lifting force requirement of medium and large models is large, and the use of a motor with a small displacement cannot meet the requirement. During the lowering process of the main winch, the speed cannot be too slow, so a variable motor is selected; a conventional variable motor is provided with a proportional pressure reducing valve, and the displacement of the motor can be controlled by controlling the proportional pressure reducing valve, but the proportional pressure reducing valve can only control 2-3 different pressure values ​​in the oil circuit where the proportional pressure reducing valve is located, and each pressure value corresponds to a different motor displacement. Therefore, the motor displacement has only 2-3 fixed gears for adjustment, and The operator needs to make his own judgment and select the gear through the operation panel. The motor displacement cannot be adaptively adjusted steplessly according to the real-time change of the load, and the lifting speed cannot be achieved at the fastest while meeting the lifting force requirements. Its efficiency is low. For example, assuming that the motor displacement has 1st and 2nd gears, taking 2nd gear as an example, when the lifting force required by the real-time load is less than the lifting force provided by the motor displacement in 2nd gear, since the gear of the motor displacement is fixed, the lifting force provided by the motor in this gear is also fixed. When the engine gear is the same, the lifting speed It is also fixed. At this time, the displacement of the motor is greater than the actual required displacement, resulting in excess lifting force and slow lifting speed. The load range of the motor in gear 2 is set to T0-T1. When the main winch has loads of Tm and Tn, T0<Tm<Tn<T1. Since the displacement of the motor in gear 2 is fixed, when the load is T0, Tm, Tn or T1, the displacement of the motor is a fixed value, and the time required is also a fixed value. That is, after selecting the gear, the lifting speeds with a load of Tm and a load of T1 are the same, reducing construction efficiency. Summary of the invention

[0003] In view of this, the object of the present invention is to provide a method for adaptively controlling the lifting force of the main winch of a rotary drilling rig, which can solve the problem in the prior art that the displacement of the winch motor cannot be steplessly regulated, thereby improving construction efficiency.

[0004] The present invention provides a method for adaptively controlling the lifting force of a main hoist of a rotary drilling rig. The rotary drilling rig comprises an engine, a main pump, a hoisting motor, a main hoist and a controller. The main pump is connected to the engine. The engine drives the main pump to output flow through a coupling. The main pump is used to supply oil to the hoisting motor. The hoisting motor is connected to the main hoist. An electric proportional control valve is arranged in the hoisting motor. The controller controls the real-time displacement of the hoisting motor by controlling the input current of the electric proportional control valve. The torque generated by the hoisting motor is controlled by controlling the real-time displacement of the hoisting motor. The torque is converted into lifting force through a reducer, a drum and a wire rope on the drum. T is defined as the real-time load of the main hoist. T1 refers to the maximum load of the initial displacement V1 of the hoisting motor. T2 is the load of the hoisting motor at the maximum displacement. The control method comprises: obtaining the starting adjustment pressure △p of the main pump corresponding to each gear of the engine; obtaining the initial displacement V1 of the hoisting motor corresponding to each gear of the engine, and determining the initial displacement V1 of the hoisting motor according to the initial displacement V1 of the hoisting motor. The initial input current value of the hoisting motor; when 0<T≤T1, and the main pump pressure p≤the starting pressure △p, the input current of the electric proportional control valve is controlled to be the initial current, at which time the real-time displacement V of the hoisting motor is equal to the initial displacement V1 of the hoisting motor; when T1<T≤T2, the main pump pressure p is greater than the starting pressure △p, the input current of the electric proportional control valve is changed to increase the real-time displacement of the hoisting motor until the main pump pressure p is equal to the starting pressure △p, at which time the real-time displacement of the hoisting motor is any value between the initial displacement V1 of the hoisting motor and the maximum displacement Vmax of the hoisting motor; when T2<T≤T3, and the real-time displacement V of the hoisting motor has reached the maximum displacement Vmax of the hoisting motor, and the pressure of the main pump is still greater than the starting pressure △p, the controller maintains the input current of the electric proportional control valve at this time, so that the hoisting motor maintains the state output of the maximum displacement Vmax; by controlling the real-time displacement of the hoisting motor, the main winch can obtain the fastest lifting speed that meets the real-time load.

[0005] In one embodiment, when T1<T≤T2, the torque of the hoisting motor is obtained, It can be seen that when the real-time displacement of the hoisting motor increases, the torque of the hoisting motor increases. When the input current is controlled to control the displacement of the hoisting motor to just meet the real-time load, the real-time displacement of the hoisting motor is maintained at this time so that it does not increase any more. Wherein, ηm is the mechanical-hydraulic efficiency, T is the torque of the hoisting motor, V is the real-time displacement of the hoisting motor; P is the pressure of the main pump; the speed of the hoisting motor is obtained by It can be seen that the fastest speed of the hoisting motor can be obtained according to the real-time displacement of the hoisting motor, so that the main winch can obtain the fastest lifting speed; wherein n is the speed of the hoisting motor, ηy is the volume effect, V is the real-time displacement of the hoisting motor, and Q is the input flow of the hoisting motor.

[0006] In one embodiment, when T2<T≤T3, the pressure of the main pump reaches the starting pressure △p, and the real-time displacement V of the hoisting motor has reached the maximum displacement Vmax of the hoisting motor, but the pressure of the main pump still cannot be equal to the starting pressure △p, the output pressure of the main pump is increased.

[0007] In one embodiment, the starting pressure of the main pump can be calculated according to the relationship between the rotation speed of the engine and the maximum displacement of the main pump:

[0008] △p=f(P 发 , n, V 泵 );

[0009] Wherein, n is the engine speed, P 发 is the engine power at the current engine speed, V 泵 is the maximum displacement of the main pump.

[0010] In one embodiment, the initial displacement of the hoisting motor can be calculated according to the relationship between the rotation speed of the engine and the maximum displacement of the main pump:

[0011] V1=j(n1,n,V 泵 );

[0012] Wherein, n1 is the maximum allowable speed of the hoisting motor, n is the engine speed, V 泵 is the maximum displacement of the main pump.

[0013] In one embodiment, the rotary drilling rig further includes a rotation speed sensor, which is connected to the drum of the main winch. The rotation speed sensor is electrically connected to the controller, and the rotation speed sensor is used to monitor the lifting speed of the main winch.

[0014] In one embodiment, the hoisting motor is provided with a first oil circuit, a second oil circuit and an oil cylinder, one end of the first oil circuit is communicated with the oil port of the hoisting motor, the other end of the first oil circuit is communicated with the small cavity of the oil cylinder, one end of the second oil circuit is communicated with the oil port of the hoisting motor, the other end of the second oil circuit is communicated with the large cavity of the oil cylinder, the electric proportional control valve is arranged on the second oil circuit, the electric proportional control valve is located between the hoisting motor and the large cavity of the oil cylinder; when the first oil circuit enters the small cavity so that the thrust of the small cavity is greater than the thrust of the large cavity, the The hoisting motor is at maximum displacement; the input current of the electric proportional control valve is controlled to make the electric proportional control valve completely reversed, and the hydraulic oil of the first oil circuit and the hydraulic oil of the second oil circuit enter the small chamber and the large chamber respectively. The effective area of ​​the hydraulic oil in the large chamber is larger than the effective area of ​​the hydraulic oil in the small chamber, so that the thrust of the large chamber is greater than the thrust of the small chamber, and the swing angle of the hoisting motor is controlled to make the hoisting motor at minimum displacement; when the oil cylinder is at any position between the maximum displacement and the minimum displacement, there is a corresponding input current of the electric proportional control valve.

[0015] In one embodiment, the oil ports are respectively the first oil port A and the second oil port B, and the winch motor is also provided with a first oil inlet, a second oil inlet and a total oil inlet, the first oil inlet is connected between the first oil port A and the total oil inlet, the first oil circuit is provided with a first one-way valve, the first one-way valve allows the hydraulic oil to flow from the first oil port A to the total oil inlet, the second oil inlet is connected between the second oil port B and the total oil inlet, the second oil inlet is provided with a second one-way valve, the second one-way valve allows the hydraulic oil to flow from the second oil port B to the total oil inlet; the first oil circuit and the second oil circuit are respectively connected to the total oil inlet.

[0016] In one embodiment, the hoisting motor is further provided with an oil drain pipeline, one end of which is connected to the large chamber of the oil cylinder through the electric proportional control valve, and the other end of which is connected to the oil drain port.

[0017] The present invention also relates to a rotary drilling rig, including the above-mentioned self-adaptive control method of the lifting force of the main winch of the rotary drilling rig.

[0018] The adaptive control method for the lifting force of the main winch of the rotary drilling rig of the present invention sets an electric proportional control valve in the winch motor, and the input current of the electric proportional control valve can be controlled by a controller. The input current of the electric proportional control valve is changed according to the real-time load demand of the main winch, thereby controlling the real-time displacement of the winch motor. The minimum displacement of the winch motor required by the main winch to meet the real-time load can be automatically obtained, and the main winch can obtain the fastest lifting speed under any load, thereby greatly improving the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a hydraulic principle diagram of the hoisting motor of the present invention.

[0021] Figure 2 1 is a graph showing the relationship between the input current of the hoisting motor and the displacement of the hoisting motor according to the present invention.

[0022] Figure 3 It is a relationship diagram between the main pump pressure and the displacement of the winch motor of the present invention.

[0023] Figure 4 It is a relationship diagram between the main pump pressure and power of the present invention.

[0024] Explanation of the accompanying figure numbers: winch motor-11; first oil circuit-111; second oil circuit-112; oil cylinder-113; small chamber-1131; large chamber-1132; first oil port-A; second oil port-B; electric proportional control valve-114; first oil inlet circuit-1151; second oil inlet circuit-1152; main oil inlet circuit-1153; oil drain pipeline-1154; first check valve-116; second check valve-117.

[0025] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0026] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the description 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.

[0027] In the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connection" and the like 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 an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0028] The directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, “back”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0029] The terms "first", "second", "third" and the like are merely used to distinguish elements of similar nature, and do not indicate or imply relative importance or a particular order.

[0030] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of the elements listed and may also include additional elements not expressly listed.

[0031] like Figure 1 As shown, the self-adaptive control method for the lifting force of the main winch of the rotary drilling rig of this embodiment controls the real-time displacement of the winch motor 11 so that the main winch can obtain the fastest lifting speed that meets the real-time load, wherein the rotary drilling rig includes an engine, a main pump, a winch motor 11, a main winch and a controller, the main pump is connected to the engine, the engine drives the main pump output flow through a coupling, the main pump is used to supply oil to the winch motor 11, the winch motor 11 is connected to the main winch, an electric proportional control valve 114 is provided in the winch motor 11, the controller controls the real-time displacement of the winch motor 11 by controlling the input current of the electric proportional control valve 114, and the torque generated by the real-time displacement of the winch motor 11 is used to convert into the lifting force of the main winch; by controlling the real-time displacement of the winch motor 11, the main winch can obtain the fastest lifting speed that meets the real-time load; define T as the real-time load of the main winch; T1 refers to the maximum load of the initial displacement V1 of the winch motor 11; T2 is the load of the winch motor 11 at the maximum displacement;

[0032] The control method includes:

[0033] Get the starting pressure △p of the main pump corresponding to each gear of the engine; △p=f(P 发 , n, V 泵 ), where n is the engine speed, P is the engine power at the current engine speed, and V is the maximum displacement of the main pump.

[0034] Obtain the initial displacement V1 of the hoisting motor 11 corresponding to each gear of the engine, and determine the initial input current value of the hoisting motor 11 according to the initial displacement V1 of the hoisting motor 11; V1=j(n1, n, V 泵), wherein n1 is the maximum allowable speed of the hoisting motor 11, n is the engine speed, and V pump is the maximum displacement of the main pump.

[0035] When 0<T≤T1, and the main pump pressure p≤the starting pressure △p, the input current of the control electric proportional control valve 114 is the initial current. At this time, the real-time displacement V of the winch motor 11 is equal to the initial displacement V1 of the winch motor 11, that is, V=V1, the load T=k(p, V1), and the lifting speed of the load T is equal to the lifting speed of the main winch when the load is T1.

[0036] When T1<T≤T2, and the main pump pressure p is greater than the starting pressure △p, the lifting force converted from the torque generated by the initial displacement V1 of the hoisting motor 11 cannot meet the lifting force required by the load. It is necessary to increase the displacement of the hoisting motor 11 to increase the torque of the hoisting motor 11, so as to provide the lifting force required by the load T, and change the input current of the electric proportional control valve 114 to increase the real-time displacement of the hoisting motor 11 until the main pump pressure p is equal to the starting pressure △p, that is, p=△p. At this time, the real-time displacement of the hoisting motor 11 is any value between the initial displacement V1 of the hoisting motor 11 and the maximum displacement Vmax of the hoisting motor 11, and the load T=k(△p, V); as needed, the real-time displacement of the hoisting motor 11 can be set to increase with the increase of the input current of the electric proportional control valve 114, or the real-time displacement of the motor can be set to decrease with the increase of the input current of the electric proportional control valve 114; specifically, the torque of the hoisting motor 11 is obtained by It can be seen that when the real-time displacement of the hoisting motor 11 increases, the torque of the hoisting motor 11 increases, where ηm is the mechanical efficiency, T is the torque of the hoisting motor 11, V is the real-time displacement of the hoisting motor 11; P is the pressure of the main pump; for example: the existing load T a and T b , T1<T a <T b <T2, when the real-time load T is T a When the controller changes the input current of the electric proportional control valve 114, the real-time displacement of the hoisting motor 11 is V a , according to the formula Get the speed n of the hoisting motor 11 a It can be understood that the speed of the hoisting motor 11 is transmitted to the main hoist through the reducer, so the change curve of the speed of the hoisting motor 11 is consistent with the change curve of the lifting speed of the main hoist. b When the controller changes the input current of the electric proportional control valve 114, the real-time displacement of the hoisting motor 11 is V b , according to the formula Get the speed n of the hoisting motor 11 b ,n a >nb , so the load is T a When the lifting speed of the main winch is greater than the load T b The maximum lifting speed is achieved by controlling the minimum displacement required by the hoisting motor 11 at the real-time load.

[0037] Get the speed of the hoisting motor 11, by It can be seen that the fastest speed of the winch motor 11 can be obtained according to the real-time displacement of the winch motor 11, so that the main winch can obtain the fastest lifting speed; wherein, n is the speed of the winch motor 11, ηy is the volume effect, V is the real-time displacement of the winch motor 11, and Q is the input flow of the winch motor 11.

[0038] When T2<T≤T3, and the real-time displacement V of the hoisting motor 11 has reached the maximum displacement Vmax of the hoisting motor 11, that is, V=Vmax, and the pressure P of the main pump is still greater than the starting pressure △p, at this time, even if the real-time displacement of the hoisting motor 11 reaches the maximum, it still cannot maintain p=△p, indicating that the load continues to increase at this moment. Only by increasing the output pressure of the main pump can the lifting force required by the load be met. The controller only needs to maintain the input current of the electric proportional control valve 114 at this time to keep the hoisting motor 11 at the maximum displacement Vmax state output, the load T=k(p, Vmax), p is △p and p 最大 Any value between 最大 Refers to the maximum system pressure; when the real-time displacement V of the hoisting motor 11 has reached the maximum displacement Vmax of the hoisting motor 11 and cannot satisfy the main pump pressure equal to the starting pressure △p, the output pressure of the main pump is increased, and it can be increased to the maximum system pressure at most to meet the current load demand.

[0039] By applying different load ranges, different control strategies are given to the hoisting motor 11, so that the main engine automatically obtains the minimum displacement and the fastest lifting speed of the hoisting motor 11 under the current load.

[0040] In this embodiment, when the load is in T1<T≤T2, the reason why the motor displacement needs to be adjusted is that when the main pump enters the constant power range, the pressure p of the main pump exceeds △p, which will reduce the system flow rate. According to the formula: From T=k(p, V), it can be seen that when p exceeds △p, the winch motor 11 can obtain a smaller displacement, but at the same time Q is also reduced at the same rate, so the motor speed will not be increased, and the main reel lifting speed will not be increased. At the same time, stabilizing the pressure at a certain value can reduce the impact of the system and make the hydraulic system more stable.

[0041] It should be noted that the starting pressure refers to the rotary drilling rig being in the common working conditions of the main engine and considering fuel economy, the engine power will not be infinite, so constant power control of the main pump is often used, that is, when the system pressure reaches a certain level, the system program will control the displacement of the main pump through the current to reduce the system flow to keep the power constant. Some main pumps have built-in constant power control, and the pressure starting point is unchanged; some main pumps do not have constant power control, and constant power control needs to be achieved through program control. This plan only introduces program-controlled constant power control. Because the engine speed is different in each gear, it is necessary to calculate the pressure value of the pressure starting point corresponding to each gear of the engine, that is, the starting pressure.

[0042] The adaptive control method for the lifting force of the main winch of the rotary drilling rig of the present invention sets an electric proportional control valve 114 in the winch motor 11, and the input current of the electric proportional control valve 114 can be controlled by a controller. The input current of the electric proportional control valve 114 is changed according to the real-time load demand of the main winch, thereby controlling the real-time displacement of the winch motor 11. The minimum displacement of the winch motor 11 required by the real-time load of the main winch can be automatically obtained, and the main winch can obtain the fastest lifting speed under any load, thereby greatly improving the construction efficiency.

[0043] Preferably, the hoisting motor 11 is provided with a first oil circuit 111, a second oil circuit 112 and an oil cylinder 113, one end of the first oil circuit 111 is communicated with the oil port of the hoisting motor 11, the other end of the first oil circuit 111 is communicated with the small chamber 1131 of the oil cylinder 113, one end of the second oil circuit 112 is communicated with the oil port of the hoisting motor 11, the other end of the second oil circuit 112 is communicated with the large chamber 1132 of the oil cylinder 113, an electric proportional control valve 114 is arranged on the second oil circuit 112, and the electric proportional control valve 114 is located between the hoisting motor 11 and the large chamber 1132 of the oil cylinder 113; the oil ports are respectively the first oil port A and the second oil port B, and the hoisting motor 11 is also provided with The first oil inlet 1151, the second oil inlet 1152 and the total oil inlet 1153, the first oil inlet 1151 is connected between the first oil port A and the total oil inlet 1153, the first oil circuit 111 is provided with a first non-return valve 116, the first non-return valve 116 allows the hydraulic oil to flow from the first oil port A to the total oil inlet 1153, the second oil inlet 1152 is connected between the second oil port B and the total oil inlet 1153, the second oil inlet 1152 is provided with a second non-return valve 117, the second non-return valve 117 allows the hydraulic oil to flow from the second oil port B to the total oil inlet 1153; the first oil circuit 111 and the second oil circuit 112 are respectively connected to the total oil inlet 1153.

[0044] When T2<T≤T3, the first oil passage 111 enters the small chamber 1131 so that the thrust of the small chamber 1131 is greater than the thrust of the large chamber 1132, and the hoisting motor 11 is at the maximum displacement;

[0045] When 0<T≤T1, the input current of the electric proportional control valve 114 is controlled to make the electric proportional control valve 114 completely reversed, and the hydraulic oil of the first oil circuit 111 and the hydraulic oil of the second oil circuit 112 enter the small chamber 1131 and the large chamber 1132 respectively. The effective area of ​​the hydraulic oil in the large chamber 1132 is larger than the effective area of ​​the hydraulic oil in the small chamber 1131, so that the thrust of the large chamber 1132 is larger than the thrust of the small chamber 1131, and the swing angle of the hoisting motor 11 is controlled to make the hoisting motor 11 at the minimum displacement;

[0046] When T1<T≤T2, when the oil cylinder 113 is at any position between the maximum displacement and the minimum displacement, there is a corresponding input current of the electric proportional control valve 114.

[0047] Preferably, the initial displacement of the hoisting motor 11 can be calculated according to the relationship between the engine speed and the maximum displacement of the main pump:

[0048] V1=j(n1,n,V 泵 );

[0049] Where n1 is the maximum permissible speed of the hoisting motor 11, n is the engine speed, V 泵 The maximum displacement of the main pump.

[0050] Preferably, the rotary drilling rig further comprises a rotation speed sensor, which is connected to the drum of the main winch. The rotation speed sensor is electrically connected to the controller, and the rotation speed sensor is used to monitor the lifting speed of the main winch.

[0051] Preferably, the hoisting motor 11 is further provided with an oil drain pipeline 1154, one end of the oil drain pipeline 1154 is connected to the large chamber 1132 of the oil cylinder 113 through the electric proportional control valve 114, and the other end of the oil drain pipeline 1154 is connected to the oil drain port.

[0052] The present invention also relates to a rotary drilling rig, including the above-mentioned self-adaptive control method of the lifting force of the main winch of the rotary drilling rig.

[0053] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A method for adaptively controlling the lifting force of a main winch of a rotary drilling rig, the rotary drilling rig comprising an engine, a main pump, a winch motor (11), a main winch and a controller, the main pump being connected to the engine, the engine driving the main pump to output flow through a coupling, the main pump being used to supply oil to the winch motor (11), the winch motor (11) being connected to the main winch, an electric proportional control valve (114) being arranged in the winch motor (11), the controller controlling the real-time displacement of the winch motor (11) by controlling the input current of the electric proportional control valve (114), and controlling the torque generated by the winch motor by controlling the real-time displacement of the winch motor (11), the torque being converted into lifting force through a reducer, a drum and a wire rope on the drum; T is defined as the real-time load of the main winch; T1 refers to the maximum load of the initial displacement V1 of the winch motor (11); T2 is the load of the winch motor (11) at the maximum displacement; and it is characterized in that The control method comprises: Obtaining a starting pressure Δp of the main pump corresponding to each gear position of the engine; Acquiring an initial displacement V1 of the hoisting motor (11) corresponding to each gear position of the engine, and determining an initial input current value of the hoisting motor (11) by the initial displacement V1 of the hoisting motor (11); When 0<T≤T1, and the main pump pressure p≤the starting adjustment pressure △p, the input current of the electric proportional control valve (114) is controlled to be the initial current, and at this time, the real-time displacement V of the hoisting motor (11) is equal to the initial displacement V1 of the hoisting motor (11); When T1<T≤T2, and the main pump pressure p is greater than the starting adjustment pressure △p, the input current of the electric proportional control valve (114) is changed to increase the real-time displacement of the hoisting motor (11) until the main pump pressure p is equal to the starting adjustment pressure △p, and at this time, the real-time displacement of the hoisting motor (11) is any value between the initial displacement V1 of the hoisting motor (11) and the maximum displacement Vmax of the hoisting motor (11); When T2<T≤T3, and the real-time displacement V of the hoisting motor (11) has reached the maximum displacement Vmax of the hoisting motor (11), and the pressure of the main pump is still greater than the starting pressure △p, the controller maintains the input current of the electric proportional control valve (114) at this time, so that the hoisting motor (11) maintains the state output of the maximum displacement Vmax; By controlling the real-time displacement of the hoisting motor (11), the main hoisting motor can obtain the fastest lifting speed that meets the real-time load.

2. The method for adaptively controlling the lifting force of the main winch of a rotary drilling rig according to claim 1, characterized in that: When T1<T≤T2, the torque of the hoisting motor (11) is obtained, It can be seen that when the real-time displacement of the hoisting motor (11) increases, the torque of the hoisting motor (11) increases. When the input current is controlled to control the displacement of the hoisting motor (11) to just meet the actual load, the real-time displacement of the hoisting motor at this time is maintained so that it does not increase any more; wherein ηm is the mechanical-hydraulic efficiency, T is the torque of the hoisting motor (11), V is the real-time displacement of the hoisting motor (11); and P is the pressure of the main pump; Since the input current of the hoisting motor (11) is controlled to just meet the lifting force requirement, the real-time displacement of the hoisting motor is the current minimum displacement that meets the lifting force requirement, so the rotation speed of the hoisting motor (11) is obtained, and It can be seen that the fastest speed of the hoisting motor (11) can be obtained according to the real-time displacement of the hoisting motor (11), so that the main hoisting motor can obtain the fastest lifting speed; wherein n is the speed of the hoisting motor (11), is the volume effect, V is the real-time displacement of the hoisting motor (11), and Q is the input flow of the hoisting motor (11).

3. The control method for the self-adaptive control method of the lifting force of the main winch of the rotary drilling rig according to claim 2, characterized in that: When T2<T≤T3, the pressure of the main pump reaches the starting pressure △p, the real-time displacement V of the hoisting motor (11) has reached the maximum displacement Vmax of the hoisting motor (11), and the pressure of the main pump still cannot be equal to the starting pressure △p, the output pressure of the main pump increases, and can be increased to the maximum system pressure to meet the current load demand.

4. The method for adaptively controlling the lifting force of the main winch of a rotary drilling rig according to claim 1, characterized in that: The starting pressure of the main pump can be calculated based on the relationship between the engine speed and the maximum displacement of the main pump: △p=f(P 发 ,n,V 泵 ); Wherein, n is the engine speed, P 发 is the engine power at the current engine speed, V 泵 is the maximum displacement of the main pump.

5. The self-adaptive control method for the lifting force of the main winch of the rotary drilling rig according to claim 1, characterized in that: The initial displacement of the hoisting motor (11) can be calculated based on the relationship between the rotation speed of the engine and the maximum displacement of the main pump: V1=j(n1,n,V 泵 ); Wherein, n1 is the maximum permissible speed of the hoisting motor (11), n ​​is the engine speed, V 泵 is the maximum displacement of the main pump.

6. The self-adaptive control method for the lifting force of the main winch of a rotary drilling rig according to claim 1, characterized in that: The rotary drilling rig also includes a rotation speed sensor, which is connected to the drum of the main winch. The rotation speed sensor is electrically connected to the controller, and the rotation speed sensor is used to monitor the lifting speed of the main winch.

7. The self-adaptive control method for the lifting force of the main winch of a rotary drilling rig according to claim 1, characterized in that: The hoisting motor (11) is provided with a first oil circuit (111), a second oil circuit (112) and an oil cylinder (113); one end of the first oil circuit (111) is communicated with the oil port of the hoisting motor (11), and the other end of the first oil circuit (111) is communicated with the small chamber (1131) of the oil cylinder (113); one end of the second oil circuit (112) is communicated with the oil port of the hoisting motor (11), and the other end of the second oil circuit (112) is communicated with the large chamber (1132) of the oil cylinder (113); the electric proportional control valve (114) is arranged on the second oil circuit (112), and the electric proportional control valve (114) is located between the hoisting motor (11) and the large chamber (1132) of the oil cylinder (113); When the first oil passage (111) enters the small chamber (1131) so that the thrust of the small chamber (1131) is greater than the thrust of the large chamber (1132), the hoisting motor (11) is at maximum displacement; Controlling the input current of the electric proportional control valve (114) so ​​that the electric proportional control valve (114) is completely reversed, the hydraulic oil of the first oil circuit (111) and the hydraulic oil of the second oil circuit (112) respectively enter the small chamber (1131) and the large chamber (1132), the effective area of ​​the hydraulic oil in the large chamber (1132) is larger than the effective area of ​​the hydraulic oil in the small chamber (1131), so that the thrust of the large chamber (1132) is larger than the thrust of the small chamber (1131), and the swing angle of the hoisting motor (11) is controlled so that the hoisting motor (11) is at a minimum displacement; When the oil cylinder (113) is at any position between the maximum displacement and the minimum displacement, there is a corresponding input current to the electric proportional control valve (114).

8. The method for adaptively controlling the lifting force of the main winch of a rotary drilling rig according to claim 7, characterized in that: The oil ports are respectively the first oil port A and the second oil port B. The hoisting motor (11) is further provided with a first oil inlet (1151), a second oil inlet (1152) and a total oil inlet (1153). The first oil inlet (1151) is connected between the first oil port A and the total oil inlet (1153). The first oil circuit (111) is provided with a first check valve (116). The first check valve (116) allows the hydraulic oil to flow from the first oil port A to the total oil inlet (1153). The main oil inlet (1153) is connected to the second oil port B and the main oil inlet (1153). The second oil inlet (1152) is provided with a second one-way valve (117). The second one-way valve (117) allows the hydraulic oil to flow from the second oil port B to the main oil inlet (1153). The first oil circuit (111) and the second oil circuit (112) are respectively connected to the main oil inlet (1153).

9. The method for adaptively controlling the lifting force of the main winch of a rotary drilling rig according to claim 8, characterized in that: The hoisting motor (11) is also provided with an oil drain pipeline (1154), one end of which is connected to the large chamber (1132) of the oil cylinder (113) via the electric proportional control valve (114), and the other end of which is connected to the oil drain port.

10. A rotary drilling rig, characterized in that: The invention comprises the method for adaptively controlling the lifting force of the main winch of a rotary drilling rig as described in any one of claims 1 to 9.

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