Submarine drilling machine electric control system and control method

Abstract

The invention discloses a seabed drilling machine electric control system which comprises an umbilical cable storage roller connected with a seabed drilling machine through a photoelectric composite umbilical cable, the umbilical cable storage roller is connected with a water surface photoelectric junction box set, the water surface photoelectric junction box set is connected with a water surface control terminal, and the water surface photoelectric junction box set is connected with a water surface power system. The water surface control terminal is connected with a DCS ship control system, the water surface power system is connected with an MCC ship power distribution system through a power cable, and the water surface control terminal is connected with the water surface power system through a network cable and a multi-core hard wire. The control method is specifically implemented according to the following steps that the seabed drilling machine is lowered, and the electric control system of the seabed drilling machine is powered on; addressing a seabed drilling machine and starting an underwater hydraulic station motor; leveling and drilling operation of a seabed drilling machine; and stopping and recovering the seabed drilling machine. The invention discloses an electric control system and a control method for a submarine drilling machine, and solves the problems of insufficient functionality and reliability when a single controller is adopted by the electric control system for the submarine drilling machine.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic control of subsea drills, and relates to the electric control system of subsea drills. The present invention also relates to a control method for subsea drills. Background Art

[0002] In the field of underwater equipment for ocean engineering, there are a large number of unit devices or complex systems equipped with electric automation control systems. The operating environment and special functional requirements are extremely demanding for the control system. Especially for deep-water complex working conditions, it is necessary to ensure the functionality and reliability of the system, and modular design should be carried out according to the requirements of function expansion and change of the complex equipment itself. At present, the core controller of the underwater equipment electric control system generally adopts one of PLC or single-chip microcomputer, and both control platforms have their own advantages and disadvantages. For the PLC system, its modular splitting and highly variable replacement ability are prominent, the system reliability is high, and the maintenance is convenient, but the shape is slightly large. For the single-chip microcomputer system, its structure is fixed, the volume is small, and the cost is low after mass production, but the variable adjustment ability is insufficient after the system is encapsulated, and the maintenance and replacement cannot be quickly and finely positioned. At present, the above-mentioned respective disadvantages will occur when using any single control platform.

[0003] In summary, the prior art has the problem of insufficient functionality and reliability when a single controller is used in the electric control system of subsea drills. Summary of the Invention

[0004] The purpose of the present invention is to provide an electric control system for subsea drills, which solves the problem of insufficient functionality and reliability when a single controller is used in the electric control system of subsea drills.

[0005] Another purpose of the present invention is to provide a control method for subsea drills.

[0006] The technical solution adopted by the present invention for the electric control system of subsea drills includes a umbilical cable storage drum connected to the subsea drill through an electro-optical composite umbilical cable. The other end of the umbilical cable storage drum is connected to a surface electro-optical junction box group. The surface electro-optical junction box group is connected to a surface control terminal through an optical fiber. The surface electro-optical junction box group is connected to a surface power system through a power cable. The surface control terminal is connected to a DCS ship control system through a network cable. The surface power system is connected to an MCC ship power distribution system through a power cable. The surface control terminal and the surface power system are connected through a network cable and a multi-core hard wire.

[0007] The characteristics of the present invention also lie in:

[0008] It also includes an underwater electronic control box group. The underwater electronic control box group is connected to an underwater optoelectronic junction box through optical fibers. The underwater electronic control box group is connected to an underwater power control box group through multi-core hard wires. The underwater power control box group is connected to the underwater optoelectronic junction box through a power cable. The underwater electronic control box group includes a PLC main control cabin. A PLC system is provided in the PLC main control cabin. The PLC main control cabin is connected to an optical communication and peripheral equipment measurement and control cabin through a network cable. A second single-chip microcomputer is provided in the optical communication and peripheral equipment measurement and control cabin. The underwater power control box group includes a control system power supply cabin. A first single-chip microcomputer is provided in the control system power supply cabin.

[0009] The underwater power control box group also includes a control transformer cabin. The control transformer cabin is connected to the control system power supply cabin through a power cable. The control system power supply cabin is connected to a battery cabin through multi-core hard wires. The control system power supply cabin is connected to a power system control cabin through multi-core hard wires. The underwater electronic control box group also includes a control system underwater distribution box. The control system underwater distribution box is connected to the PLC main control cabin through multi-core hard wires.

[0010] The underwater optoelectronic junction box is connected to the control transformer cabin and the power system control cabin through a power cable. The underwater optoelectronic junction box is connected to the optical communication and peripheral equipment measurement and control cabin through optical fibers. The control system power supply cabin is connected to the PLC main control cabin through multi-core hard wires. The control system power supply cabin is connected to the optical communication and peripheral equipment measurement and control cabin through multi-core hard wires. The power system control cabin is connected to an underwater hydraulic station motor through a power cable.

[0011] The PLC main control cabin is connected to a hydraulic control valve box group through multi-core hard wires. The control system underwater distribution box is connected to a drilling rig underwater state detection type sensor through several multi-core hard wires. The optical communication and peripheral equipment measurement and control cabin is connected to several underwater lighting lamps and several underwater cameras through several multi-core hard wires. The optical communication and peripheral equipment measurement and control cabin is connected to a drilling rig underwater environment detection type sensor through multi-core hard wires.

[0012] The drilling rig underwater state detection type sensors include a displacement sensor group, a rotation angle sensor group, a motor oil temperature sensor, and a circulation system pressure sensor. The hydraulic control valve box group includes a proportional solenoid valve group, a switch solenoid valve group, a hydraulic pipeline pressure sensor group, a hydraulic system oil temperature sensor, and a system oil tank liquid level sensor. The drilling rig underwater environment detection type sensors include a water depth sensor, a ground clearance sensor, and a drilling rig attitude sensor. A surface operation terminal circuit breaker, a drilling rig direct power supply contactor, a drilling rig soft starter, and a bypass contactor are provided in the surface power system. An underwater high-voltage normally open contactor is provided in the power system control cabin.

[0013] Another technical solution adopted by the present invention is a method for controlling a subsea drill, which is specifically implemented according to the following steps: Step 1, lowering the subsea drill and powering on the subsea drill's electric control system; Step 2, addressing the subsea drill and starting the underwater hydraulic station motor; Step 3, leveling the subsea drill and performing drilling operations; Step 4, stopping and recovering the subsea drill.

[0014] The characteristics of another technical solution of the present invention also lie in:

[0015] In Step 1, the process of lowering the subsea drill and powering on the subsea drill's electric control system is as follows: When the ship arrives at the designated target sea area, start the ship's umbilical cable winch to lower the subsea drill to the target depth; The MCC ship power distribution system supplies power to the surface power system, and the circuit breaker of the surface control terminal and the direct power supply contactor of the drill in the surface power system are closed; The MCC ship power distribution system supplies power to the surface control terminal, the control transformer cabin, the control system power supply cabin, the power system control cabin, the PLC main control cabin, and the optical communication and peripheral equipment measurement and control cabin. The battery cabin is floatingly charged, and the underwater hydraulic station motor is not started. The surface control terminal establishes communication connections with the underwater electronic control box group, the underwater power control box group, and the underwater optical cable junction box respectively.

[0016] In Step 2, the process of addressing the subsea drill and starting the underwater hydraulic station motor is as follows: According to the underwater environment information parameters fed back by the drill's underwater environment detection sensors, the underwater state information parameters fed back by the drill's underwater state detection sensors, and the underwater real-time display screen fed back by the underwater camera obtained by the surface control terminal through the optical communication and peripheral equipment measurement and control cabin, cooperate with the ship positioning system to complete the addressing of the subsea drill; When the addressing is completed, disconnect the direct power supply contactor of the drill in the surface power system, and the battery cabin supplies power to the underwater electronic control box group through the control system power supply cabin; Further, the underwater high-voltage normally open contactor in the power system control cabin is closed, the drill soft starter in the surface power system is started and the soft starter bypass contact is closed after a delay; The underwater hydraulic station motor is started, and the battery cabin is floatingly charged.

[0017] In Step 3, the process of leveling the subsea drill and performing drilling operations is as follows: The surface control terminal issues a drill leveling command, and the PLC main control cabin completes the specific control logic of the drill leveling mechanism and outputs the control signal to the hydraulic control valve box group. The drill leveling mechanism acts, and the PLC main control cabin combines the underwater state feedback information of the drill to complete the leveling action of the subsea drill and feedback the result to the surface control terminal; After the subsea drill completes the leveling operation, the surface control terminal issues a drill drilling operation command, and the PLC main control cabin completes the specific control logic of underwater pipe string handling and drilling and outputs the control signal to the hydraulic control valve box group. The drill pipe string handling and drilling actuator acts, and the PLC main control cabin combines the underwater state feedback information of the drill to complete the drilling operation of the subsea drill and feedback the real-time state information of the drill to the surface control terminal.

[0018] In Step 4, the process of stopping and retrieving the subsea drill rig is as follows: After the drilling is completed, the surface control terminal issues a command to level and retrieve the drill rig. The PLC main control cabin completes the specific control logic for leveling and retrieving the drill rig, and outputs the control signal to the hydraulic control valve box group. The leveling and retrieving actions of the drill rig are executed. The PLC main control cabin combines the feedback information on the underwater state of the drill rig, completes the leveling and retrieving actions of the subsea drill rig, and feeds back the results to the surface control terminal. The control system power supply cabin controls the battery cabin to stop supplying power to the underwater electronic control box group. The soft starter and its bypass contactor of the drill rig in the surface power system stop supplying power to the subsea drill rig. The motor of the underwater hydraulic station stops running. The underwater high-voltage normally open contactor in the power system control cabin disconnects. The direct power supply contactor of the drill rig in the surface power system closes. The underwater electronic control box group is re-powered, and the battery cabin floats for charging. The ship umbilical cable winch is started to retrieve the subsea drill rig. When the subsea drill rig rises to a predetermined height, the direct power supply contactor of the drill rig in the surface power system disconnects, and the surface power system is powered off.

[0019] The beneficial effects of the present invention are as follows: Through the division of labor and cooperation among the PLC system in the PLC main control cabin, the second single-chip microcomputer in the optical communication and peripheral equipment measurement and control cabin, and the first single-chip microcomputer in the control system power supply cabin, the problems of insufficient functionality and reliability existing in the subsea drill rig's electric control system when using a single controller are solved. It not only realizes the basic function requirements and reliability guarantee requirements of the system, but also realizes the expandable and changeable modular design of the system, and finally improves the overall performance of the electric control system in terms of function adaptation and rapid maintenance. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of the subsea drill rig's electric control system in the present invention;

[0021] Figure 2 It is a schematic connection diagram of the subsea drill rig's electric control system in the present invention.

[0022] In the figure, 1 is the underwater electronic control box group; 2 is the underwater power control box group; 3 is the underwater optoelectronic junction box; 4 is the surface optoelectronic junction box group; 5 is the surface control terminal; 6 is the surface power system; 7 is the DCS ship control system; 8 is the MCC ship power distribution system; 9 is the hydraulic control valve box group; 10 is the control transformer cabin; 11 is the control system power supply cabin; 12 is the battery cabin; 13 is the power system control cabin; 14 is the PLC main control cabin; 15 is the opto-communication and peripheral equipment measurement and control cabin; 16 is the control system underwater distribution box; 17 is the underwater state detection sensors for the drill rig; 18 is the underwater environment detection sensors for the drill rig; 19 is the underwater lighting lamp; 20 is the underwater camera; 21 is the underwater hydraulic station motor; 22 is the umbilical cable storage drum; 23 is the ship umbilical cable winch; 24 is the subsea drill rig; 25 is the switch solenoid valve group; 26 is the hydraulic pipeline pressure sensor group; 27 is the hydraulic system oil temperature sensor; 28 is the system oil tank liquid level sensor; 29 is the displacement sensor group; 30 is the rotation angle sensor group; 31 is the motor oil temperature sensor; 32 is the circulation system pressure sensor; 35 is the water depth sensor; 36 is the height from the ground sensor; 37 is the drill rig attitude sensor; 38 is the proportional solenoid valve group. Detailed implementation mode

[0023] The present invention will be described in detail below in conjunction with the accompanying drawings and the specific implementation mode.

[0024] The present invention provides a subsea drill rig electric control system. As Figure 1 shown, the subsea drill rig 24 on the left is arranged underwater and includes the underwater electronic control box group 1, the underwater power control box group 2 and the underwater optoelectronic junction box 3; Figure 1 The surface optoelectronic junction box group 4 on the right in the figure is arranged on the ship deck; Figure 1 The surface control terminal 5, the surface power system 6, the DCS ship control system 7 and the MCC ship power distribution system 8 on the right in the figure are arranged in the ship cabin.

[0025] Figure 1 The underwater electronic control box group 1 inside, specifically includes Figure 2 the PLC main control cabin 14, the opto-communication and peripheral equipment measurement and control cabin 15, and the control system underwater distribution box 16 in the figure, all of which adopt the form of a water-proof and pressure-maintaining cabin. Figure 1 The underwater power control box group 2 inside, specifically includes Figure 2 the control transformer cabin 10, the control system power supply cabin 11, the battery cabin 12, and the power system control cabin 13 in the figure, all of which adopt the form of a water-proof and pressure-maintaining cabin made of stainless steel or titanium alloy. The underwater optoelectronic junction box 3 adopts the form of a water-proof and pressure-maintaining cabin made of stainless steel or titanium alloy.

[0026] The surface control terminal 5 can not only realize the display of the status information of the submarine drilling rig and the issuance of the personnel operation command, but also realize the monitoring of the surface power system 6; for the surface power system 6, the present invention is respectively equipped with a surface power cabinet SWB01, which is mainly used for the soft start and circuit protection control of the underwater high-power motor load, and is equipped with a TR01 surface step-up transformer, which is mainly used to step up the typical low-voltage power supply to the typical high-voltage power supply to reduce the energy loss of long-distance power transmission; for the DCS ship control system 7, the submarine drilling rig electronic control can not only send the drilling rig related information to it, but also receive the ship status, Hydrological information and other related information; for the MCC ship power distribution system 8, the ship input power selected by the present invention is a typical low-voltage AC power supply; the hydraulic control valve box group 9 is a watertight pressure-maintaining cabin made of stainless steel or titanium alloy, and includes a proportional solenoid valve group 38, a switch solenoid valve group 25, a mechanism hydraulic pipeline pressure sensor group SP26, a hydraulic system oil temperature sensor 27, and a system oil tank level sensor 28; a small step-down transformer is set in the control transformer cabin 10 to step down the system high-voltage power supply to a control power supply of an available voltage level; a single-chip microcomputer system is set in the control system power supply cabin 11 to control the low-voltage AC and Management of low-voltage DC two-stage underwater control power supply, stop protection control of electric control system, storage and input control of control system backup power supply; battery compartment 12 has built-in battery pack for storing backup power for control; power system control compartment 13 has built-in underwater high-voltage normally open contactor and its control coil for on-off control of underwater hydraulic station motor 21; PLC main control compartment 14 has built-in PLC and related hardware circuit system for core control logic function realization and input and output control of underwater drilling rig; optical communication and peripheral equipment measurement and control compartment 15 has built-in single-chip microcomputer system for redundant optical fiber communication management underwater and on the surface , underwater electronic control system stop control, underwater camera and underwater lighting control, rig underwater environment and overall posture information collection, other bus form sensor status information collection and preliminary conversion; control system underwater junction box 16 is a watertight pressure-maintaining junction box made of stainless steel or titanium alloy, which is used to aggregate underwater sensor signals dispersed to various locations of the rig in the nearest area; rig underwater status detection sensors 17 are various anti-corrosion deep-water sensors that can be directly connected underwater, including displacement sensor group 29, rotation angle sensor group 30, motor oil temperature sensor 31, circulation system pressure sensor 32. Drilling rig underwater environment detection sensors 18 are various anti-corrosion deep-water sensors that can be directly connected underwater, including water depth sensor 35, ground clearance sensor 36, and rig posture sensor 37.

[0027] If Figure 1As shown, the system electric energy is unidirectionally transmitted from the power source to the load, and its energy sequentially passes through the MCC marine power distribution system 8, the surface power system 6, the power cables of the surface optoelectronic junction box group 4, the underwater optoelectronic junction box 3, and the underwater power control box group 2 from right to left, and finally reaches each load. The system monitoring signal is bidirectionally transmitted between the surface and the underwater. The issuance of the surface operation instructions is sequentially from right to left as the surface control terminal 5, the optical fiber of the surface optoelectronic junction box group 4, the underwater optoelectronic junction box 3, and the underwater electronic control box group 1, and finally reaches each underwater electric actuator; the transmission of the underwater status feedback is sequentially from left to right as each underwater sensor, the underwater electronic control box group 1, the underwater optoelectronic junction box 3, the optical fiber of the surface optoelectronic junction box group 4, the surface control terminal 5, and the DCS marine control system 7.

[0028] As Figure 2 shown, the system electric energy passes through the underwater optoelectronic junction box 3 and is output to the control transformer compartment 10 and the power system control compartment 13 in two paths through underwater cables. Considering the voltage loss generated by the long-distance transmission of the electric energy through the surface optoelectronic junction box group 4, the present invention selects a typical power supply voltage that finally reaches the underwater equipment end after voltage loss. For the power supply path passing through the control transformer compartment 10, it is mainly used for the control power supply of underwater equipment. First, the underwater high-voltage AC power supply is stepped down to the low-voltage AC control power supply required by the control system power supply compartment 11 through the control transformer compartment 10. Secondly, a single-chip microcomputer system is arranged inside the control system power supply compartment 11, which mainly performs the management of the two-stage underwater control power supply of the required low-voltage AC and low-voltage DC. This function includes providing two paths of low-voltage DC power supplies with a shutdown stop function to the PLC main control compartment 14 and the optical communication and peripheral equipment measurement and control compartment 15 respectively, providing a control power supply to the underwater contactor coil in the power system control compartment 13, providing a charging power supply to the battery compartment 12, and receiving the backup power supply provided by the battery when the surface power supply is not connected. For the power supply path passing through the power system control compartment 13, it is mainly used for power supply to the underwater hydraulic station motor. The underwater high-voltage AC power supply is controlled by the on-off of the underwater high-voltage normally open contactor in the power system control compartment 13, and finally transmitted to the high-voltage motor of the 21 underwater hydraulic station motor to realize the power supply of the underwater hydraulic station.

[0029] The system monitoring signal passes through the underwater optoelectronic junction box 3 and is interconnected with the optical communication and peripheral equipment measurement and control compartment 15 through an underwater optical fiber. Further, the optical communication and peripheral equipment measurement and control compartment 15 is interconnected with the PLC main control compartment 14 through an underwater network cable. Finally, each specific monitoring signal is directly connected to each execution device such as the hydraulic control valve box group 9, the drilling rig underwater environment detection sensor 18, the underwater lighting lamp 19, and the underwater camera 20 through a multi-core hard wire, or is connected to the drilling rig underwater status detection sensor 17 through the control system underwater distribution box 16 for transfer.

[0030] The inputs of the PLC system inside the PLC main control cabin 14 include the signals of the sensors 17 for detecting the underwater state of the rig, the PLC system from the control system power supply cabin 11, the UPS status signals and battery status signals of the first single-chip microcomputer and the second single-chip microcomputer, the signals of the sensors 18 for detecting the underwater environment of the rig converted by the optical communication and peripheral equipment measurement and control cabin 15, the command signals from the surface control terminal 5, the contactor status signals in the power system control cabin 13 from the control system power supply cabin 11, and the power supply status of the PLC system power supply from the control system power supply cabin 11; the outputs of the PLC system inside the PLC main control cabin 14 include the control signals of the hydraulic control valve box group 9, the start and stop control signals of the underwater hydraulic station motor 21 through the control system power supply cabin 11, the control signal for stopping the PLC output power supply through the control system power supply cabin 11, the real-time feedback signal of the underwater state of the rig sent to the sensors 18 for detecting the underwater environment of the rig, and the contactor control signals sent to the power system control cabin 13.

[0031] The inputs of the second single-chip microcomputer inside the optical communication and peripheral equipment measurement and control cabin 15 include the signals of the sensors 18 for detecting the underwater environment of the rig, the monitoring signal of the three-phase voltage value of the underwater power supply input from the control system power supply cabin 11, the real-time feedback signal of the underwater state of the rig from the PLC main control cabin 14, and the equipment operation command signals from the surface control terminal 5; the outputs of the second single-chip microcomputer inside the optical communication and peripheral equipment measurement and control cabin 15 include the control signals sent to the underwater lighting lamp 19 and the underwater camera 20, the control signals of the actuators sent to the PLC main control cabin 14, the feedback signals of the rig state and underwater environment sent to the surface control terminal 5, and the control signal for stopping the power supply to the control output circuit of the sensors 18 for detecting the underwater environment of the rig.

[0032] The inputs of the first single-chip microcomputer inside the control system power supply cabin 11 include the contactor control signals in the power system control cabin 13 from the PLC main control cabin 14 and the control signal for stopping the power supply to the control output circuit of the sensors 18 for detecting the underwater environment of the rig from the optical communication and peripheral equipment measurement and control cabin 15; the outputs of the first single-chip microcomputer inside the control system power supply cabin 11 include the monitoring signal of the three-phase voltage value of the underwater power supply input sent to the optical communication and peripheral equipment measurement and control cabin 15, the charge and discharge control signals sent to the battery cabin 12, the UPS status signals and battery status signals of the PLC system, the first single-chip microcomputer and the second single-chip microcomputer sent to the PLC main control cabin 14, the contactor status signals in the power system control cabin 13 sent to the PLC main control cabin 14, and the power supply status of the PLC system power supply sent to the PLC main control cabin 14.

[0033] In the electric control system of the subsea drilling rig, the PLC system and the single-chip microcomputer system are physically connected through multi-core hard wires and network cables. During the coupling process between the PLC system in the PLC main control cabin 14 and the single-chip microcomputer systems in the control system power supply cabin 11 and the optical communication and peripheral equipment measurement and control cabin 15, the specific function division is as follows:

[0034] For the first single-chip microcomputer in the control system power supply cabin 11, it receives the underwater power supply input that has been step-down processed through the power cable, and at the same time monitors the three-phase voltage value in real time and feeds this value back to the second single-chip microcomputer in the optical communication and peripheral equipment measurement and control cabin 15 through multi-core hard wires, and finally transmits the voltage signal to the PLC system through the network cable; the first single-chip microcomputer controls the charging and discharging of the battery cabin 12 to achieve the UPS uninterruptible power supply function for the PLC system, the first single-chip microcomputer, and the second single-chip microcomputer, and transmits the UPS status and battery status to the PLC system through multi-core hard wires; the first single-chip microcomputer receives the control signal for the contactor in the power system control cabin 13 output by the DQ of the PLC system, and isolates and converts this signal into the low-voltage AC signal required for the contactor coil power supply, and at the same time feeds back the output status of this AC signal to the DI input of the PLC system through multi-core hard wires; the first single-chip microcomputer supplies low-voltage DC power to the PLC system in two ways, one way is used to directly supply power to the PLC system, and the other way is used to supply power to the DQ output relay circuit and the AQ output proportional amplifier circuit of the PLC system, and feeds back the power supply status of these two power supplies to the DI input of the PLC system through multi-core hard wires. On this basis, the first single-chip microcomputer can receive the stop power supply control signal for these two power supplies transmitted by the second single-chip microcomputer through multi-core hard wires; the first single-chip microcomputer supplies low-voltage DC power to the second single-chip microcomputer in two ways, one way is used to supply power to the core logic operation and communication chip circuit of the second single-chip microcomputer, and the other way is used to supply power to the control output circuit of the underwater lighting lamp and the underwater camera. At the same time, the first single-chip microcomputer can receive the stop power supply control signal for the control output circuit of the underwater lighting lamp and the underwater camera transmitted by the second single-chip microcomputer through multi-core hard wires.

[0035] For the second single-chip microcomputer in the optical communication and peripheral equipment measurement and control cabin 15, it completes the communication management of the subsea drilling rig status feedback and the operation instruction reception of the surface control terminal 5 through redundant optical fibers, and further interconnects with the PLC system in the PLC main control cabin 14 through the network cable to complete the interaction of the monitoring signals of the subsea and surface drilling rig equipment; the second single-chip microcomputer is responsible for completing the on-off control of the underwater lighting lamp, the pan-tilt control and focus control of the underwater camera, and at the same time is responsible for real-time feedback of the video image information to the surface control terminal 5; the second single-chip microcomputer is responsible for completing the information acquisition of the sensors 18 for detecting the subsea environment of the drilling rig or other sensors using non-conventional bus forms, and transmits this information to the PLC system through the network cable; the second single-chip microcomputer is responsible for completing the remote stop function of the surface control terminal 5 for the PLC system, the underwater lighting lamp, and the underwater camera.

[0036] For the PLC system in the PLC main control cabin 14, in addition to the tasks completed in cooperation with the above-mentioned single-chip microcomputer system, its main functions also include the input and output control of the equipment directly connected to the rig body and the implementation of the core control function logic of the rig.

[0037] The subsea rig control method is specifically implemented according to the following steps:

[0038] Step 1: Lowering the subsea rig 24 and powering on the subsea rig's electric control system:

[0039] When the ship arrives at the designated target sea area, start the ship umbilical winch 23 to lower the subsea rig 24 to the target depth; the MCC ship power distribution system 8 supplies power to the surface power system 6, and the surface control terminal circuit breaker and the rig direct power supply contactor in the surface power system 6 are closed; the MCC ship power distribution system 8 supplies power to the surface control terminal 5, the control transformer cabin 10, the control system power supply cabin 11, the power system control cabin 13, the PLC main control cabin 14, and the optical communication and peripheral equipment measurement and control cabin 15, and the battery cabin 12 is floating charged, and the underwater hydraulic station motor 21 does not start. The surface control terminal 5 establishes communication connections with the underwater electronic control box group 1, the underwater power control box group 2, and the underwater optical cable junction box 3 respectively.

[0040] Step 2: Addressing the subsea rig 24 and starting the underwater hydraulic station motor 21:

[0041] According to the underwater environment information parameters fed back by the rig underwater environment detection sensors 18, the rig underwater state information parameters fed back by the rig underwater state detection sensors 17, and the underwater real-time display screen fed back by the underwater camera 20 obtained by the surface control terminal 5 through the optical communication and peripheral equipment measurement and control cabin 15, cooperate with the ship positioning system to complete the addressing of the subsea rig 24; when the addressing is completed, disconnect the rig direct power supply contactor in the surface power system 6, and the battery cabin 12 supplies power to the underwater electronic control box group 1 through the control system power supply cabin 11; further, the underwater high-voltage normally open contactor in the power system control cabin 13 is closed, and the rig soft starter in the surface power system 6 starts and delays to complete the bypass contact closure of the soft starter; the underwater hydraulic station motor 21 starts, and the battery cabin 12 is floating charged.

[0042] Step 3: Levelling the subsea rig 24 and drilling operations:

[0043] The water surface control terminal 5 issues a drilling rig leveling command. The PLC main control cabin 14 completes the specific control logic of the drilling rig leveling mechanism and outputs the control signal to the hydraulic control valve box group 9. The drilling rig leveling mechanism acts. The PLC main control cabin 14 combines the underwater state feedback information of the drilling rig, completes the leveling action of the subsea drilling rig 24 and feeds back the result to the water surface control terminal 5. After the subsea drilling rig 24 completes the leveling operation, the water surface control terminal 5 issues a drilling operation command for the drilling rig. The PLC main control cabin 14 completes the specific control logic of the underwater pipe string handling and drilling, and outputs the control signal to the hydraulic control valve box group 9. The drilling pipe string handling and drilling actuator acts. The PLC main control cabin 14 combines the underwater state feedback information of the drilling rig, completes the drilling operation of the subsea drilling rig 24 and feeds back the real-time state information of the drilling rig to the water surface control terminal 5;

[0044] Step Four: Stopping and Retrieving the Subsea Drilling Rig 24:

[0045] After the drilling is completed, the water surface control terminal 5 issues a command to retract the leveling of the drilling rig. The PLC main control cabin 14 completes the specific control logic for retracting the leveling of the drilling rig and outputs the control signal to the hydraulic control valve box group 9. The retracting action of the drilling rig leveling is executed. The PLC main control cabin 14 combines the underwater state feedback information of the drilling rig, completes the retracting action of the leveling of the subsea drilling rig 24 and feeds back the result to the water surface control terminal 5. The control system power supply cabin 11 controls the battery cabin 12 to stop supplying power to the underwater electronic control box group 1. The soft starter and its bypass contactor of the drilling rig in the water surface power system 6 stop supplying power to the subsea drilling rig 24. The underwater hydraulic station motor 21 shuts down. The underwater high-voltage normally open contactor in the power system control cabin 13 disconnects. The direct power supply contactor of the drilling rig in the water surface power system 6 closes. The underwater electronic control box group 1 is powered on again, and the battery cabin 12 floats for charging. The ship umbilical cable winch 23 is started to retrieve the subsea drilling rig 24. When the subsea drilling rig 24 rises to a predetermined height, the direct power supply contactor of the drilling rig in the water surface power system 6 disconnects, and the water surface power system 6 is powered off.

[0046] Example 1

[0047] As Figure 1-2As shown in the figure, this embodiment provides a subsea drilling rig electric control system, which includes a umbilical cable storage drum 22 connected to the subsea drilling rig 24 through an electro-optical composite umbilical cable. The other end of the umbilical cable storage drum 22 is connected to a surface electro-optical junction box group 4. The surface electro-optical junction box group 4 is connected to a surface control terminal 5 through an optical fiber, and the surface electro-optical junction box group 4 is connected to a surface power system 6 through a power cable. The surface control terminal 5 is connected to a DCS ship control system 7 through a network cable. The surface power system 6 is connected to an MCC ship power distribution system 8 through a power cable. The surface control terminal 5 and the surface power system 6 are connected through a network cable and a multi-core hard wire. It also includes an underwater electronic control box group 1. The underwater electronic control box group 1 is connected to an underwater electro-optical junction box 3 through an optical fiber, and the underwater electronic control box group 1 is connected to an underwater power control box group 2 through a multi-core hard wire. The underwater power control box group 2 and the underwater electro-optical junction box 3 are connected through a power cable. The underwater electronic control box group 1 includes a PLC main control cabin 14. A PLC system is provided in the PLC main control cabin 14. The PLC main control cabin 14 is connected to an optical communication and peripheral equipment measurement and control cabin 15 through a network cable. A second single-chip microcomputer is provided in the optical communication and peripheral equipment measurement and control cabin 15. The underwater power control box group 2 includes a control system power supply cabin 11. A first single-chip microcomputer is provided in the control system power supply cabin 11. The underwater power control box group 2 also includes a control transformer cabin 10. The control transformer cabin 10 is connected to the control system power supply cabin 11 through a power cable. The control system power supply cabin 11 is connected to a battery cabin 12 through a multi-core hard wire. The control system power supply cabin 11 is connected to a power system control cabin 13 through a multi-core hard wire. The underwater electronic control box group 1 also includes a control system underwater distribution box 16. The control system underwater distribution box 16 is connected to the PLC main control cabin 14 through a multi-core hard wire. The underwater electro-optical junction box 3 is connected to the control transformer cabin 10 and the power system control cabin 13 through a power cable. The underwater electro-optical junction box 3 is connected to the optical communication and peripheral equipment measurement and control cabin 15 through an optical fiber. The control system power supply cabin 11 is connected to the PLC main control cabin 14 through a multi-core hard wire. The control system power supply cabin 11 is connected to the optical communication and peripheral equipment measurement and control cabin 15 through a multi-core hard wire. The power system control cabin 13 is connected to an underwater hydraulic station motor 21 through a power cable.

[0048] Embodiment 2

[0049] As Figure 1-2As shown in the figure, this embodiment provides a subsea drilling rig electric control system, which includes a umbilical cable storage drum 22 connected to the subsea drilling rig 24 through an electro-optical composite umbilical cable. The other end of the umbilical cable storage drum 22 is connected to a surface electro-optical junction box group 4. The surface electro-optical junction box group 4 is connected to a surface control terminal 5 through an optical fiber. The surface electro-optical junction box group 4 is connected to a surface power system 6 through a power cable. The surface control terminal 5 is connected to a DCS ship control system 7 through a network cable. The surface power system 6 is connected to an MCC ship power distribution system 8 through a power cable. The surface control terminal 5 and the surface power system 6 are connected through a network cable and a multi-core hard wire. It also includes an underwater electronic control box group 1. The underwater electronic control box group 1 is connected to an underwater electro-optical junction box 3 through an optical fiber. The underwater electronic control box group 1 is connected to an underwater power control box group 2 through a multi-core hard wire. The underwater power control box group 2 and the underwater electro-optical junction box 3 are connected through a power cable. The underwater electronic control box group 1 includes a PLC main control cabin 14. A PLC system is provided in the PLC main control cabin 14. The PLC main control cabin 14 is connected to an optical communication and peripheral equipment measurement and control cabin 15 through a network cable. A second single-chip microcomputer is provided in the optical communication and peripheral equipment measurement and control cabin 15. The underwater power control box group 2 includes a control system power supply cabin 11. A first single-chip microcomputer is provided in the control system power supply cabin 11.

[0050] The underwater power control box group 2 further includes a control transformer compartment 10. The control transformer compartment 10 is connected to a control system power supply compartment 11 through a power cable. The control system power supply compartment 11 is connected to a battery compartment 12 through a multi-core hard wire, and the control system power supply compartment 11 is connected to a power system control compartment 13 through a multi-core hard wire; The underwater electronic control box group 1 further includes a control system underwater distribution box 16. The control system underwater distribution box 16 is connected to a PLC main control compartment 14 through a multi-core hard wire. The underwater optoelectronic junction box 3 is connected to the control transformer compartment 10 and the power system control compartment 13 through a power cable, and the underwater optoelectronic junction box 3 is connected to an optical communication and peripheral equipment measurement and control compartment 15 through an optical fiber; The control system power supply compartment 11 is connected to the PLC main control compartment 14 through a multi-core hard wire, the control system power supply compartment 11 is connected to the optical communication and peripheral equipment measurement and control compartment 15 through a multi-core hard wire, and the power system control compartment 13 is connected to an underwater hydraulic station motor 21 through a power cable. The PLC main control compartment 14 is connected to a hydraulic control valve box group 9 through a multi-core hard wire. The control system underwater distribution box is connected to a drilling rig underwater state detection type sensor 17 through a number of multi-core hard wires. The optical communication and peripheral equipment measurement and control compartment 15 is connected to a number of underwater lighting lamps 19 and a number of underwater cameras 20 through a number of multi-core hard wires, and the optical communication and peripheral equipment measurement and control compartment 15 is connected to a drilling rig underwater environment detection type sensor 18 through a multi-core hard wire; The drilling rig underwater state detection type sensor 17 includes a displacement sensor group 29, a rotation angle sensor group 30, a motor oil temperature sensor 31, and a circulation system pressure sensor 32; The hydraulic control valve box group 9 includes a proportional solenoid valve group 38, a switch solenoid valve group 25, a hydraulic pipeline pressure sensor group 26, a hydraulic system oil temperature sensor 27, and a system oil tank liquid level sensor 28; The drilling rig underwater environment detection type sensor 18 includes a water depth sensor 35, a ground clearance sensor 36, and a drilling rig attitude sensor 37; A surface operation terminal circuit breaker, a drilling rig direct power supply contactor, a drilling rig soft starter, and a bypass contactor are provided in the surface power system 6; An underwater high-voltage normally open contactor is provided in the power system control compartment 13.

[0051] Embodiment 3

[0052] This embodiment provides a method for controlling a subsea drilling rig. The method for controlling a subsea drilling rig is specifically implemented according to the following steps: Step 1, lowering the subsea drilling rig 24 and powering on the subsea drilling rig's electric control system; Step 2, addressing the subsea drilling rig 24 and starting the underwater hydraulic station motor 21; Step 3, leveling the subsea drilling rig 24 and performing drilling operations; Step 4, stopping and recovering the subsea drilling rig 24.

[0053] In Step 1, the process of lowering the subsea drill rig 24 and powering on the subsea drill rig's electrical control system is as follows: When the ship arrives at the designated target sea area, start the ship's umbilical cable winch 23 to lower the subsea drill rig 24 to the target depth; the MCC ship power distribution system 8 supplies power to the surface power system 6, and the surface control terminal circuit breaker and the drill rig direct power supply contactor in the surface power system 6 are closed; the MCC ship power distribution system 8 supplies power to the surface control terminal 5, the control transformer compartment 10, the control system power supply compartment 11, the power system control compartment 13, the PLC main control compartment 14, and the optical communication and peripheral equipment measurement and control compartment 15. The battery compartment 12 is floatingly charged, and the underwater hydraulic station motor 21 does not start. The surface control terminal 5 establishes communication connections with the underwater electronic control box group 1, the underwater power control box group 2, and the underwater optical cable connection box 3 respectively. In Step 2, the process of addressing the subsea drill rig 24 and starting the underwater hydraulic station motor 21 is as follows: According to the underwater environmental information parameters fed back by the drill rig underwater environmental detection sensors 18 obtained by the surface control terminal 5 through the optical communication and peripheral equipment measurement and control compartment 15, the underwater state information parameters of the drill rig fed back by the drill rig underwater state detection sensors 17, and the underwater real-time display screen fed back by the underwater camera 20, cooperate with the ship positioning system to complete the addressing of the subsea drill rig 24; when the addressing is completed, disconnect the drill rig direct power supply contactor in the surface power system 6, and the battery compartment 12 supplies power to the underwater electronic control box group 1 through the control system power supply compartment 11; further, the underwater high-voltage normally open contactor in the power system control compartment 13 is closed, the drill rig soft starter in the surface power system 6 starts and delays to complete the closing of the soft starter bypass contact; the underwater hydraulic station motor 21 starts, and the battery compartment 12 is floatingly charged.

[0054] Embodiment 4

[0055] This embodiment provides a control method for a subsea drill rig. The control method for the subsea drill rig is specifically implemented according to the following steps: Step 1, lower the subsea drill rig 24 and power on the subsea drill rig's electrical control system; Step 2, address the subsea drill rig 24 and start the underwater hydraulic station motor 21; Step 3, level the subsea drill rig 24 and perform drilling operations; Step 4, stop and recover the subsea drill rig 24.

[0056] The process of lowering the subsea drill rig 24 and powering on the subsea drill rig's electrical control system in Step 1 is as follows: When the ship reaches the designated target sea area, start the ship's umbilical cable winch 23 to lower the subsea drill rig 24 to the target depth; the MCC ship power distribution system 8 supplies power to the surface power system 6, and the surface control terminal circuit breaker and the drill rig direct power supply contactor in the surface power system 6 are closed; the MCC ship power distribution system 8 supplies power to the surface control terminal 5, the control transformer cabin 10, the control system power supply cabin 11, the power system control cabin 13, the PLC main control cabin 14, and the optical communication and peripheral equipment measurement and control cabin 15. The battery cabin 12 is floating charged, and the underwater hydraulic station motor 21 is not started. The surface control terminal 5 establishes communication connections with the underwater electronic control box group 1, the underwater power control box group 2, and the underwater optical cable junction box 3 respectively. The process of addressing the subsea drill rig 24 and starting the underwater hydraulic station motor 21 in Step 2 is as follows: According to the underwater environment information parameters fed back by the drill rig underwater environment detection sensors 18 obtained by the surface control terminal 5 through the optical communication and peripheral equipment measurement and control cabin 15, the underwater state information parameters of the drill rig fed back by the drill rig underwater state detection sensors 17, and the underwater real-time display screen fed back by the underwater camera 20, cooperate with the ship positioning system to complete the addressing of the subsea drill rig 24; when the addressing is completed, disconnect the drill rig direct power supply contactor in the surface power system 6, and the battery cabin 12 supplies power to the underwater electronic control box group 1 through the control system power supply cabin 11; further, the underwater high-voltage normally open contactor in the power system control cabin 13 is closed, the drill rig soft starter in the surface power system 6 starts and delays to complete the closing of the soft starter bypass contact; the underwater hydraulic station motor 21 starts, and the battery cabin 12 is floating charged. The process of leveling the subsea drill rig 24 and drilling operations in Step 3 is as follows: The surface control terminal 5 issues a drill rig leveling command, and the PLC main control cabin 14 completes the specific control logic of the drill rig leveling mechanism and outputs the control signal to the hydraulic control valve box group 9. The drill rig leveling mechanism acts, and the PLC main control cabin 14 combines the underwater state feedback information of the drill rig to complete the leveling action of the subsea drill rig 24 and feedback the result to the surface control terminal 5; after the subsea drill rig 24 completes the leveling operation, the surface control terminal 5 issues a drill rig drilling operation command, and the PLC main control cabin 14 completes the specific control logic of the underwater pipe string handling and drilling and outputs the control signal to the hydraulic control valve box group 9. The drill rig pipe string handling and drilling actuator acts, and the PLC main control cabin 14 combines the underwater state feedback information of the drill rig to complete the drilling operation of the subsea drill rig 24 and feedback the real-time state information of the drill rig to the surface control terminal 5.In Step 4, the process of stopping and retrieving the subsea drill rig 24 is as follows: After drilling is completed, the surface control terminal 5 issues a drill rig leveling and retrieval command. The PLC main control cabin 14 completes the specific control logic for drill rig leveling and retrieval, and outputs the control signal to the hydraulic control valve box group 9. The drill rig leveling and retrieval action is executed. The PLC main control cabin 14 combines the underwater status feedback information of the drill rig, completes the drill rig leveling and retrieval action of the subsea drill rig 24, and feeds back the result to the surface control terminal 5. The control system power supply cabin 11 controls the battery cabin 12 to stop power supply to the underwater electronic control box group 1. The drill rig soft starter and its bypass contactor in the surface power system 6 stop supplying power to the subsea drill rig 24. The underwater hydraulic station motor 21 stops operating. The underwater high-voltage normally open contactor in the power system control cabin 13 disconnects. The drill rig direct power supply contactor in the surface power system 6 closes. The underwater electronic control box group 1 is powered on again, and the battery cabin 12 floats for charging. The ship umbilical cable winch 23 is started to retrieve the subsea drill rig 24. When the subsea drill rig 24 rises to a predetermined height, the drill rig direct power supply contactor in the surface power system 6 disconnects, and the surface power system 6 is powered off.

[0057] The function of the present invention is aimed at the characteristics that a single PLC system has prominent modular splitting and highly variable replacement capabilities, high system reliability, and convenient maintenance, but has a slightly larger shape; a single single-chip microcomputer system has a fixed structure, small volume, and low cost after mass production, but has insufficient variable adjustment capabilities after system encapsulation, and maintenance and replacement cannot be quickly and finely positioned. An electric control system for a subsea drill rig that can adapt to environmental requirements and special function needs is invented. Through the division of labor and cooperation among the PLC system in the PLC main control cabin 14, the second single-chip microcomputer in the optical communication and peripheral equipment measurement and control cabin 15, and the first single-chip microcomputer in the control system power supply cabin 11, the problems of insufficient functionality and reliability existing in the electric control system of the subsea drill rig when using a single controller are solved.

Claims

1. The electronic control system of the submarine drilling rig is characterized by: The invention comprises an umbilical cable storage drum (22) connected to a seabed drilling rig (24) via an optoelectronic composite umbilical cable, the other end of the umbilical cable storage drum (22) being connected to a surface optoelectronic junction box group (4), the surface optoelectronic junction box group (4) being connected to a surface control terminal (5) via an optical fiber, the surface optoelectronic junction box group (4) being connected to a surface power system (6) via a power cable, the surface control terminal (5) being connected to a DCS ship control system (7) via a network cable, the surface power system (6) being connected to an MCC ship power distribution system (8) via a power cable, and the surface control terminal (5) and the surface power system (6) being connected via a network cable and a multi-core hard wire.

2. The electric control system for a submarine drilling rig according to claim 1, characterized in that: The invention also comprises an underwater electronic control box group (1), wherein the underwater electronic control box group (1) is connected to an underwater photoelectric junction box (3) via an optical fiber, the underwater electronic control box group (1) is connected to an underwater power control box group (2) via a multi-core hard wire, the underwater power control box group (2) and the underwater photoelectric junction box (3) are connected via a power cable, the underwater electronic control box group (1) comprises a PLC main control cabin (14), a PLC system is arranged in the PLC main control cabin (14), the PLC main control cabin (14) is connected to an optical communication and peripheral equipment measurement and control cabin (15) via a network cable, a No. 2 single chip microcomputer is arranged in the optical communication and peripheral equipment measurement and control cabin (15), and the underwater power control box group (2) comprises a control system power cabin (11), a No. 1 single chip microcomputer is arranged in the control system power cabin (11).

3. The electric control system for a submarine drilling rig according to claim 2, characterized in that: The underwater power control box group (2) further comprises a control transformer cabin (10), wherein the control transformer cabin (10) is connected to a control system power cabin (11) via a power cable, wherein the control system power cabin (11) is connected to a battery cabin (12) via a multi-core hard wire, and wherein the control system power cabin (11) is connected to a power system control cabin (13) via a multi-core hard wire; the underwater electronic control box group (1) further comprises a control system underwater junction box (16), wherein the control system underwater junction box (16) is connected to a PLC main control cabin (14) via a multi-core hard wire.

4. The electric control system for a submarine drilling rig according to claim 3, characterized in that: The underwater photoelectric junction box (3) is connected to a control transformer cabin (10) and a power system control cabin (13) via a power cable, and the underwater photoelectric junction box (3) is connected to an optical communication and peripheral equipment measurement and control cabin (15) via an optical fiber; the control system power cabin (11) is connected to a PLC main control cabin (14) via a multi-core hard wire, and the control system power cabin (11) is connected to an optical communication and peripheral equipment measurement and control cabin (15) via a multi-core hard wire, and the power system control cabin (13) is connected to an underwater hydraulic station motor (21) via a power cable.

5. The electric control system for a submarine drilling rig according to claim 4, characterized in that: The PLC main control cabin (14) is connected to a hydraulic control valve box group (9) via a multi-core hard wire, the control system underwater distribution box is connected to a drilling rig underwater state detection sensor (17) via a plurality of multi-core hard wires, the optical communication and peripheral equipment measurement and control cabin (15) is connected to a plurality of underwater lighting lamps (19) and a plurality of underwater cameras (20) via a plurality of multi-core hard wires, and the optical communication and peripheral equipment measurement and control cabin (15) is connected to a drilling rig underwater environment detection sensor (18) via a multi-core hard wire; The drilling rig underwater state detection sensors (17) include a displacement sensor group (29), a rotation angle sensor group (30), a motor oil temperature sensor (31), and a circulation system pressure sensor (32); the hydraulic control valve box group (9) includes a proportional solenoid valve group (38), a switch solenoid valve group (25), a hydraulic pipeline pressure sensor group (26), a hydraulic system oil temperature sensor (27), and a system oil tank level sensor (28); the drilling rig underwater environment detection sensors (18) include a water depth sensor (35), a ground clearance sensor (36), and a drilling rig attitude sensor (37); the surface power system (6) is provided with a surface control terminal circuit breaker, a drilling rig direct power supply contactor, a drilling rig soft starter, and a bypass contactor; and the power system control cabin (13) is provided with an underwater high-voltage normally open contactor.

6. A method for controlling a subsea drilling rig, characterized in that: According to claims 1-5, the electric control system for the submarine drilling rig is implemented in the following steps: Step 1: lowering the seabed drilling rig (24) and powering on the seabed drilling rig electrical control system; Step 2: The seabed drilling rig (24) is addressed and the underwater hydraulic station motor (21) is started; Step 3: Leveling and drilling of the seabed drilling rig (24); Step 4: Stop and recover the seabed drilling rig (24).

7. The method for controlling a subsea drilling rig according to claim 6, characterized in that: The process of lowering the seabed drilling rig (24) and powering on the seabed drilling rig electric control system in step 1 is as follows: when the ship arrives at the designated target sea area, the ship umbilical cable winch (23) is started to lower the seabed drilling rig (24) to the target depth; the MCC ship power distribution system (8) supplies power to the surface power system (6), and the surface control terminal circuit breaker and the drilling rig direct power supply contactor in the surface power system (6) are closed; the MCC ship power distribution system (8) supplies power to the surface control terminal (5), the control transformer cabin (10), the control system power cabin (11), the power system control cabin (13), the PLC main control cabin (14), and the optical communication and peripheral equipment measurement and control cabin (15), the battery cabin (12) is floatingly charged, the underwater hydraulic station motor (21) is not started, and the surface control terminal (5) respectively establishes communication connections with the underwater electronic control box group (1), the underwater power control box group (2), and the underwater photoelectric junction box (3).

8. The method for controlling a subsea drilling rig according to claim 7, characterized in that: The process of addressing the seabed drilling rig (24) and starting the underwater hydraulic station motor (21) in the step 2 is as follows: addressing the seabed drilling rig (24) is completed in cooperation with the ship positioning system according to the underwater environment information parameters fed back by the drilling rig underwater environment detection sensor (18), the underwater state information parameters fed back by the drilling rig underwater state detection sensor (17), and the underwater real-time display image fed back by the underwater camera (20) obtained by the surface control terminal (5) through the optical communication and peripheral equipment control cabin (15); when the addressing is completed, the direct power supply contactor of the drilling rig in the surface power system (6) is disconnected, and the battery cabin (12) supplies power to the underwater electronic control box group (1) through the control system power cabin (11); further, the underwater high-voltage normally open contactor in the power system control cabin (13) is closed, the drilling rig soft starter in the surface power system (6) is started and the soft starter bypass contact is closed with a delay; the underwater hydraulic station motor (21) is started, and the battery cabin (12) is float-charged.

9. The method for controlling a subsea drilling rig according to claim 8, characterized in that: The process of the subsea drilling rig (24) leveling and drilling operation in step 3 is as follows: a drilling rig leveling instruction is issued at the surface control terminal (5), the PLC main control cabin (14) completes the specific control logic of the drilling rig leveling mechanism, and outputs the control signal to the hydraulic control valve box group (9), the drilling rig leveling mechanism is actuated, the PLC main control cabin (14) combines the underwater state feedback information of the drilling rig to complete the subsea drilling rig (24) leveling action and feeds back the result to the surface control terminal (5); after the subsea drilling rig (24) completes the leveling operation, the surface control terminal (5) issues the drilling rig drilling operation instruction, the PLC main control cabin (14) completes the underwater pipe string processing and drilling specific control logic, and outputs the control signal to the hydraulic control valve box group (9), the drilling rig pipe string processing and drilling actuator are actuated, the PLC main control cabin (14) combines the underwater state feedback information of the drilling rig to complete the subsea drilling rig (24) drilling operation and feeds back the real-time state information of the drilling rig to the surface control terminal (5).

10. The method for controlling a subsea drilling rig according to claim 9, characterized in that: The stopping and recovery process of the subsea drilling rig (24) in step 4 is as follows: after the drilling is completed, the surface control terminal (5) issues a drilling rig leveling and recovery command, the PLC main control cabin (14) completes the specific control logic of the drilling rig leveling and recovery, and outputs the control signal to the hydraulic control valve box group (9), the drilling rig leveling and recovery action is executed, the PLC main control cabin (14) combines the drilling rig underwater state feedback information, completes the subsea drilling rig (24) leveling and recovery action and feeds back the result to the surface control terminal (5); the control system power cabin (11) controls the battery cabin (12) to stop supplying power to the underwater electronic control box group (1), and the surface The drilling rig soft starter and its bypass contactor in the power system (6) stop supplying power to the seabed drilling rig (24), the underwater hydraulic station motor (21) stops, the underwater high-voltage normally open contactor in the power system control cabin (13) is disconnected, the drilling rig direct power supply contactor in the surface power system (6) is closed, the underwater electronic control box group (1) is powered on again, and the battery cabin (12) is floated and charged; the ship umbilical cable winch (23) is started to recover the seabed drilling rig (24), and when the seabed drilling rig (24) rises to a predetermined height, the drilling rig direct power supply contactor in the surface power system (6) is disconnected, and the surface power system (6) is powered off.

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