Calculation method for derrick lifting load increment

Abstract

The invention discloses a derrick lifting load increment calculation method which is specifically implemented according to the following steps: step 1, establishing a two-dimensional Cartesian coordinate system of an initial derrick lifting state, and calculating the total barycentric coordinates of all lifting equipment; 2, a lifting angle increment is introduced, and a function relation between the increment and a lifting moment is obtained; step 3, deriving by using a trigonometric function to obtain a function relationship among the lifting angle increment, the length change value of the lifting rope and the moment of the lifting rope; 4, the relation between the lifting angle increment and the included angle of the lifting rope at the lifting tripod is determined; 5, the relation between the lifting angle increment and the resistance moment generated by the weight of the traveling and hoisting equipment is determined; and 6, determining the relationship between the lifting angle increment and the large rope force, the lifting hook load and the fast rope force. According to the invention, the problems of time-consuming and labor-consuming calculation and low calculation precision of the existing lifting load calculation are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of incremental methods for petroleum machinery manufacturing, and in particular relates to a method for calculating an incremental load of a derrick. Background Art

[0002] The derrick of an oil drilling rig is an important part of drilling and well repairing equipment. Its role is to provide sufficient travel for the traveling and hoisting system and bear important tasks such as drilling load. At present, the mainstream derricks of oil drilling rigs are all installed at a low position and then lifted to the working position. The lifting load borne by the derrick itself when lifting the derrick is a major load when designing the derrick. For derricks with different lifting methods, the lifting load calculation of the wire rope lifting and rotating derrick is the most complicated. Especially for the ultra-deep well rotating derrick, the derrick itself is 50 to 60 meters high and weighs more than 100 tons. Using a large rope for lifting is an economical and safe way. The load imposed on the derrick by the lifting system mainly based on wire rope is the top priority of the design load. The mainstream standard specifications for oil drilling and production equipment also stipulate that the impact of the lifting condition on the derrick must be considered. Therefore, the calculation of this main load is crucial. Nowadays, the lifting load of the rotary derrick with wire rope hoisting is directly calculated by the moment balance formula at the initial lifting position, and then the force condition at the initial position of the derrick is calculated by the lifting load. However, the lifting load of the rotary derrick will change during the lifting process, and the lifting load at the initial position is not necessarily the largest. If you want to calculate the lifting load at other lifting positions of the derrick, you have to make new drawings and then recalculate using the moment balance formula. In addition, the position change of the traveling hoist system is often omitted during the calculation process. This is time-consuming and labor-intensive, and the calculation accuracy is not high. Summary of the invention

[0003] The purpose of the present invention is to provide a method for calculating the increment of the lifting load of a derrick, which solves the problem that the calculation of the existing lifting load is time-consuming and labor-intensive and the calculation accuracy is not high.

[0004] The technical solution adopted by the present invention is a method for calculating the derrick lifting load increment, which specifically follows the following steps:

[0005] Step 1: Establish a two-dimensional Cartesian coordinate system of the initial state of the derrick lifting, and calculate the total center of gravity coordinates of all the lifting equipment involved;

[0006] Step 2, introducing the lifting angle increment, and obtaining the functional relationship between the increment and the lifting torque;

[0007] Step 3: Use trigonometric functions to derive the functional relationship between the lifting angle increment, the change in the length of the lifting rope, and the rope torque;

[0008] Step 4, determine the relationship between the lifting angle increment and the lifting rope angle at the lifting tripod;

[0009] Step 5, determine the relationship between the lifting angle increment and the resistance torque generated by the weight of the traveling crane;

[0010] Step 6: Determine the relationship between the lifting angle increment and the maximum rope force, lifting hook load and fast rope force.

[0011] The technical feature of the present invention is that:

[0012] The origin of the two-dimensional Cartesian coordinate system in step 1 is the rotation point when the derrick is lifted. Assume that the X-axis is horizontal to the ground and points in the direction of the overhead crane, and the Y-axis is vertically upward. List the weights of all the equipment involved in the lifting on the derrick, calculate the total weight G, and list the distances X and Y from the center of gravity of all the equipment involved in the lifting to the origin of the coordinate system, and then calculate the total center of gravity coordinates X0 and Y0 of all the equipment involved in the lifting.

[0013] Step 1: The distance from the total center of gravity to the origin is as follows:

[0014]

[0015] The horizontal angle between the total center of gravity and the line connecting the origin is as follows:

[0016] α=arctan(Y0 / X0) (2)

[0017] By introducing the angle increment parameter Δα, the resistance torque during the lifting process can be obtained:

[0018] M1=G*LS*cos(α+Δα) (3)

[0019] The change of the resistance torque during the whole process of derrick lifting can correspond to the change of the increment Δα, and different Δα has a corresponding function value M1. The list can be written as [M1 1 , M1 2 , M1 3 ,......] T = Z1*[Δα 1 , Δα 2 , Δα 3 ,......] T , where Z represents a one-to-one correspondence. The matrix expresses the change and trend of the lifting torque when the total center of gravity rotates around the origin.

[0020] In Step 3, determine the parameters related to the hoisting load during the derrick hoisting process, and use mathematical tools to deduce the relationship between each parameter and the hoisting angle increment. The parameters related to the hoisting of the wire rope hoisting and rotating derrick can be named as follows: derrick hoisting angle θ0, upper hoisting wire rope length L1, perpendicular distance from the coordinate origin to the upper hoisting wire rope H1, angle between the upper hoisting wire rope and the coordinate origin θ1, distance from the derrick end of the upper hoisting wire rope to the coordinate origin La1, distance from the rope entry point of the upper hoisting wire rope on the gin pole to the coordinate origin Lb1; lower hoisting wire rope length L2, perpendicular distance from the coordinate origin to the lower hoisting wire rope H2, angle between the lower hoisting wire rope and the coordinate origin θ2, distance from the derrick end of the lower hoisting wire rope to the coordinate origin La2, distance from the rope entry point of the lower hoisting wire rope on the gin pole to the coordinate origin Lb2; fast rope length L3, perpendicular distance from the coordinate origin to the fast rope H3, angle between the fast rope and the coordinate origin θ3, distance from the crown block end of the fast rope to the coordinate origin La3, distance from the rope entry point of the fast rope on the gin pole to the coordinate origin Lb3; distance from the rope end of the hoisting tripod to the rope exit point of the lower pulley L4, large rope included angle θ4 at the hoisting tripod; introducing the angle increment and the hoisting wire rope length increment, the following equations can be obtained:

[0021] (L1 + ΔL1) * H1 = La1 * Lb1 * sin(θ1 + Δθ1) (4)

[0022] (L1 + ΔL1) 2 = La1 2 + Lb1 2 - 2 * La1 * Lb1 * cos(θ1 + Δθ1) (5)

[0023] (L2 + ΔL2) * H2 = La2 * Lb2 * sin(θ2 + Δθ2) (6)

[0024] (L2 + ΔL2) 2 = La2 2 + Lb2 2 - 2 * La2 * Lb2 * cos(θ2 + Δθ2) (7)

[0025] (L3 + ΔL3) * H3 = La3 * Lb3 * sin(θ3 + Δθ3) (8)

[0026] (L3 + ΔL3) 2 = La3 2 + Lb3 2 - 2 * La3 * Lb3 * cos(θ3 + Δθ3) (9)

[0027] For a specific derrick, La, Lb, and L4*sin(θ4 / 2) are constant values. Therefore, there is a one-to-one correspondence between the angular increments Δθ1, Δθ2, Δθ3 and (ΔL1, ΔL2, ΔL3), (H1, H2, H3). The function can be written in matrix form as follows:

[0028] [ΔL1 1 ,ΔL1 2 ,ΔL1 3 ,....] T =Z2*[Δθ1 1 ,Δθ1 2 ,Δθ1 3 ,....] T (10)

[0029] [ΔL2 1 ,ΔL2 2 ,ΔL2 3 ,....] T =Z3*[Δθ2 1 ,Δθ2 2 ,Δθ2 3 ,....] T (11)

[0030] [ΔL3 1 ,ΔL3 2 ,ΔL3 3 ,....] T =Z4*[Δθ3 1 ,Δθ3 2 ,Δθ3 3 ,....] T (12)

[0031] [H1 1 ,H1 2 ,H1 3 ,......] T =Z5*[Δθ1 1 ,Δθ1 2 ,Δθ1 3 ,......] T (13)

[0032] [H2 1 ,H2 2 ,H2 3 ,......] T =Z6*[Δθ2 1 ,Δθ2 2 ,Δθ2 3 ,......] T (14)

[0033] [H31 , H3 2 , H3 3 ,......] T = Z7*[Δθ3 1 , Δθ3 2 , Δθ3 3 ,......] T (15) At the same time, according to geometric knowledge, the angle increment has the following relationship:

[0034] Δθ0=Δα=-Δθ1=-Δθ2=-Δθ3 (16)

[0035] Based on the above relationship, the change value of the hoisting rope length and the change amount and trend of the rope torque when the derrick rotates around the origin are obtained.

[0036] In step 4, according to the geometric relationship, the incremental equation of the lifting tripod position is:

[0037] (L4+ΔL4) *sin((θ4+Δθ4) / 2)= L4*sin(θ4 / 2) (17) Then Δθ4 and ΔL4 have the following relationship:

[0038] [ΔL4 1 , ΔL4 2 , ΔL4 3 , ....] T =Z8*[Δθ4 1 , Δθ4 2 , Δθ4 3 , ....] T (18) Since the length of the large rope is constant, the length increment has the following relationship:

[0039] ΔL1+ΔL2=-ΔL4 (19)

[0040] Combining equations (10), (11) and (16), we can get the relationship between Δθ4 and Δθ0:

[0041] (Z2+Z3)*[Δθ0 1 ,Δθ0 2 ......] T =Z8*[Δθ4 1 ,Δθ4 2 ......] T (20) Based on the above relationship, the change in the angle of the lifting rope at the lifting tripod when the derrick rotates around the origin is obtained.

[0042] The position of the traveling hoist in step 5 will change with the length of the rope during the lifting process, so the resistance torque generated by its weight needs to be considered separately. Assume that the weight of the traveling hoist is Gy, the distance from the center of gravity of the traveling hoist to the origin is Ly, and introduce the increment ΔLy. From the geometric relationship, it can be seen that the increment of the movement of the center of gravity of the traveling hoist along the direction of the derrick column is equal to the increment of the movement of the derrick lifting tripod, so ΔLy=(L4+ΔL4)*cos((θ4+Δθ4) / 2)-L4*cos(θ4 / 2). Obviously, ΔLy is determined by the two increments of ΔL4 and Δθ4. Combined with formula (18), the following relationship can be obtained:

[0043] [ΔLy 1 , ΔLy 2 , ΔLy 3 , ....] T =Z9*[Δθ4 1 , Δθ4 2 , Δθ4 3 , ....] T (21) Combined with formula (20), we can get:

[0044] [ΔLy 1 , ΔLy 2 .....] T =(Z2+Z3)* Z9 / Z8*[Δθ0 1 , Δθ0 2 ....] T (twenty two)

[0045] The resistance distance generated by the traveling suspension system is M2 = Gy*(Ly+ΔLy)*cos(θ0+Δθ0), where M2 is determined by two increments ΔLy and Δθ0. According to formula (22), ΔLy can be expressed by Δθ0, so the matrix can be obtained:

[0046] [M2 1 , M2 2 , M2 3 , ....] T =Z10*[Δθ0 1 , Δθ0 2 , Δθ0 3 ......] T (23)Equation (23) expresses the change in the resistance torque generated by the weight of the traveling hoist when the derrick rotates around the origin.

[0047] In step 6, set the traveling pulley efficiency η, the large rope efficiency λ, the large rope force T, the fast rope force K, the lifting hook load F, and the number of traveling ropes n. Since two large ropes are generally used for derrick lifting, an angle increment is introduced. According to the force balance relationship, it can be obtained:

[0048] 2*λ*T*cos((θ4+Δθ4) / 2)+Gy*sin(θ0+Δθ0)=F (24)

[0049] η*K=F / n (25)

[0050] T*H1+T*H2+K*H3=M1+M2 (26)

[0051] Among them, T, F, K are unknown quantities, which can be solved as follows:

[0052]

[0053] According to formulas (13)(14)(15)(20), H1, H2, H3, and Δθ4 in the above formula can be expressed by Δθ0, so the relationship between T and Δθ0 can be obtained:

[0054] [T 1 , T 2 , T 3 ,......] T =Z11*[Δθ0 1 , Δθ0 2 , Δθ0 3 ........] T (28) Then we can solve:

[0055] [F 1 , F 2 , F 3 ,......] T =Z12*[Δθ0 1 , Δθ0 2 , Δθ0 3 ........] T (29)

[0056] [K 1 , K 2 , K 3 ,......] T =Z13*[Δθ0 1 , Δθ0 2 , Δθ0 3 ........] T (30) Formulas (28), (29) and (30) express the changing values ​​and trends of the large rope force, the hoisting hook load and the fast rope force when the derrick rotates around the origin. So far, the three basic hoisting loads of the wire rope hoisting derrick have all been solved. Then the maximum value among them can be found to proceed to the next step of structural strength calculation.

[0057] The beneficial effects of the present invention are:

[0058] The calculation method of the derrick lifting load increment of the present invention takes the angle increment in the derrick lifting process as the independent variable and the load in the whole process of derrick lifting as the dependent variable, and integrates the change values ​​of the independent variable and the dependent variable into a function matrix through mathematical tools. The lifting load in the whole process of derrick lifting can be obtained by solving the function matrix. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a schematic diagram of a wire rope hoisting derrick in Embodiment 1 of the present invention;

[0060] Figure 2 This is a schematic diagram of a derrick for continuous lifting with one-time rope threading in Example 2 of the present invention;

[0061] Figure 3 is a schematic diagram of a derrick hoisted by a ground pulley in Embodiment 3 of the present invention;

[0062] Figure 4 It is a schematic diagram of the layout of the derrick hoisting diagram in Example 3 of the present invention. DETAILED DESCRIPTION

[0063] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, but the present invention is not limited to the specific embodiments.

[0064] The method for calculating the derrick lifting load increment of the present invention specifically follows the following steps:

[0065] Step 1: Establish a two-dimensional Cartesian coordinate system in the initial state of the derrick lifting, with the origin being the rotation point when the derrick is lifted (usually the derrick support foot), setting the X-axis to be horizontal with the ground and pointing in the direction of the overhead crane, setting the Y-axis to be vertically upward, list the weights of all the equipment involved in the lifting on the derrick, calculate the total weight G, and list the distances X and Y from the center of gravity of all the equipment involved in the lifting to the origin of the coordinate system, and then calculate the total center of gravity coordinates X0 and Y0 of all the equipment involved in the lifting;

[0066] Step 2: According to step 1, the distance from the total center of gravity to the origin can be obtained:

[0067]

[0068] The horizontal angle between the total center of gravity and the line connecting the origin is: α = arctan (Y0 / X0) (2) By introducing the angle increment parameter Δα, the resistance torque during the lifting process can be obtained:

[0069] M1=G*LS*cos(α+Δα) (3)

[0070] The change of the resistance torque during the whole process of derrick lifting can correspond to the change of the increment Δα, and different Δα has a corresponding function value M1. The list can be written as [M1 1 , M12 , M1 3 ,......] T = Z1*[Δα 1 , Δα 2 , Δα 3 ,......] T , where Z represents a one-to-one correspondence. The matrix expresses the change and trend of the lifting torque when the total center of gravity rotates around the origin;

[0071] Step 3: Determine the parameters related to the lifting load during the derrick lifting process, and use mathematical tools to derive the relationship between each parameter and the lifting angle increment;

[0072] The parameters related to the lifting of the wire rope hoisting derrick can be named as follows: derrick lifting angle θ0, upper lifting rope length L1, vertical distance from the coordinate origin to the upper lifting rope H1, angle θ1 between the upper lifting rope and the coordinate origin, distance La1 from the derrick end of the upper lifting rope to the coordinate origin, distance Lb1 from the entry point of the upper lifting rope to the coordinate origin; lower lifting rope length L2, vertical distance H2 from the coordinate origin to the lower lifting rope, angle θ2 between the lower lifting rope and the coordinate origin, lower lifting rope The distance from the end of the main rope derrick to the coordinate origin is La2, and the distance from the entry point of the lower hoisting main rope to the coordinate origin is Lb2; the length of the fast rope is L3, the vertical distance from the coordinate origin to the fast rope is H3, the angle between the fast rope and the coordinate origin is θ3, the distance from the end of the fast rope crane to the coordinate origin is La3, and the distance from the entry point of the fast rope to the coordinate origin is Lb3; the distance from the rope head of the lifting tripod to the rope exit point of the lower pulley is L4, and the angle of the main rope at the lifting tripod is θ4; by introducing the angle increment and the length increment of the lifting main rope, the following equation can be obtained:

[0073] (L1+ΔL1)* H1=La1* Lb1*sin(θ1+Δθ1) (4)

[0074] (L1+ΔL1) 2 =La1 2 +Lb1 2 -2* La1* Lb1*cos(θ1+Δθ1) (5)

[0075] (L2+ΔL2)* H2=La2* Lb2*sin(θ2+Δθ2) (6)

[0076] (L2+ΔL2) 2 =La2 2 +Lb2 2 -2* La2* Lb2*cos(θ2+Δθ2) (7)

[0077] (L3+ΔL3)* H3=La3* Lb3*sin(θ3+Δθ3) (8)

[0078] (L3+ΔL3) 2 =La3 2 +Lb3 2 -2* La3* Lb3*cos(θ3+Δθ3) (9)

[0079] For a specific derrick, La, Lb, L4*sin(θ4 / 2) are constants, so the angle increments Δθ1, Δθ2, Δθ3 have a one-to-one correspondence with (ΔL1, ΔL2, ΔL3), (H1, H2, H3), and the function is written in matrix form:

[0080] [ΔL1 1 , ΔL1 2 , ΔL1 3 , ....] T = Z2*[Δθ1 1 , Δθ1 2 , Δθ1 3 , ....] T (10)

[0081] [ΔL2 1 , ΔL2 2 , ΔL2 3 , ....] T = Z3*[Δθ2 1 , Δθ2 2 , Δθ2 3 , ....] T (11)

[0082] [ΔL3 1 , ΔL3 2 , ΔL3 3 , ....] T = Z4*[Δθ3 1 , Δθ3 2 , Δθ3 3 , ....] T (12)

[0083] [H1 1 , H1 2 , H1 3 ,......] T =Z5*[Δθ1 1 , Δθ1 2 , Δθ1 3 ,......] T (13)

[0084] [H2 1 , H2 2 , H2 3 ,......]T = Z6*[Δθ2 1 , Δθ2 2 , Δθ2 3 ,......] T (14)

[0085] [H3 1 , H3 2 , H3 3 ,......] T = Z7*[Δθ3 1 , Δθ3 2 , Δθ3 3 ,......] T (15) At the same time, according to geometric knowledge, the angle increment has the following relationship:

[0086] Δθ0=Δα=-Δθ1=-Δθ2=-Δθ3 (16)

[0087] According to the above relationship, the change value of the hoisting rope length and the change amount and trend of the rope torque when the derrick rotates around the origin are obtained;

[0088] Step 4: According to the geometric relationship, the incremental equation of the lifting tripod position is:

[0089] (L4+ΔL4) *sin((θ4+Δθ4) / 2)= L4*sin(θ4 / 2) (17) Then Δθ4 and ΔL4 have the following relationship:

[0090] [ΔL4 1 , ΔL4 2 , ΔL4 3 , ....] T =Z8*[Δθ4 1 , Δθ4 2 , Δθ4 3 , ....] T (18) Since the length of the large rope is constant, the length increment has the following relationship:

[0091] ΔL1+ΔL2=-ΔL4 (19)

[0092] Combining equations (10), (11) and (16), we can get the relationship between Δθ4 and Δθ0:

[0093] (Z2+Z3)*[Δθ0 1 ,Δθ0 2 ......] T =Z8*[Δθ4 1 ,Δθ4 2 ......] T(20)

[0094] According to the above relationships, the variation value of the angle of the hoisting main rope at the hoisting tripod can be obtained when the derrick rotates around the origin;

[0095] Step 5: The position of the traveling hoist equipment will change with the change of the main rope length during the hoisting process. Therefore, the resistance moment generated by its weight needs to be considered separately. Let the weight of the traveling hoist equipment be Gy, the distance from the center of gravity of the traveling hoist equipment to the origin be Ly, and the increment ΔLy be introduced. From the geometric relationship, it can be known that the increment of the center of gravity of the traveling hoist equipment moving along the derrick column direction is equal to the increment of the movement of the derrick hoisting tripod. Therefore, ΔLy = (L4 + ΔL4)*cos((θ4 + Δθ4) / 2) - L4*cos(θ4 / 2). Obviously, ΔLy is determined by two increments, ΔL4 and Δθ4. Combining with Equation (18), the following relationship can be obtained:

[0096] [ΔLy 1 , ΔLy 2 , ΔLy 3 ,....] T = Z9*[Δθ4 1 , Δθ4 2 , Δθ4 3 ,....] T (21) Combining with Equation (20), we can get:

[0097] [ΔLy 1 , ΔLy 2 .....] T = (Z2 + Z3)* Z9 / Z8*[Δθ0 1 , Δθ0 2 ....] T (22)

[0098] The resistance moment M2 generated by the traveling hoist system is M2 = Gy*(Ly + ΔLy)*cos(θ0 + Δθ0). M2 is determined by two increments, ΔLy and Δθ0. According to Equation (22), ΔLy can be expressed by Δθ0. Therefore, the matrix can be obtained:

[0099] [M2 1 , M2 2 , M2 3 ,....] T = Z10*[Δθ0 1 , Δθ0 2 , Δθ0 3 ......] T (23)

[0100] Equation (23) represents the variation value of the resistance moment generated by the weight of the traveling hoist equipment when the derrick rotates around the origin;

[0101] Step 6: Assume the efficiency of the traveling pulley η, the efficiency of the large rope λ, the large rope force T, the fast rope force K, the lifting hook load F, and the number of traveling ropes n. Since two large ropes are generally used for derrick lifting, an angle increment is introduced. According to the force balance relationship, it can be obtained:

[0102] 2*λ*T*cos((θ4+Δθ4) / 2)+Gy*sin(θ0+Δθ0)=F (24)

[0103] η*K=F / n (25)

[0104] T*H1+T*H2+K*H3=M1+M2 (26)

[0105] Among them, T, F, K are unknown quantities, which can be solved as follows:

[0106]

[0107] According to formulas (13)(14)(15)(20), H1, H2, H3, and Δθ4 in the above formula can be expressed by Δθ0, so the relationship between T and Δθ0 can be obtained:

[0108] [T 1 , T 2 , T 3 ,......] T =Z11*[Δθ0 1 , Δθ0 2 , Δθ0 3 ........] T (28) Then we can solve:

[0109] [F 1 , F 2 , F 3 ,......] T =Z12*[Δθ0 1 , Δθ0 2 , Δθ0 3 ........] T (29)

[0110] [K 1 , K 2 , K 3 ,......] T =Z13*[Δθ0 1 , Δθ0 2 , Δθ0 3 ........] T (30)

[0111] Formulas (28), (29) and (30) express the changing values ​​and trends of the large rope force, the hoisting hook load and the fast rope force when the derrick rotates around the origin. So far, the three basic hoisting loads of the wire rope hoisting derrick have all been solved. Then the maximum value among them can be found to proceed to the next step of structural strength calculation.

[0112] For the derrick that is continuously lifted by one-time rope insertion, the change in the lifting system is the cancellation of the lower lifting rope. Therefore, when using the incremental method to solve, the group of parameters L2, H2, θ2, La2, and Lb2 need to be deleted. In this way, equations (11) and (14) in step 3 do not exist, and -Δθ2 in equation (16) is deleted. Equation (19) in step 4 is changed to ΔL1=-ΔL4, and equation (20) is changed to:

[0113] Z2*[Δθ0 1 , Δθ0 2 ......] T =Z8*[Δθ4 1 , Δθ4 2 ......] T (31)

[0114] In step 5, formula 22 is changed to

[0115] [ΔLy 1 , ΔLy 2 ......] T =Z2*Z9 / Z8*[Δθ0 1 , Δθ0 2 ......] T (32)

[0116] In step 6, due to the lack of a lifting rope, the force balance equation 26 is changed to

[0117] T*H1+K*H3=M1+M2 (33)

[0118] Formula 27 is changed to

[0119]

[0120] The relationship between the three basic lifting loads T, F, and K and Δθ0 can still be obtained.

[0121] If the lifting system used by the derrick is a ground pulley lifting system, the L1 section of the lifting rope is double-stranded, and the L2 section of the lifting rope is cancelled. In this way, the incremental calculation method cancels the parameters L2, H2, θ2, La2, and Lb2 in step 3. In step 3, equations (11) and (14) do not exist, and -Δθ2 in equation (16) is deleted. It is also necessary to change equation (19) in step 4 to 2*ΔL1=-ΔL4, and equation (20) is changed to:

[0122] Z2 * [Δθ0 1 ,Δθ0 2 ......] T =Z8 * [Δθ4 1 ,Δθ4 2 ......] T (35)

[0123] In step 5, formula 22 is changed in the same way to:

[0124] [ΔLy 1 ,ΔLy 2 ......] T =Z2 * Z9 / Z8 * [Δθ0 1 ,Δθ0 2 ......] T (36) Meanwhile, in step 6, the force balance relation formula 26 is changed to:

[0125] 2 * T * H1 + K * H3 = M1 + M2 (37)

[0126] Formula 27 is changed to

[0127]

[0128] Then, through calculation, the relationships between the three basic hoisting loads of T, F, and K and Δθ0 are obtained.

[0129] Embodiment 1

[0130] Since the calculation expressions of the present invention are all in matrix form, an EXCEL table can be used for calculation. For the Figure 1 hoisting derrick with wire ropes, the calculation is as follows:

[0131] First, set the positive direction of the X-axis to the left horizontally and the positive direction of the Z-axis to the upward vertically, with the origin at the derrick rotation support feet. Enter the weights of the derrick hoisting equipment and the distances from the support feet origin into the table in sequence, and finally calculate the total weight, the position LS of the total center of gravity, and the horizontal angle α as shown in the following table:

[0132]

[0133] Secondly, according to the derrick hoisting diagram, measure the initial parameters and enter them into the EXCEL table. All the known quantities that need to participate in the calculation can be entered simultaneously in this step, as shown in the following table:

[0134]

[0135] Take the angle increment Δθ0 as the independent variable list, input the relationship between equations (4) to (30) into the table in function form, and use the automatic filling function to obtain the matrix of other increments and lifting loads changing with increment Δθ0, as shown in the following table:

[0136] D0 M1 Da Dth1 ΔL1 ΔL2 ΔL3 H1 H2 H3 ΔL4 Dth4 Δly M2 T F K 0 5832780000 0 0 0.0 0.0 0.0 11763.2 8602.5 12990.7 0.0 0.0 0.0 1.7E+08 269553 371052 39540.9 3 5794366627 3 -3 -622.7 -457.6 -684.3 12017.2 8874.8 13141.1 1080.3 -14.7 1473.5 1.8E+08 259203 402646 42907.8 6 5740071297 6 -6 -1258.0 -929.2 -1375.6 12247.0 9139.9 13259.3 2187.3 -25.3 2852.0 1.9E+08 250094 416586 44393.3 9 5670042831 9 -9 -1904.7 -1414.6 -2072.2 12451.5 9397.6 13343.9 3319.3 -33.3 4186.2 2E+08 241649 421116 44876 12 5584473171 12 -12 -2561.5 -1913.2 -2772.3 12629.2 9647.6 13393.9 4474.7 -39.7 5499.0 2.1E+08 233592 420049 44762.3 15 5483596859 15 -15 -3226.8 -2424.7 -3474.2 12778.9 9889.5 13408.2 5651.5 -44.9 6802.4 2.2E+08 225771 415403 44267.1 18 5367690389 18 -18 -3899.1 -2948.7 -4175.8 12899.0 10122.9 13385.5 6847.8 -49.2 8103.0 2.3E+08 218094 408335 43514 21 5237071453 21 -21 -4577.0 -3484.7 -4875.2 12988.2 10347.4 13325.0 8061.7 -52.9 9404.1 2.4E+08 210499 399551 42577.9 24 5092098068 24 -24 -5258.7 -4032.1 -5570.5 13044.9 10562.7 13225.5 9290.8 -56.0 10707.4 2.4E+08 202942 389497 41506.5 27 4933167596 27 -27 -5942.5 -4590.6 -6259.5 13067.5 10768.1 13086.2 10533.1 -58.7 12013.4 2.4E+08 195390 378462 40330.6 30 4760715655 30 -30 -6626.5 -5159.6 -6940.2 13054.6 10963.3 12906.3 11786.1 -61.0 13321.7 2.5E+08 187815 366638 39070.6 33 4575214923 33 -33 -7308.9 -5738.5 -7610.4 13004.5 11147.6 12685.1 13047.4 -63.1 14631.4 2.5E+08 180192 354151 37739.8 36 4377173844 36 -36 -7987.7 -6326.7 -8267.8 12915.5 11320.3 12421.9 14314.4 -64.9 15941.1 2.5E+08 172500 341080 36347 39 4167135237 39 -39 -8660.7 -6923.7 -8910.4 12786.2 11480.6 12116.4 15584.4 -66.5 17248.9 2.4E+08 164715 327473 34897 42 3945674802 42 -42 -9325.9 -7528.8 -9535.9 12614.9 11627.5 11768.2 16854.6 -67.9 18552.8 2.4E+08 156815 313352 33392.1 45 3713399546 45 -45 -9981.0 -8141.1 -10142.0 12400.2 11759.9 11377.4 18122.1 -69.2 19850.3 2.3E+08 148772 298718 31832.7 48 3470946120 48 -48 -10623.7 -8760.0 -10726.6 12140.6 11876.4 10944.1 19383.6 -70.4 21138.9 2.3E+08 140559 283553 30216.7 51 3218979072 51 -51 -11251.5 -9384.5 -11287.4 11834.7 11975.3 10468.6 20636.0 -71.4 22415.7 2.2E+08 132143 267823 28540.4 54 2958189026 54 -54 -11862.2 -10013.7 -11822.2 11481.5 12054.4 9951.7 21875.8 -72.3 23677.5 2.1E+08 123484 251475 26798.3 57 2689290790 57 -57 -12453.0 -10646.4 -12328.8 11080.0 12111.0 9394.2 23099.5 -73.2 24921.0 1.9E+08 114537 234435 24982.4 60 2413021394 60 -60 -13021.6 -11281.5 -12805.2 10629.6 12141.6 8797.3 24303.1 -74.0 26142.7 1.8E+08 105244 216607 23082.5 63 2130138075 63 -63 -13565.3 -11917.4 -13249.4 10129.8 12141.5 8162.8 25482.7 -74.7 27338.6 1.6E+08 95535 197862 21085 66 1841416195 66 -66 -14081.5 -12552.3 -13659.4 9580.7 12104.9 7492.3 26633.8 -75.3 28504.6 1.4E+08 85321.9 178034 18972.1 69 1547647122 69 -69 -14567.7 -13184.2 -14033.4 8982.9 12023.5 6788.1 27751.9 -75.9 29636.2 1.2E+08 74488.6 156902 16720.1 72 1249636055 72 -72 -15021.4 -13810.4 -14369.7 8337.1 11886.4 6052.7 28831.8 -76.4 30728.3 1E+08 62879.4 134163 14296.9 75 948199822.6 75 -75 -15440.0 -14427.7 -14666.7 7645.1 11678.7 5289.0 29867.7 -76.9 31775.2 7.9E+07 50275.8 109388 11656.8 78 644164640.5 78 -78 -15821.2 -15031.8 -14923.1 6908.8 11379.6 4500.2 30853.0 -77.3 32770.5 5.5E+07 36353.9 81939.2 8731.8 81 338363847.9 81 -81 -16162.8 -15617.3 -15137.6 6131.1 10960.5 3689.6 31780.0 -77.7 33706.4 3E+07 20601.9 50804.8 5413.98 84 31635623.51 84 -84 -16462.6 -16176.8 -15309.2 5315.4 10382.2 2861.0 32639.4 -78.0 34573.6 3330457 2144.84 14251.4 1518.69 87 -275179311.9 87 -87 -16718.8 -16700.8 -15437.0 4465.8 9592.3 2018.2 33419.6 -78.3 35360.7 -2E+07 -20657 -30972 -3300.5 90 -581240000 90 -90 -16929.7 -17176.5 -15520.3 3586.9 8525.4 1165.4 34106.2 -78.6 36053.1 -5E+07 -51243 -91688 -9770.7

[0137] The interval value of the angle increment in the above table can be adjusted as needed, so that the calculation process data and lifting load data at any position in the whole lifting process can be obtained. These data can be used to further draw a load change diagram to obtain an intuitive lifting load change trend, providing strong support for the lifting system design.

[0138] Example 2

[0139] right Figure 2 The calculation is done for the derrick that is continuously lifted with one rope:

[0140] Assume that the horizontal left is the positive direction of the X axis, the vertical upward is the positive direction of the Z axis, and the origin is the derrick rotating support foot. Enter the weight of the derrick lifting equipment and the distance from the support foot origin in the table in turn, and finally calculate the total weight, the position of the total center of gravity LS and the horizontal angle α, as shown in the following table:

[0141]

[0142] Secondly, according to the derrick hoisting diagram, the initial parameters are measured and input into the EXCEL table. In this step, all known quantities required for calculation can be input at the same time. Compared with Example 1, the difference of the one-time rope-threading derrick hoisting system is only that the L2 section of the large rope is removed, and the corresponding increment ΔL2 and the loud moment H2 will be identical to zero. Therefore, it is only necessary to input specific values, such as θ2=0, La2=1, Lb2=0, as shown in the following table:

[0143]

[0144] This will make ΔL2=0, H2=0 in the matrix table in Example 1.

[0145] D0 M1 Da Dth1 ΔL1 ΔL2 ΔL3 H1 H2 H3 ΔL4 Dth4 Δly M2 T F K 0 5832780000 0 0 0.0 0.0 0.0 11763.2 0.0 12990.7 0.0 0.0 0.0 169179948.8 439259 604043 64369.5 3 5794366627 3 -3 -622.7 0.0 -684.3 12017.2 0.0 13141.1 622.7 -9.2 870.2 176678791.7 423589 630403 67178.5 6 5740071297 6 -6 -1258.0 0.0 -1375.6 12247.0 0.0 13259.3 1258.0 -16.6 1701.6 183176608.6 409526 644476 68678.2 9 5670042831 9 -9 -1904.7 0.0 -2072.2 12451.5 0.0 13343.9 1904.7 -22.9 2508.7 188761874.1 396537 650446 69314.4 12 5584473171 12 -12 -2561.5 0.0 -2772.3 12629.2 0.0 13393.9 2561.5 -28.2 3299.7 193462251.4 384299 650783 69350.3 15 5483596859 15 -15 -3226.8 0.0 -3474.2 12778.9 0.0 13408.2 3226.8 -32.7 4079.2 197274555.9 372598 647047 68952.2 18 5367690389 18 -18 -3899.1 0.0 -4175.8 12899.0 0.0 13385.5 3899.1 -36.7 4849.9 200178944.2 361291 640273 68230.2 21 5237071453 21 -21 -4577.0 0.0 -4875.2 12988.2 0.0 13325.0 4577.0 -40.2 5613.5 202146583.6 350268 631167 67259.9 24 5092098068 24 -24 -5258.7 0.0 -5570.5 13044.9 0.0 13225.5 5258.7 -43.3 6370.4 203144269.5 339450 620227 66094.1 27 4933167596 27 -27 -5942.5 0.0 -6259.5 13067.5 0.0 13086.2 5942.5 -46.0 7120.7 203137474.8 328771 607803 64770.1 30 4760715655 30 -30 -6626.5 0.0 -6940.2 13054.6 0.0 12906.3 6626.5 -48.5 7863.9 202092533.9 318176 594145 63314.7 33 4575214923 33 -33 -7308.9 0.0 -7610.4 13004.5 0.0 12685.1 7308.9 -50.7 8599.1 199978316.2 307615 579429 61746.5 36 4377173844 36 -36 -7987.7 0.0 -8267.8 12915.5 0.0 12421.9 7987.7 -52.7 9325.2 196767582.9 297042 563770 60077.8 39 4167135237 39 -39 -8660.7 0.0 -8910.4 12786.2 0.0 12116.4 8660.7 -54.5 10040.8 192438131.1 286407 547237 58316 42 3945674802 42 -42 -9325.9 0.0 -9535.9 12614.9 0.0 11768.2 9325.9 -56.1 10744.4 186973787.7 275660 529858 56464 45 3713399546 45 -45 -9981.0 0.0 -10142.0 12400.2 0.0 11377.4 9981.0 -57.5 11434.2 180365285.7 264741 511618 54520.3 48 3470946120 48 -48 -10623.7 0.0 -10726.6 12140.6 0.0 10944.1 10623.7 -58.8 12108.2 172611042.1 253581 492466 52479.3 51 3218979072 51 -51 -11251.5 0.0 -11287.4 11834.7 0.0 10468.6 11251.5 -60.0 12764.5 163717842.4 242095 472301 50330.5 54 2958189026 54 -54 -11862.2 0.0 -11822.2 11481.5 0.0 9951.7 11862.2 -61.1 13400.9 153701434.1 230178 450971 48057.5 57 2689290790 57 -57 -12453.0 0.0 -12328.8 11080.0 0.0 9394.2 12453.0 -62.1 14015.1 142587023.5 217694 428256 45636.8 60 2413021394 60 -60 -13021.6 0.0 -12805.2 10629.6 0.0 8797.3 13021.6 -63.0 14604.7 130409667.7 204465 403844 43035.4 63 2130138075 63 -63 -13565.3 0.0 -13249.4 10129.8 0.0 8162.8 13565.3 -63.8 15167.4 117214549.8 190255 377306 40207.4 66 1841416195 66 -66 -14081.5 0.0 -13659.4 9580.7 0.0 7492.3 14081.5 -64.6 15700.8 103057125.4 174744 348038 37088.5 69 1547647122 69 -69 -14567.7 0.0 -14033.4 8982.9 0.0 6788.1 14567.7 -65.2 16202.3 88003125.16 157481 315186 33587.6 72 1249636055 72 -72 -15021.4 0.0 -14369.7 8337.1 0.0 6052.7 15021.4 -65.8 16669.6 72128399.35 137825 277512 29572.9 75 948199822.6 75 -75 -15440.0 0.0 -14666.7 7645.1 0.0 5289.0 15440.0 -66.3 17100.4 55518590.64 114826 233176 24848.2 78 644164640.5 78 -78 -15821.2 0.0 -14923.1 6908.8 0.0 4500.2 15821.2 -66.8 17492.2 38268623.61 87019.1 179329 19110.1 81 338363847.9 81 -81 -16162.8 0.0 -15137.6 6131.1 0.0 3689.6 16162.8 -67.2 17843.0 20482003.04 52028.3 111342 11865.1 84 31635623.51 84 -84 -16462.6 0.0 -15309.2 5315.4 0.0 2861.0 16462.6 -67.5 18150.7 2269917.827 5737.01 21183.9 2257.45 87 -275179311.9 87 -87 -16718.8 0.0 -15437.0 4465.8 0.0 2018.2 16718.8 -67.8 18413.5 -16249846 -59655 -106370 -11335 90 -581240000 90 -90 -16929.7 0.0 -15520.3 3586.9 0.0 1165.4 16929.7 -68.0 18629.7 -34954172.4 -160919 -304070 -32403

[0146] Example 3

[0147] right Figure 3 Calculation of the derrick starting system for mid-ground pulley hoisting:

[0148] Assume that the horizontal left is the positive direction of the X axis, the vertical upward is the positive direction of the Z axis, and the origin is the derrick rotating support foot. Enter the weight of the derrick lifting equipment and the distance from the support foot origin in the table in turn, and finally calculate the total weight, the position of the total center of gravity LS and the horizontal angle α, as shown in the following table:

[0149]

[0150] According to the derrick lifting diagram, measure the initial parameters and enter them into the EXCEL table:

[0151]

[0152] Compared with Example 2, the difference of this derrick hoisting system is that the length of the hoisting rope in section L1 is doubled. According to the above description, 2*ΔL1=-ΔL4, so the ΔL1 value in the calculation matrix of Example 2 can be doubled; secondly, according to formula 38, the calculated value of H1 is also doubled:

[0153] D0 M1 Da Dth1 2*ΔL1 ΔL2 ΔL3 2*H1 H2 H3 ΔL4 Dth4 Δly M2 T F K 0 5832780000 0 0 0.0 0.0 0.0 23526.5 0.0 12990.7 0.0 0.0 0.0 169179948.8 236046 325050 34638.8 3 5794366627 3 -3 -1245.3 0.0 -684.3 24327.6 0.0 13141.1 1245.3 -16.5 1685.4 184738894.5 225436 354833 37812.6 6 5740071297 6 -6 -2516.0 0.0 -1375.6 25113.2 0.0 13259.3 2516.0 -27.8 3245.7 198300474.9 216017 365433 38942.1 9 5670042831 9 -9 -3809.5 0.0 -2072.2 25881.5 0.0 13343.9 3809.5 -36.2 4748.0 210428476 207206 366575 39063.8 12 5584473171 12 -12 -5122.9 0.0 -2772.3 26630.4 0.0 13393.9 5122.9 -42.7 6220.4 221298320.5 198751 362420 38621 15 5483596859 15 -15 -6453.5 0.0 -3474.2 27357.3 0.0 13408.2 6453.5 -47.9 7676.6 230942045.8 190525 355054 37836.1 18 5367690389 18 -18 -7798.3 0.0 -4175.8 28059.4 0.0 13385.5 7798.3 -52.1 9123.1 239327336.9 182460 345635 36832.4 21 5237071453 21 -21 -9154.0 0.0 -4875.2 28733.2 0.0 13325.0 9154.0 -55.7 10562.9 246390368.3 174514 334851 35683.2 24 5092098068 24 -24 -10517.4 0.0 -5570.5 29374.9 0.0 13225.5 10517.4 -58.6 11997.0 252052000.3 166663 323136 34434.8 27 4933167596 27 -27 -11884.9 0.0 -6259.5 29979.7 0.0 13086.2 11884.9 -61.2 13424.6 256226916.4 158892 310772 33117.2 30 4760715655 30 -30 -13253.0 0.0 -6940.2 30542.3 0.0 12906.3 13253.0 -63.4 14844.3 258829404 151192 297953 31751.2 33 4575214923 33 -33 -14617.8 0.0 -7610.4 31056.3 0.0 12685.1 14617.8 -65.3 16253.9 259777389.7 143559 284816 30351.2 36 4377173844 36 -36 -15975.3 0.0 -8267.8 31514.3 0.0 12421.9 15975.3 -66.9 17650.5 258995497.7 135990 271457 28927.6 39 4167135237 39 -39 -17321.4 0.0 -8910.4 31907.8 0.0 12116.4 17321.4 -68.4 19031.0 256417519.2 128482 257947 27488 42 3945674802 42 -42 -18651.8 0.0 -9535.9 32226.7 0.0 11768.2 18651.8 -69.7 20391.7 251988499.1 121034 244339 26037.8 45 3713399546 45 -45 -19962.0 0.0 -10142.0 32459.6 0.0 11377.4 19962.0 -70.8 21728.8 245666548.8 113642 230666 24580.7 48 3470946120 48 -48 -21247.3 0.0 -10726.6 32593.4 0.0 10944.1 21247.3 -71.9 23038.0 237424442.5 106302 216949 23119.1 51 3218979072 51 -51 -22503.1 0.0 -11287.4 32613.1 0.0 10468.6 22503.1 -72.8 24315.1 227251022.6 99005.2 203197 21653.5 54 2958189026 54 -54 -23724.3 0.0 -11822.2 32501.8 0.0 9951.7 23724.3 -73.6 25555.4 215152420.5 91737.4 189398 20183.1 57 2689290790 57 -57 -24906.0 0.0 -12328.8 32241.0 0.0 9394.2 24906.0 -74.3 26754.2 201153086.6 84476.8 175524 18704.6 60 2413021394 60 -60 -26043.2 0.0 -12805.2 31810.1 0.0 8797.3 26043.2 -75.0 27906.5 185296613.1 77190.3 161521 17212.4 63 2130138075 63 -63 -27130.6 0.0 -13249.4 31187.3 0.0 8162.8 27130.6 -75.6 29007.5 167646328.9 69828.3 147300 15696.9 66 1841416195 66 -66 -28163.0 0.0 -13659.4 30349.5 0.0 7492.3 28163.0 -76.1 30052.1 148285639.9 62317.8 132722 14143.5 69 1547647122 69 -69 -29135.5 0.0 -14033.4 29273.7 0.0 6788.1 29135.5 -76.5 31035.3 127318085.9 54550.2 117579 12529.7 72 1249636055 72 -72 -30042.7 0.0 -14369.7 27937.7 0.0 6052.7 30042.7 -77.0 31952.1 104867085.2 46363.9 101554 10822.1 75 948199822.6 75 -75 -30880.0 0.0 -14666.7 26321.8 0.0 5289.0 30880.0 -77.3 32797.7 81075338.46 37512.6 84163.3 8968.81 78 644164640.5 78 -78 -31642.4 0.0 -14923.1 24410.4 0.0 4500.2 31642.4 -77.6 33567.5 56103870.67 27612.5 64647.9 6889.16 81 338363847.9 81 -81 -32325.5 0.0 -15137.6 22194.3 0.0 3689.6 32325.5 -77.9 34256.9 30130691.99 16039.9 41773.4 4451.55 84 31635623.51 84 -84 -32925.2 0.0 -15309.2 19673.0 0.0 2861.0 32925.2 -78.1 34861.9 3349073.306 1725.25 13420.1 1430.11 87 -275179311.9 87 -87 -33437.6 0.0 -15437.0 16856.4 0.0 2018.2 33437.6 -78.3 35378.8 -24034558.3 -17313 -24341 -2593.9 90 -581240000 90 -90 -33859.4 0.0 -15520.3 13766.8 0.0 1165.4 33859.4 -78.5 35804.3 -51803082.5 -45175 -79644 -8487.2

[0154] Comparative Example 1

[0155] According to the traditional layout method, to calculate the hook load and the hoisting rope load when the derrick is lifted to 45 degrees, it is necessary to lay out the derrick lifting diagram of Example 3, such as Figure 4 shown.

[0156] All data units are unified, using kg, mm, angle °. After measurement, the distance from the center to the origin = 28554, the distance from the center of gravity of the traveling crane to the origin = 25597, the weight of the lifting equipment is 145000, and the weight of the traveling crane is 10000, so M1 = 4140330000, M2 = 255970000, H1 = 12767, H3 = 12070, θ4 = 24.73°, substitute the measured values ​​into formula 38:

[0157]

[0158] The solution is T = 156748.7

[0159] Using the table in Example 3, adjust the angle increment to 45-5.63=39.37°

[0160] D0 M1 Da Dth1 2*ΔL1 ΔL2 ΔL3 2*H1 H2 H3 ΔL4 Dth4 Δly M2 T F K 0 5832780000 0 0 0.0 0.0 0.0 23526.5 0.0 12990.7 0.0 0.0 0.0 169179948.8 236046 325050 34638.8 39.37 4140427263 39.37 -39.37 -17486.4 0.0 -8988.5 25534.8 0.0 12075.7 17486.4 -68.6 19200.0 255972321.6 156741 313282 33384.7

[0161] We get T=156741, which differs by 0.005% due to measurement error.

[0162] It is obvious that the incremental calculation method of the invention is accurate, convenient and fast.

Claims

1. Calculation method of derrick lifting load increment, It is characterized in that Follow the steps below to implement it: Step 1: Establish a two-dimensional Cartesian coordinate system of the initial state of the derrick lifting, and calculate the total center of gravity coordinates of all the lifting equipment involved; Step 2, introducing the lifting angle increment, and obtaining the functional relationship between the increment and the lifting torque; Step 3: Use trigonometric functions to derive the functional relationship between the lifting angle increment, the change in the length of the lifting rope, and the rope torque; Step 4, determine the relationship between the lifting angle increment and the lifting rope angle at the lifting tripod; Step 5, determine the relationship between the lifting angle increment and the resistance torque generated by the weight of the traveling crane; Step 6: Determine the relationship between the lifting angle increment and the maximum rope force, lifting hook load and fast rope force.

2. The method for calculating the derrick lifting load increment according to claim 1, It is characterized in that The origin of the two-dimensional Cartesian coordinate system in step 1 is the rotation point when the derrick is lifted. The X-axis is set to be horizontal to the ground and point to the direction of the overhead crane. The Y-axis is set to be vertically upward. The weights of all the equipment involved in the lifting on the derrick are listed to calculate the total weight G. At the same time, the distances X and Y from the center of gravity of all the equipment involved in the lifting to the origin of the coordinate system are listed, and then the total center of gravity coordinates X0 and Y0 of all the equipment involved in the lifting are calculated.

3. The method for calculating the derrick lifting load increment according to claim 1, It is characterized in that Step 1: The distance from the total center of gravity to the origin is as follows: The horizontal angle between the total center of gravity and the line connecting the origin is as follows: α=arctan(Y0 / X0) (2) By introducing the angle increment parameter Δα, the resistance torque during the lifting process can be obtained: M1=G*LS*cos(α+Δα) (3) The change of the resistance torque during the whole process of derrick lifting can correspond to the change of the increment Δα, and different Δα has a corresponding function value M1. The list can be written as [M1 1 , M1 2 , M1 3 ,......] T = Z1*[Δα 1 , Δα 2 , Δα 3 ,......] T , where Z represents a one-to-one correspondence. The matrix expresses the change and trend of the lifting torque when the total center of gravity rotates around the origin.

4. The method for calculating the derrick lifting load increment according to claim 1, It is characterized in that In step 3, the parameters related to the lifting load during the derrick lifting process are determined, and the relationship between each parameter and the lifting angle increment is derived using mathematical tools. The parameters related to the lifting of the wire rope lifting rotary derrick can be named as follows: derrick lifting angle θ0, upper lifting rope length L1, vertical distance H1 from the coordinate origin to the upper lifting rope, angle θ1 between the upper lifting rope and the coordinate origin, distance La1 from the derrick end of the upper lifting rope to the coordinate origin, distance Lb1 from the entry point of the upper lifting rope to the coordinate origin; lower lifting rope length L2, vertical distance H1 from the coordinate origin to the lower lifting rope, angle θ2 between the upper lifting rope and the coordinate origin, distance La1 from the derrick end to the coordinate origin, distance Lb1 from the entry point of the upper lifting rope to the coordinate origin; lower lifting rope length L3, vertical distance H1 from the coordinate origin to the lower lifting rope, angle θ3 between the upper lifting rope and the coordinate origin, distance Lb1 from the entry point of the upper lifting rope to the coordinate origin, distance Lb2 from the lower lifting rope to the coordinate origin, distance Lb2 from the lower lifting rope to the coordinate origin, distance Lb2 from the lower lifting rope to the coordinate origin, distance Lb2 from the lower lifting rope to the coordinate origin, distance Lb2 from the lower lifting rope to the coordinate origin, distance Lb2 from the lower lifting rope to the coordinate origin, distance Lb2 from the lower lifting rope to the coordinate origin, distance Lb2 from the upper ... Rope vertical distance H2, angle θ2 between the lower hoisting rope and the coordinate origin, distance La2 from the derrick end of the lower hoisting rope to the coordinate origin, distance Lb2 from the entry point of the lower hoisting rope to the coordinate origin; fast rope length L3, vertical distance H3 from the coordinate origin to the fast rope, angle θ3 between the fast rope and the coordinate origin, distance La3 from the end of the fast rope crane to the coordinate origin, distance Lb3 from the entry point of the fast rope to the coordinate origin; distance L4 from the rope head of the lifting tripod to the rope exit point of the lower pulley, angle θ4 of the big rope at the lifting tripod; introducing the angle increment and the length increment of the lifting rope, the following equation can be obtained: (L1+ΔL1)* H1=La1* Lb1*sin(θ1+Δθ1) (4) (L1+ΔL1) 2 =La1 2 +Lb1 2 -2* La1* Lb1*cos(θ1+Δθ1) (5) (L2+ΔL2)* H2=La2* Lb2*sin(θ2+Δθ2) (6) (L2+ΔL2) 2 =La2 2 +Lb2 2 -2* La2* Lb2*cos(θ2+Δθ2) (7)(L3+ΔL3)* H3=La3* Lb3*sin(θ3+Δθ3) (8)(L3+ΔL3) 2 =La3 2 +Lb3 2 -2* La3* Lb3*cos(θ3+Δθ3) (9)For a specific derrick, La, Lb, L4*sin(θ4 / 2) are constants, so the angle increments Δθ1, Δθ2, Δθ3 have a one-to-one correspondence with (ΔL1, ΔL2, ΔL3), (H1, H2, H3), and the function is written in matrix form: [ΔL1 1 ,ΔL1 2 ,ΔL1 3 ,....] T =Z2*[Δθ1 1 ,Δθ1 2 ,Δθ1 3 ,....] T (10) [ΔL2 1 ,ΔL2 2 ,ΔL2 3 ,....] T =Z3*[Δθ2 1 ,Δθ2 2 ,Δθ2 3 ,....] T (11) [ΔL3 1 ,ΔL3 2 ,ΔL3 3 ,....] T =Z4*[Δθ3 1 ,Δθ3 2 ,Δθ3 3 ,....] T (12) [H1 1 ,H1 2 ,H1 3 ,......] T =Z5*[Δθ1 1 ,Δθ1 2 ,Δθ1 3 ,......] T (13) [H2 1 ,H2 2 ,H2 3 ,......] T =Z6*[Δθ2 1 ,Δθ2 2 ,Δθ2 3 ,......] T (14) [H3 1 ,H3 2 ,H3 3 ,......] T =Z7*[Δθ3 1 ,Δθ3 2 ,Δθ3 3 ,......] T (15) At the same time, according to geometric knowledge, the angle increment has the following relationship: Δθ0=Δα=-Δθ1=-Δθ2=-Δθ3 (16) Based on the above relationship, the change value of the hoisting rope length and the change amount and trend of the rope torque when the derrick rotates around the origin are obtained.

5. The method for calculating the derrick lifting load increment according to claim 1, It is characterized in that In step 4, according to the geometric relationship, the incremental equation of the lifting tripod position is: (L4+ΔL4) *sin((θ4+Δθ4) / 2)= L4*sin(θ4 / 2) (17) Then Δθ4 and ΔL4 have the following relationship: [ΔL4 1 ,ΔL4 2 ,ΔL4 3 ,....] T =Z8*[Δθ4 1 ,Δθ4 2 ,Δθ4 3 ,....] T (18) Since the length of the large rope is constant, the length increment has the following relationship: ΔL1+ΔL2=-ΔL4 (19) Combining equations (10), (11) and (16), we can obtain the relationship between Δθ4 and Δθ0: (Z2+Z3)*[Δθ0 1 ,Δθ0 2 ......] T =Z8*[Δθ4 1 ,Δθ4 2 ......] T (20) According to the above relationship, the change value of the lifting rope angle at the lifting tripod when the derrick rotates around the origin is obtained.

6. The method for calculating the derrick lifting load increment according to claim 1, It is characterized in that The position of the traveling hoist in step 5 will change with the length of the rope during the lifting process, so the resistance torque generated by its weight needs to be considered separately. Assuming the weight of the traveling hoist is Gy, the distance from the center of gravity of the traveling hoist to the origin is Ly, and introducing the increment ΔLy, it can be seen from the geometric relationship that the increment of the movement of the center of gravity of the traveling hoist along the direction of the derrick column is equal to the increment of the movement of the derrick lifting tripod, so ΔLy=(L4+ΔL4)*cos((θ4+Δθ4) / 2)-L4*cos(θ4 / 2), obviously, ΔLy is determined by the two increments of ΔL4 and Δθ4, combined with formula (18), the following relationship can be obtained: [ΔLy 1 , ΔLy 2 , ΔLy 3 , ....] T =Z9*[Δθ4 1 , Δθ4 2 , Δθ4 3 , ....] T (21) Combined with formula (20), we can get: [ΔLy 1 ,ΔLy 2 .....] T =(Z2+Z3)* Z9 / Z8*[Δθ0 1 ,Δθ0 2 ....] T (22) The resistance distance generated by the traveling suspension system is M2 = Gy*(Ly+ΔLy)*cos(θ0+Δθ0), where M2 is determined by two increments ΔLy and Δθ0. According to formula (22), ΔLy can be expressed by Δθ0, so the matrix can be obtained: [M2 1 ,M2 2 ,M2 3 ,....] T =Z10*[Δθ0 1 ,Δθ0 2 ,Δθ0 3 ......] T (23) Formula (23) expresses the change in the resistance torque generated by the weight of the traveling hoist when the derrick rotates around the origin.

7. The method for calculating the derrick lifting load increment according to claim 1, It is characterized in that In step 6, the traveling pulley efficiency η, the large rope efficiency λ, the large rope force T, the fast rope force K, the lifting hook load F, and the number of traveling ropes n are set. Since two large ropes are generally used for derrick lifting, an angle increment is introduced. According to the force balance relationship, it can be obtained: 2*λ*T*cos((θ4+Δθ4) / 2)+Gy*sin(θ0+Δθ0)=F (24) η*K=F / n (25) T*H1+T*H2+K*H3=M1+M2 (26) Among them, T, F, K are unknown quantities, which can be solved as follows: According to formulas (13)(14)(15)(20), H1, H2, H3, and Δθ4 in the above formula can be expressed by Δθ0, so the relationship between T and Δθ0 can be obtained: [T 1 , T 2 , T 3 ,......] T = Z11 * [Δθ0 1 , Δθ0 2 , Δθ0 3 ........] T (28) Then, it is solved that: [F 1 ,F 2 ,F 3 ,......] T =Z12*[Δθ0 1 ,Δθ0 2 ,Δθ0 3 ........] T (29) [K 1 ,K 2 ,K 3 ,......] T =Z13*[Δθ0 1 ,Δθ0 2 ,Δθ0 3 ........] T (30) Formulas (28), (29) and (30) express the changing values ​​and trends of the large rope force, the hoisting hook load and the fast rope force when the derrick rotates around the origin. So far, the three basic hoisting loads of the wire rope hoisting derrick have all been solved. Then the maximum value among them can be found to proceed to the next step of structural strength calculation.

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