Electronic anti-collision method and system based on flexible control strategy

Abstract

The invention discloses an electronic anti-collision method and system based on a flexible control strategy. A traveling block running path is divided into a safety area, a deceleration area, a hovering area and a brake point; obtaining the traveling block height, the winch motor rotating speed and the traveling block position, and obtaining and executing the actual given speed of the winch motor according to the traveling block position, the traveling block height and the winch motor rotating speed; the system comprises a winch roller, a winch motor, a traveling block, a PLC control system, a hydraulic disc brake and an absolute value encoder. The absolute value encoder is fixedly connected to the winch roller, the signal output end of the absolute value encoder is connected with the signal input end of the PLC control system, the control signal output end of the PLC control system is connected with the motor, a rotating shaft of the winch motor is fixedly connected with a rotating shaft of the winch roller, and the winch roller is connected with the traveling block through a steel wire rope. According to the method, the flexible control strategy is executed on the winch motor when the traveling block enters the speed reduction area, overlarge impact force during speed reduction of the traveling block is prevented, and damage to machinery and transmission equipment is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of petroleum electric drive drilling rig control, and specifically relates to an electronic anti-collision method based on a flexible control strategy. The invention also relates to an electronic anti-collision system based on a flexible control strategy. Background Art

[0002] The electronic anti-collision system of the traveling carriage is an important safety protection system for oil drilling equipment. The system uses a programmable controller to collect the operating parameters of the main motor and the digital signal of the drum encoder through the bus, calculate the current position and speed of the traveling carriage, and control the main motor to decelerate to a safe speed through program instructions when the traveling carriage reaches the deceleration point; when the traveling carriage reaches the parking point, the main motor is suspended. If the traveling carriage does not stop after exceeding the parking point, the system automatically stops the inverter and brakes safely. However, after the inverter stops running, the electronic anti-blowout function needs to be manually released, and the inverter needs to be reset and restarted to resume operation, which reduces work efficiency. When the inverter stops running, the hydraulic disc brake is required to perform emergency braking on the traveling carriage, which will cause a certain impact on the equipment itself and reduce the service life of the operating equipment.

[0003] In the prior art with application number CN201710405483.7, an electronic anti-collision protection method for the traveling carriage lifting device of an oil drilling rig is disclosed. The method proposes: if the traveling carriage reaches the upper collision deceleration point but does not exceed the upper collision point, the lifting speed of the traveling carriage is controlled to be decelerated to 50% of the original speed; if it reaches the upper collision point or the lower smashing point, the hydraulic disc brake is controlled to act so that the drum is braked and the traveling carriage stops moving. In actual use of this method, there are problems such as excessive impact force when the traveling carriage is decelerated, and the traveling carriage without a buffer zone is easy to exceed the upper collision point or the lower smashing point, resulting in frequent occurrence of problems such as the inverter stopping operation and the hydraulic disc brake. Summary of the invention

[0004] The purpose of the present invention is to provide an electronic anti-collision method based on a flexible control strategy, so as to implement a flexible control strategy on the winch motor when the traveling carriage enters a deceleration zone, prevent excessive impact force when the traveling carriage decelerates, and reduce damage to machinery and transmission equipment.

[0005] Another object of the present invention is to provide an electronic collision avoidance system based on a flexible control strategy.

[0006] The first technical solution adopted by the present invention is an electronic anti-collision method based on a flexible control strategy, comprising the following steps:

[0007] Step 1, dividing the traveling vehicle running path into a safety zone, a deceleration zone, a hovering zone and a braking point;

[0008] Step 2, obtaining the height of the traveling block, the speed of the winch motor and the position of the traveling block, wherein the position of the traveling block includes a safety zone, a deceleration zone, a hovering zone and a braking point;

[0009] Step 3: Calculate the actual given speed V of the drawworks motor based on the position of the traveling block, the height of the traveling block, and the rotational speed of the drawworks motor REF ;

[0010] Step 4: Execute the actual given speed V of the drawworks motor REF to control the traveling block.

[0011] The first technical solution of the present invention is further characterized in that

[0012] The safety area includes an upper safety area and a lower safety area, the deceleration area includes an upper deceleration area and a lower deceleration area, the hovering area includes an upper hovering area and a lower hovering area, and the braking points include an upper braking point and a lower braking point;

[0013] The upward path of the traveling block is composed of the upper safety area, the upper deceleration area, the upper hovering area, and the upper braking point, and the downward path of the traveling block is composed of the lower safety area, the lower deceleration area, the lower hovering area, and the lower braking point.

[0014] An upper deceleration point for distinguishing the upper safety area and the upper deceleration area is provided between the upper safety area and the upper deceleration area, and an upper hovering point for distinguishing the upper deceleration area and the upper hovering area is provided between the upper deceleration area and the upper hovering area;

[0015] A lower deceleration point for distinguishing the lower safety area and the lower deceleration area is provided between the lower safety area and the lower deceleration area, and a lower hovering point for distinguishing the lower deceleration area and the lower hovering area is provided between the lower deceleration area and the lower hovering area.

[0016] In Step 3, based on the position of the traveling block, the actual given speed V of the drawworks motor is calculated through the height of the traveling block and the rotational speed of the drawworks motor REF Specifically, it is shown as the following formula:

[0017] V REF = C * G

[0018] where C is the deceleration coefficient, which is calculated correspondingly according to the position of the traveling block; G is the given speed of the drawworks.

[0019] When the traveling block is in the upper safety area or the lower safety area, the value of C is 1;

[0020] When the traveling block enters the upper deceleration area and the rotational speed V of the drawworks motor > 1000 r / min when entering the upper deceleration area, the value of C is shown as the following formula:

[0021]

[0022] where B3 is the height of the upper hovering point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point;

[0023] When the traveling block enters the upper deceleration area and the winch motor speed is 300 r / min ≤ V ≤ 1000 r / min when entering the upper deceleration area, C is calculated as follows:

[0024]

[0025] Where B3 is the height of the upper hover point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point;

[0026] When the traveling block enters the upper deceleration area and the winch motor speed V < 300 r / min when entering the upper deceleration area, C is calculated as follows:

[0027]

[0028] Where B3 is the height of the upper hover point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point;

[0029] When the traveling block enters the lower deceleration area and the winch motor speed V > 1000 r / min when entering the lower deceleration area, C is calculated as follows:

[0030]

[0031] Where B4 is the height of the lower hover point, H is the current height of the traveling block, and D2 is the height of the lower deceleration point;

[0032] When the traveling block enters the lower deceleration area and the winch motor speed is 300 r / min ≤ V ≤ 1000 r / min when entering the lower deceleration area, C is calculated as follows:

[0033]

[0034] Where B4 is the height of the lower hover point, H is the current height of the traveling block, and D2 is the height of the lower deceleration point;

[0035] When the traveling block enters the lower deceleration area and the winch motor speed V < 300 r / min when entering the lower deceleration area, C is calculated as follows:

[0036]

[0037] Where B4 is the height of the lower hover point, H is the current height of the traveling block, and D2 is the height of the lower deceleration point;

[0038] When the traveling block enters the upper hover area, if the traveling block is in the upward state, then C = 0; if the traveling block is in the downward state, then C = 1;

[0039] When the traveling block enters the lower hover area, if the traveling block is in the downward state, then C = 0; if the traveling block is in the upward state, then C = 1;

[0040] When the traveling block reaches the upper or lower braking point, turn off the drawworks motor and apply the disc brakes.

[0041] When the traveling block enters the upper deceleration zone and is moving downward, C is set to 1;

[0042] When the traveling block enters the lower deceleration zone and is moving upward, C is set to 1.

[0043] The second technical solution adopted by the present invention is an electronic anti-collision system based on a flexible control strategy, including a drawworks drum, a drawworks motor, a traveling block, a PLC control system for obtaining the lifting position of the traveling block and controlling the speed of the traveling block; a hydraulic disc brake for braking the traveling block; an absolute encoder for detecting the height of the traveling block and the position where the traveling block is located;

[0044] The absolute encoder is fixedly connected to the drawworks drum. The signal output end of the absolute encoder is connected to the signal input end of the PLC control system. The control signal output end of the PLC control system is connected to the motor. The rotating shaft of the drawworks motor is fixedly connected to the rotating shaft of the drawworks drum. The drawworks drum is connected to the traveling block through a wire rope to control the traveling block to move upward or downward. The PLC control system is signal-connected to a frequency converter for obtaining the rotational speed of the drawworks motor and regulating the rotational speed of the drawworks motor.

[0045] The feature of the second technical solution of the present invention is further that,

[0046] The hydraulic disc brake is connected to a hydraulic system. The hydraulic system is connected to the rig operating system. The rig operating system controls the hydraulic disc brake through the hydraulic system.

[0047] The rig operating system includes a control function module FC50 and a control function module FC51. The control function module FC50 is used for regulating the actual given speed of the drawworks motor when the traveling block enters the upper and lower deceleration zones. The control function module FC51 is used for regulating the actual given speed of the drawworks motor when the traveling block enters the upper and lower hovering zones.

[0048] The beneficial effect of the present invention is that the electronic anti-collision method based on the flexible control strategy of the present invention realizes the intelligent flexible deceleration and braking control of the drawworks motor through the control function module FC50 and the control function module FC51, which helps to prevent excessive impact force during the deceleration of the traveling block and reduce the damage to mechanical and transmission equipment. At the same time, by adding a hovering zone, the buffering area of the traveling block can be further increased, avoiding frequent braking when the traveling block reaches the braking point and improving the working efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a schematic flow chart of the electronic anti-collision method based on the flexible control strategy of the present invention;

[0050] Figure 2It is a schematic flowchart of the control of the flexible control block FC50 in the electronic anti-collision method based on the flexible control strategy of the present invention;

[0051] Figure 3 It is a schematic flowchart of the control of the hovering control block FC51 in the electronic anti-collision method based on the flexible control strategy of the present invention;

[0052] Figure 4 It is a principle block diagram of the electronic anti-collision system based on the flexible control strategy of the present invention. Detailed implementation manners

[0053] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0054] As Figure 4 shown, the electronic anti-collision system based on the flexible control strategy of the present invention includes a winch drum, a winch motor, a traveling block, a PLC control system for obtaining the lifting position of the traveling block and controlling the speed of the traveling block; a hydraulic disc brake for braking the traveling block; an absolute encoder for detecting the height of the traveling block and the position where the traveling block is located. There are many light channel scales on the optical code disc of the absolute encoder, and each scale is arranged in sequence with 2 lines, 4 lines, 8 lines, and 16 lines. At each position of the encoder, by reading the on and off of each scale, a set of binary codes (Gray codes) from 2 to the power of zero to 2 to the power of n-1 is obtained, which is called an n-bit absolute encoder. At the same time, the absolute encoder is determined by the mechanical position of the optical code disc, and it is not affected by power failure and interference, effectively improving the operating stability of the electronic anti-collision system of the present invention.

[0055] The absolute encoder is fixedly connected to the winch drum, the signal output end of the absolute encoder is connected to the signal input end of the PLC control system, the control signal output end of the PLC control system is connected to the motor, the rotating shaft of the winch motor is fixedly connected to the rotating shaft of the winch drum, and the winch drum is connected to the traveling block through a steel wire rope to control the traveling block to move up or down. The PLC control system is also connected to the frequency converter of the winch motor for obtaining the rotational speed of the winch motor and sending a control signal to the winch motor to regulate the rotational speed of the winch motor.

[0056] The hydraulic disc brake is connected to a hydraulic system, the hydraulic system is connected to the drilling rig operating system, and the drilling rig operating system controls the hydraulic disc brake through the hydraulic system.

[0057] The drilling rig operating system includes a control function module FC50 and a control function module FC51. The control function module FC50 and the control function module FC51 are software function modules inside the Siemens PLC program. The control function module FC50 is used for regulating the actual given speed of the winch motor when the traveling block enters the upper deceleration area and the lower deceleration area, and the control function module FC51 is used for regulating the actual given speed of the winch motor when the traveling block enters the upper hovering area and the lower hovering area.

[0058] Example 1

[0059] As Figure 1 shown, the electronic anti-collision method based on the flexible control strategy of the present invention specifically includes the following steps:

[0060] Step 1, divide the traveling block running path into a safety zone, a deceleration zone, a hovering zone, and a braking point; since the traveling block moves up and down during operation, the safety zone includes an upper safety zone and a lower safety zone, the deceleration zone includes an upper deceleration zone and a lower deceleration zone, the hovering zone includes an upper hovering zone and a lower hovering zone, and the braking point includes an upper braking point and a lower braking point;

[0061] The upward path of the traveling block is composed of the upper safety zone, the upper deceleration zone, the upper hovering zone, and the upper braking point, and the downward path of the traveling block is composed of the lower safety zone, the lower deceleration zone, the lower hovering zone, and the lower braking point.

[0062] Step 2, obtain the traveling block height, the winch motor speed, and the position where the traveling block is located. The position where the traveling block is located includes the safety zone, the deceleration zone, the hovering zone, and the braking point;

[0063] Step 3, according to the position where the traveling block is located, calculate the actual given speed V of the winch motor through the traveling block height and the winch motor speed REF ; The actual given speed V of the winch motor REF is specifically shown in the following formula:

[0064] V REF = C * G

[0065] where C is the deceleration coefficient, which is calculated correspondingly according to the position where the traveling block is located; G is the given speed of the winch.

[0066] Furthermore, when the traveling block is in the upper safety zone or the lower safety zone, C takes the value of 1;

[0067] When the traveling block is in the deceleration zone, the control function module FC50 calculates the corresponding deceleration coefficient C according to the speed of the winch motor and the height of the traveling block when the traveling block enters the deceleration zone;

[0068] When the traveling block is in the hovering zone, the control function module FC51 obtains the running state of the traveling block and adopts different deceleration coefficient C values according to the running state;

[0069] When the traveling block reaches the upper braking point or the lower braking point, turn off the frequency converter of the winch motor and use disk brakes for braking.

[0070] Step 4, execute the actual given speed V of the winch motor REF to control the traveling block. Specifically, the PLC control system outputs a control instruction to the winch motor, and the winch motor adjusts the corresponding speed according to the instruction.

[0071] Example 2

[0072] This example is based on Example 1. As Figure 3 shown, when the traveling block enters the upper hover zone, if the traveling block is in the upward state, then C = 0; if the traveling block is in the downward state, then C = 1;

[0073] When the traveling block enters the lower hover zone, if the traveling block is in the downward state, then C = 0; if the traveling block is in the upward state, then C = 1.

[0074] Example 3

[0075] The electronic anti-collision method based on the flexible control strategy in this example specifically includes the following steps:

[0076] Step 1: Divide the traveling block operation path into a safety zone, a deceleration zone, a hover zone, and a braking point; since the traveling block moves up and down during operation, the safety zone includes an upper safety zone and a lower safety zone, the deceleration zone includes an upper deceleration zone and a lower deceleration zone, the hover zone includes an upper hover zone and a lower hover zone, and the braking point includes an upper braking point and a lower braking point;

[0077] The upward path of the traveling block is composed of the upper safety zone, the upper deceleration zone, the upper hover zone, and the upper braking point, and the downward path of the traveling block is composed of the lower safety zone, the lower deceleration zone, the lower hover zone, and the lower braking point.

[0078] An upper deceleration point for distinguishing the upper safety zone and the upper deceleration zone is set between the upper safety zone and the upper deceleration zone, and an upper hover point for distinguishing the upper deceleration zone and the upper hover zone is set between the upper deceleration zone and the upper hover zone;

[0079] A lower deceleration point for distinguishing the lower safety zone and the lower deceleration zone is set between the lower safety zone and the lower deceleration zone, and a lower hover point for distinguishing the lower deceleration zone and the lower hover zone is set between the lower deceleration zone and the lower hover zone.

[0080] Step 2: Obtain the traveling block height, the winch motor speed, and the position where the traveling block is located;

[0081] Step 3: According to the position where the traveling block is located, calculate the actual given speed V of the winch motor through the traveling block height and the winch motor speed REF ; The actual given speed V of the winch motor REF is specifically shown as the following formula:

[0082] V REF = C * G

[0083] where C is the deceleration coefficient; G is the given speed of the winch.

[0084] Furthermore, when the traveling block is in the upper safety zone or the lower safety zone, the value of C is 1;

[0085] When the traveling block is in the deceleration zone, calculations are performed based on whether the traveling block is in the upper deceleration zone or the lower deceleration zone, and the winch motor speed when entering the upper deceleration zone or the lower deceleration zone.

[0086] Specifically, when the traveling block enters the upper deceleration zone but is moving downward, C is taken as 1;

[0087] As Figure 2 shown, when the traveling block is moving upward and enters the upper deceleration zone with the winch motor speed V > 1000 r / min, C is taken as shown in the following formula:

[0088]

[0089] where B3 is the height of the upper hover point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point;

[0090] When entering the upper deceleration zone with the winch motor speed 300 r / min ≤ V ≤ 1000 r / min, C is taken as shown in the following formula:

[0091]

[0092] where B3 is the height of the upper hover point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point;

[0093] When entering the upper deceleration zone with the winch motor speed V < 300 r / min, C is taken as shown in the following formula:

[0094]

[0095] where B3 is the height of the upper hover point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point.

[0096] When the traveling block enters the lower deceleration zone but is moving upward, C is taken as 1

[0097] When the traveling block is moving downward and enters the lower deceleration zone with the winch motor speed V > 1000 r / min, C is taken as shown in the following formula:

[0098]

[0099] where B4 is the height of the lower hover point, H is the current height of the traveling block, and D2 is the height of the lower deceleration point;

[0100] When entering the lower deceleration zone with the winch motor speed 300 r / min ≤ V ≤ 1000 r / min, C is taken as shown in the following formula:

[0101]

[0102] where B4 is the height of the lower hover point, H is the current height of the traveling block, and D2 is the height of the lower deceleration point;

[0103] When the winch motor speed V < 300 r / min when entering the lower deceleration area, the value of C is as shown in the following formula:

[0104]

[0105] Among them, B4 is the height of the lower hover point, H is the current traveling block height, and D2 is the lower deceleration point height;

[0106] When the traveling block enters the upper hover area, if the traveling block is in the upward state, then C = 0, and if the traveling block is in the downward state, then C = 1;

[0107] When the traveling block enters the lower hover area, if the traveling block is in the downward state, then C = 0, and if the traveling block is in the upward state, then C = 1.

[0108] When the traveling block reaches the upper brake point or the lower brake point, turn off the frequency converter of the winch motor and use disc brakes for braking.

[0109] The electronic anti-collision method based on the flexible control strategy of the present invention realizes the intelligent flexible deceleration and braking control of the winch motor through the control function module FC50 and the control function module FC51, which helps to prevent excessive impact force during the deceleration of the traveling block and reduce the damage to mechanical and transmission equipment.

Claims

1. An electronic anti-collision method based on a flexible control strategy, characterized in that It includes the following steps: Step 1: Divide the traveling path of the traveling block into a safety zone, a deceleration zone, a hovering zone, and a braking point; Step 2: Obtain the height of the traveling block, the rotational speed of the drawworks motor, and the position where the traveling block is located, and the position where the traveling block is located includes a safety zone, a deceleration zone, a hovering zone, and a braking point; Step 3: Calculate the actual given speed V of the drawworks motor based on the position of the traveling block, the height of the traveling block, and the rotational speed of the drawworks motor REF ; Step 4, execute the actual given speed V of the drawworks motor REF Control the traveling block.

2. The electronic anti-collision method based on a flexible control strategy according to claim 1, characterized in that, The safety zone includes an upper safety zone and a lower safety zone, the deceleration zone includes an upper deceleration zone and a lower deceleration zone, the hovering zone includes an upper hovering zone and a lower hovering zone, and the braking point includes an upper braking point and a lower braking point; The upward path of the traveling block is composed of the upper safety zone, the upper deceleration zone, the upper hovering zone, and the upper braking point, and the downward path of the traveling block is composed of the lower safety zone, the lower deceleration zone, the lower hovering zone, and the lower braking point.

3. The electronic anti-collision method based on a flexible control strategy according to claim 2, characterized in that, An upper deceleration point for distinguishing the upper safety zone and the upper deceleration zone is set between the upper safety zone and the upper deceleration zone, and an upper hovering point for distinguishing the upper deceleration zone and the upper hovering zone is set between the upper deceleration zone and the upper hovering zone; A lower deceleration point for distinguishing the lower safety zone and the lower deceleration zone is set between the lower safety zone and the lower deceleration zone, and a lower hovering point for distinguishing the lower deceleration zone and the lower hovering zone is set between the lower deceleration zone and the lower hovering zone.

4. The electronic anti-collision method based on a flexible control strategy according to claim 2, characterized in that In step 3, according to the position of the traveling block, the actual given speed V of the drawworks motor is calculated based on the traveling block height and the drawworks motor speed REF Specifically, it is shown as follows: V REF = C * G Wherein, C is a deceleration coefficient, which is calculated correspondingly according to the position where the traveling block is located; G is the given speed of the drawworks.

5. The electronic anti-collision method based on a flexible control strategy according to claim 4, characterized in that When the traveling block is located in the upper safety zone or the lower safety zone, the value of C is 1; When the traveling block enters the upper deceleration zone and the rotational speed V of the drawworks motor when entering the upper deceleration zone is > 1000 r / min, the value of C is as shown in the following formula: Wherein, B3 is the height of the upper hovering point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point; When the traveling block enters the upper deceleration zone and the rotational speed V of the drawworks motor when entering the upper deceleration zone is 300 r / min ≤ V ≤ 1000 r / min, the value of C is as shown in the following formula: Wherein, B3 is the height of the upper hovering point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point; When the traveling block enters the upper deceleration zone and the rotational speed V of the drawworks motor when entering the upper deceleration zone is < 300 r / min, the value of C is as shown in the following formula: Wherein, B3 is the height of the upper hovering point, H is the current height of the traveling block, and D1 is the height of the upper deceleration point; When the traveling block enters the lower deceleration zone and the rotational speed V of the drawworks motor when entering the lower deceleration zone is > 1000 r / min, the value of C is as shown in the following formula: Wherein, B4 is the height of the lower hovering point, H is the current height of the traveling block, and D2 is the height of the lower deceleration point; When the traveling block enters the lower deceleration zone and the rotational speed V of the drawworks motor when entering the lower deceleration zone is 300 r / min ≤ V ≤ 1000 r / min, the value of C is as shown in the following formula: Wherein, B4 is the height of the lower hovering point, H is the current height of the traveling block, and D2 is the height of the lower deceleration point; When the traveling block enters the lower deceleration zone and the rotational speed V of the drawworks motor when entering the lower deceleration zone is < 300 r / min, the value of C is as shown in the following formula: Wherein, B4 is the height of the lower hovering point, H is the current height of the traveling block, and D2 is the height of the lower deceleration point; When the traveling block enters the upper hovering zone, if the traveling block is in the upward state, then C = 0, and if the traveling block is in the downward state, then C = 1; When the traveling block enters the lower hovering zone, if the traveling block is in the downward state, then C = 0, and if the traveling block is in the upward state, then C = 1; When the traveling block reaches the upper braking point or the lower braking point, turn off the drawworks motor and apply disc brakes.

6. The electronic anti-collision method based on a flexible control strategy according to claim 5, characterized in that When the traveling block enters the upper deceleration zone and the traveling block is moving downward, C is set to 1; When the traveling block enters the lower deceleration zone and the traveling block is moving upward, C is set to 1.

7. An electronic anti-collision system based on a flexible control strategy, characterized in that, It includes a drawworks drum, a drawworks motor, a traveling block, a PLC control system for obtaining the lifting position of the traveling block and controlling the speed of the traveling block; a hydraulic disc brake for braking the traveling block; an absolute encoder for detecting the height of the traveling block and the position where the traveling block is located; The absolute encoder is fixedly connected to the drawworks drum. The signal output end of the absolute encoder is connected to the signal input end of the PLC control system. The control signal output end of the PLC control system is connected to the motor. The rotating shaft of the drawworks motor is fixedly connected to the rotating shaft of the drawworks drum. The drawworks drum is connected to the traveling block through a wire rope to control the traveling block to move upward or downward. The PLC control system is signal-connected to an inverter for obtaining the rotational speed of the drawworks motor and regulating the rotational speed of the drawworks motor.

8. The electronic anti-collision system based on a flexible control strategy according to claim 7, wherein The hydraulic disc brake is connected to a hydraulic system. The hydraulic system is connected to the rig operating system. The rig operating system controls the hydraulic disc brake through the hydraulic system.

9. The electronic anti-collision system based on a flexible control strategy according to claim 7, characterized in that The rig operating system includes a control function module FC50 and a control function module FC51. The control function module FC50 is used for regulating the actual given speed of the drawworks motor when the traveling block enters the upper deceleration zone and the lower deceleration zone. The control function module FC51 is used for regulating the actual given speed of the drawworks motor when the traveling block enters the upper hovering zone and the lower hovering zone.

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