Self-adaptive rock drilling control method and drill jumbo

Abstract

The invention discloses a self-adaptive rock drilling control method and a drill jumbo. The self-adaptive rock drilling control method comprises the steps that S1, initialization is conducted, specifically, parameters including the quality of a drilling component, a drilling included angle, a calculation coefficient, target propulsion pressure, target impact pressure and control parameters are initialized based on a control system before operation; s2, drilling is conducted according to the initialized parameters, the number of drill rods is recorded by a drill rod number counter, and impact pressure compensation and propelling pressure compensation are conducted according to the increased number of the drill rods; s3, adjusting the output propulsion pressure based on the difference between the target rotation pressure and the actual rotation pressure to enable the actual rotation pressure to tend to the target rotation pressure, adjusting the impact pressure based on the relation between the effective impact pressure and the effective propulsion pressure to enable the effective impact pressure to tend to the target impact pressure, and ensuring that the effective rock drilling parameters at the drill bit are matched with the rock. It is guaranteed that the effective propelling pressure and impact pressure at the drill bit meet the requirements, and therefore the drilling precision and quality are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling construction of rock drilling jumbo, and in particular to an adaptive rock drilling control method. In addition, the present invention also relates to a rock drilling jumbo including the above-mentioned adaptive rock drilling control method. Background Art

[0002] Medium-deep hole rock drilling jumbos are widely used in fields such as mine exploitation and tunnel engineering. As the drilling depth increases, the gravity of the drill pipe will affect the propulsion process, resulting in errors; at the same time, the increase in the number of drill pipes will cause attenuation of the impact pressure, and during the drilling process, complex situations such as dry drilling and caliper jamming may occur, and these problems will affect the quality and efficiency of drilling.

[0003] The medium-deep hole automatic control technology in the existing mining equipment is to preset two sets of rock drilling parameters, namely high-impulse drilling parameters (high impact pressure, high propulsion pressure) and low-impulse drilling parameters (low impact pressure, low propulsion pressure). During the drilling process, the rock drilling situation is judged by monitoring the rotary pressure. This method has only two sets of rock drilling parameters, has poor adaptability to the complex rock strata conditions of medium-deep holes, and is prone to the situation of mismatched rock drilling parameters, resulting in problems such as low drilling efficiency or waste of consumables wear.

[0004] A further optimized control method in the prior art is to compare the real-time rotary pressure with the preset rotary pressure, respectively perform negative correlation control on the propulsion pressure and propulsion flow rate, and at the same time perform positive correlation control on the propulsion pressure and impact pressure, so as to infinitely adjust the rock drilling parameters and improve the rock drilling situation. However, as the hole depth increases, the friction force of the rock wall increases, causing the rotary pressure to increase. In this case, if other rock drilling parameters are still adjusted according to the original strategy, it will lead to a decrease in the effective propulsion force and impact force at the drill bit while being unable to properly match the rock hardness. Therefore, the medium-deep hole rock drilling automatic control technology in the prior art has at least the following problems:

[0005] 1) The effective propulsion force and effective impact force at the drill bit are relatively low, resulting in a decrease in rock drilling efficiency, which seriously affects the efficiency of medium-deep hole rock drilling operations and increases the construction cost and time.

[0006] 2) The effective rock drilling parameters at the drill bit are not guaranteed to match the rock, resulting in the inability to ensure the drilling accuracy and quality.

[0007] 3) The effective propulsion pressure and impact pressure at the drill bit do not match, leading to problems such as increased wear of consumables such as dry grinding of the drill bit, bending of the drill pipe, and fracture of the tail of the drill rod due to empty impact.

[0008] 4) The effective drilling parameters at the drill bit are low, the output power of the rock drill is limited, and the energy cannot be reasonably utilized.

[0009] For example, in the prior art, as disclosed in Publication No.: CN116498293A, a drilling control method for a medium-deep hole rock drilling jumbo is disclosed. By detecting the rotation pressure, a negative correlation control is performed on the propulsion pressure and the propulsion flow rate, and at the same time, a positive correlation control is performed on the propulsion pressure and the impact pressure, so that the rock drilling parameters can be adjusted steplessly to improve the rock drilling situation. However, it does not consider the influence of the hole depth. As the hole depth increases, the friction force of the rock wall increases, and the detected rotation pressure increases. According to this strategy, the propulsion force and the impact force are reduced, resulting in a decrease in the effective propulsion force and impact force at the drill bit and a reduction in the rock drilling efficiency. Summary of the Invention

[0010] The present invention provides an adaptive rock drilling control method and a rock drilling jumbo to solve the technical problems that the rock drilling jumbo in the prior art has poor adaptability to the working conditions of medium-deep hole complex rock formations, easily causes the mismatch of rock drilling parameters, and leads to low drilling efficiency or waste of consumables.

[0011] According to one aspect of the present invention, an adaptive rock drilling control method is provided, which is applied to the control system of a rock drilling jumbo. The adaptive rock drilling control method includes:

[0012] S1. Initialization. Before operation, parameter initialization settings are performed based on the control system for parameters including the mass of the drilling component, the drilling angle, the calculation coefficient, the target propulsion pressure, the target impact pressure, and the control parameter.

[0013] S2. Drilling is carried out according to the initialized parameters. The number of drill pipes is recorded by a drill pipe number counter, and impact pressure compensation and propulsion pressure compensation are respectively performed according to the increased number of drill pipes.

[0014] S3. The output propulsion pressure is adjusted based on the difference between the target rotation pressure and the actual rotation pressure to make the actual rotation pressure tend to the target rotation pressure, and the output impact pressure is adjusted based on the relationship between the effective impact pressure and the effective propulsion pressure to make the effective impact pressure tend to the target impact pressure.

[0015] As a further improvement of the above technical solution, step S1 further includes: setting an air drilling set value; step S3 further includes: during the drilling process, continuously monitoring the propulsion speed and the rotation pressure. If the adjusted propulsion speed is greater than the air drilling set value and / or the rotation pressure is less than the air drilling set value, it is determined to be in the air drilling state, and the drilling is stopped or switched to the air drilling parameters to continue drilling; if the adjusted rotation pressure is greater than the sticking set value, it is determined to be in the sticking state, and it is adjusted to resume drilling or stop drilling and alarm according to the preset program.

[0016] As a further improvement of the above technical solution, step S1 includes: setting a propulsion pressure compensation coefficient caused by the friction factor, a drill pipe self-weight compensation coefficient, a minimum propulsion pressure, and a maximum propulsion pressure; step S2 includes: calculating the propulsion pressure compensation based on the propulsion pressure compensation coefficient, the drill pipe self-weight compensation coefficient, the current number of drill pipes, the mass of a single drill pipe, and the angle between the drill hole and the horizontal plane, and controlling the propulsion pressure to be between the set minimum propulsion pressure and the maximum propulsion pressure.

[0017] As a further improvement of the above technical solution, step S1 includes: setting an impact compensation coefficient corresponding to the drill pipe; step S2 includes: calculating the impact pressure compensation based on the impact compensation coefficient corresponding to the drill pipe, considering the current number of drill pipes, the mass of a single drill pipe, and the impact pressure detected at the rock drill jumbo.

[0018] As a further improvement of the above technical solution, step S3 includes: based on the formula adjusting the output impact pressure to make the effective impact pressure tend to the target impact pressure, where P c0 is the initial value of the impact pressure output at the rock drill jumbo end; p T0 is the initial value of the propulsion pressure output at the rock drill jumbo end, K CT1 is the bit parameter calibrated to match the characteristics of the rock drill, C CT0 is the rock drill frequency calibrated to match the characteristics of the rock drill.

[0019] As a further improvement of the above technical solution, step S3 includes: based on the formula p H1 = p H0 + K T1 *ΔP T *|sinθ|, outputting the rotary pressure, where K T1 is the coefficient affected by the friction between the drill hole wall and the drill pipe, ΔP T is the propulsion pressure compensation value, p H0 is the initial rotary pressure setting value, p H1 is the target rotary pressure value at the rock drill after compensation as the hole depth increases, p Hmin is the anti-dry-drilling rotary pressure setting value, p Hmax is the anti-sticking drill rod rotary pressure setting value.

[0020] As a further improvement of the above technical solution, step S3 includes: based on the formula adjusting the propulsion pressure to make the actual rotary pressure tend to the target rotary pressure, where e H is the deviation between the actual rotary pressure p H and the target rotary pressure p H1 ; is the proportionality coefficient, is the integral coefficient, is the differential coefficient, P T is the measured value of the propulsion pressure at the rock drill before adjustment, is the target value of the propulsion pressure after adjustment, and K1, K2 are the preset propulsion pressure adjustment range coefficients, P Tmin is the minimum value of the system-limited propulsion pressure, P Tmax is the maximum value of the system-limited propulsion pressure.

[0021] As a further improvement of the above technical solution, step S3 includes: Based on the formula Adjust the impact pressure. In the formula, e V is the deviation between the actual drilling speed V1 and the target drilling speed V0, is the proportionality coefficient, is the integral coefficient, is the differential coefficient, P C is the measured value of the impact pressure at the rock drill before adjustment, is the target value of the impact pressure after adjustment, P Cmin is the minimum value of the system-limited impact pressure, P Cmax is the maximum value of the system-limited impact pressure.

[0022] As a further improvement of the above technical solution, step S3 includes: If the adjusted rotary pressure is greater than the sticking setting value, it is judged as the sticking state. First, stop rotating and flush water to reduce the friction force, control the slow pulling of the drill rod to the preset distance, then carry out low-impact drilling through a certain distance, and then adjust the working state to resume normal drilling. After three cycles, if the system still judges it as the sticking state, stop rotating and give an alarm.

[0023] According to another aspect of the present invention, a rock drilling jumbo is further provided, which includes the above-mentioned adaptive rock drilling control method.

[0024] The present invention has the following beneficial effects:

[0025] This adaptive rock drilling control method characterizes the change of hole depth by the number of drill pipes, and actively compensates through the propulsion pressure and impact pressure to meet the effective propulsion force and impact force required for rock drilling at the drill bit, ensuring the efficiency of the rock drilling operation, optimizing the output power of the rock drill, avoiding energy waste. Moreover, after compensation based on the initial setting method, the propulsion pressure is further adjusted according to the difference between the target rotary pressure and the actual rotary pressure for correction, making the actual rotary pressure tend to the target rotary pressure, avoiding interference caused by the problem of increased frictional force on the borehole wall due to the increase in hole depth. During the adjustment process of the output propulsion pressure, the output impact pressure is further PID-adjusted based on the relationship between the effective impact pressure and the effective propulsion pressure, thereby ensuring the matching of the effective rock drilling parameters at the drill bit with the rock, ensuring that the effective propulsion pressure and impact pressure at the drill bit meet the rock drilling requirements, thus guaranteeing the drilling accuracy and quality, and further reducing the waste of equipment consumables and lowering the cost.

[0026] In addition to the purposes, features and advantages described above, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0028] Figure 1 is a working schematic diagram of a preferred embodiment of the present invention;

[0029] Figure 2 is a schematic diagram of the adjustable range of the effective impact pressure of a preferred embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of the propulsion pressure adjustment of a preferred embodiment of the present invention;

[0031] Figure 4 is a schematic diagram of the drilling speed adjustment of a preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The following embodiments of the present invention are described in detail with reference to the drawings, but the present invention can be implemented in many different ways defined and covered by the following.

[0033] Figure 1 is a working schematic diagram of a preferred embodiment of the present invention; Figure 2 is a schematic diagram of the adjustable range of the effective impact pressure of a preferred embodiment of the present invention; Figure 3 is a schematic diagram of the propulsion pressure adjustment of a preferred embodiment of the present invention; Figure 4 is a schematic diagram of the drilling speed adjustment of a preferred embodiment of the present invention.

[0034] As Figures 1 to 4 shown, the adaptive rock drilling control method of this embodiment is applied to the control system of a rock drilling jumbo. The adaptive rock drilling control method includes:

[0035] S1. Initialization: Before operation, initialize the settings of parameters including the mass of the drilling component, the drilling angle, the calculation coefficient, the target propulsion pressure, the target impact pressure, and the control parameters based on the control system. Specifically, before the rock drilling jumbo starts drilling operations, initialize the relevant parameters based on the controller of the rock drilling jumbo, including measuring the mass m of drilling components such as drill pipes and drill bits, monitoring the angle θ between the drill hole and the horizontal plane, the coefficients K of each formula, the initial values of the propulsion pressure and the impact pressure, the PID control parameters, and the judgment thresholds for dry drilling and bit jamming.

[0036] S2. Drill according to the initialized parameters. The drill pipe quantity counter records the number of drill pipes, and performs impact pressure compensation and propulsion pressure compensation respectively according to the increased number of drill pipes.

[0037] S3. Adjust the output propulsion pressure based on the difference between the target rotary pressure and the actual rotary pressure to make the actual rotary pressure tend to the target rotary pressure, and adjust the output impact pressure based on the relationship between the effective impact pressure and the effective propulsion pressure to make the effective impact pressure tend to the target impact pressure.

[0038] It should be understood that the adjustment process of increasing the number of drill pipes is implemented with reference to the prior art and will not be elaborated too much.

[0039] It can be understood that this adaptive rock drilling control method characterizes the change in hole depth by the number of drill pipes, and actively compensates through the propulsion pressure and the impact pressure to meet the effective propulsion force and impact force required for rock drilling at the drill bit, ensuring the efficiency of the rock drilling operation, optimizing the output power of the rock drill, avoiding energy waste. Moreover, after compensation based on the initial setting method, the propulsion pressure is further adjusted and corrected according to the difference between the target rotary pressure and the actual rotary pressure to make the actual rotary pressure tend to the target rotary pressure, avoiding interference caused by the problem of increased frictional force on the drill hole wall due to the increase in hole depth. During the adjustment process of the output propulsion pressure, the output impact pressure is further PID-adjusted based on the relationship between the effective impact pressure and the effective propulsion pressure, thereby ensuring the matching of the effective rock drilling parameters at the drill bit with the rock, ensuring that the effective propulsion pressure and impact pressure at the drill bit meet the rock drilling requirements, thus guaranteeing the drilling accuracy and quality, and further reducing the waste of equipment consumables and lowering costs.

[0040] It should be noted that through a large number of analysis and experimental demonstrations, the drilling speed is strongly and positively correlated with the impact force; the rotary pressure is mainly positively correlated with the propulsion pressure. Therefore, in this embodiment, the drilling speed and the rotary pressure are ensured to be near the target values and have stable fluctuations by coordinately adjusting the propulsion force and the impact force (i.e., the output propulsion pressure and the output impact pressure); there is a positive correlation between the effective impact pressure and the effective propulsion pressure, and there are different adjustment methods according to the rock formation hardness during the adjustment process; when encountering hard and brittle rocks, after increasing the impact force, only a small amount of propulsion force needs to be appropriately increased to ensure close contact between the drill bit and the rock, and the rock is mainly broken by the impact force. When encountering hard and tough rocks, after increasing the impact force, a large amount of propulsion force needs to be increased to enable the drill bit to penetrate deeper into the rock and better transmit the impact force to break the rock. Therefore, the propulsion pressure and the impact pressure fluctuate within a certain range of the proportional relationship, and the relationship between the two is dynamically adjusted according to the rock formation characteristic information to achieve the optimal crushing effect and drilling efficiency. Restricting the coordination relationship between the propulsion pressure and the impact pressure ensures the coordination of the impact and propulsion actions, avoids the problem of unbalanced drilling caused by excessive adjustment of a single parameter, and further improves the rock drilling efficiency.

[0041] In some embodiments, step S1 further includes: setting an idle drilling set value; step S3 further includes: during the drilling process, continuously monitoring the propulsion speed and the rotary pressure. If the adjusted propulsion speed is greater than the idle drilling set value and / or the rotary pressure is less than the idle drilling set value, it is determined to be in the idle drilling state, and the drilling is stopped or switched to the idle drilling parameters to continue drilling; if the adjusted rotary pressure is greater than the sticking set value, it is determined to be in the sticking state, and it is adjusted to resume drilling or stop drilling and alarm according to a preset program; it can be understood that during the drilling process, the propulsion speed and the rotary pressure are continuously monitored. When the output propulsion speed after weighted PID adjustment is still greater than the idle drilling set value or the rotary pressure is less than the idle drilling set value, the control system can determine it to be in the idle drilling state. At this time, according to the preset idle drilling state processing scheme, the drilling is stopped or switched to the idle drilling parameters for drilling to avoid ineffective operation and equipment damage; if the adjusted rotary pressure is greater than the sticking set value, it is determined to be in the sticking state, and it is adjusted to resume drilling or stop drilling and alarm according to a preset program. In a specific embodiment, it can be to first stop rotating, flush water to reduce the friction force, then slowly pull out the rod to a preset distance, and then perform low-impact drilling through a certain distance, and then resume normal drilling through PID adjustment; if the above steps are still determined to be in the sticking state after three cycles, stop rotating and perform a fault alarm process.

[0042] In some embodiments, step S1 includes: setting a propulsion pressure compensation coefficient caused by the friction factor, a drill pipe self-weight compensation coefficient, a minimum propulsion pressure, and a maximum propulsion pressure; step S2 includes: calculating the propulsion pressure compensation based on the propulsion pressure compensation coefficient, the drill pipe self-weight compensation coefficient, the current number of drill pipes, the mass of a single drill pipe, and the angle between the borehole and the horizontal plane, and controlling the propulsion pressure to be between the set minimum propulsion pressure and the maximum propulsion pressure; specifically, based on the formula p T1 = p T0 + |K T1 * n * m * sinθ| + K T2 * n * mg * cosθ, perform the propulsion pressure compensation; in the formula, n is the current number of drill pipes, m is the mass of a single drill pipe, g is the acceleration due to gravity, θ is the angle between the borehole and the horizontal plane, K T1 is the propulsion pressure compensation coefficient caused by the friction factor, K T2 is the drill pipe self-weight compensation coefficient, p T0 is the desired effective propulsion pressure at the drill bit, p T1 is the initial value of the propulsion pressure output at the trolley end, p Tmin is the set minimum propulsion pressure, p Tmax is the set maximum propulsion pressure; it can be understood that according to the increased number of drill pipes n, calculate the overall compensated propulsion pressure according to the calibrated values m, θ, K T1 , K T2 ; as the drilling depth of the medium-deep hole rock drilling jumbo increases, for each additional drill pipe, the propulsion pressure increases by a calibrated value to actively compensate for the errors caused by gravity and angle; among them, the propulsion pressure p T can be real-time monitored by the propulsion pressure sensor installed in the propulsion system, and the data is fed back to the control system. The control system compares the feedback value with the calculated target propulsion pressure p T1 . If there is a deviation, adjust the current value of the propulsion pressure valve through PID regulation to adjust the output propulsion pressure, ensuring that the actual propulsion pressure p T is consistent with the target propulsion pressure p T1 .

[0043] In some embodiments, step S1 includes: setting an impact compensation coefficient corresponding to the drill pipe; step S2 includes: calculating the impact pressure compensation based on the impact compensation coefficient corresponding to the drill pipe considering the current number of drill pipes, the mass of a single drill pipe, and the impact pressure detected at the rock drilling jumbo; specifically, based on the formula P1 = K c1 * n * m * P0 for impact pressure compensation; in the formula, n is the current number of drill pipes, P0 is the effective impact pressure at the drill bit, P1 is the impact pressure detected at the rock drill, K c1is the impact compensation coefficient corresponding to different drill pipes; it can be understood that as the number of drill pipes increases, for each additional pipe, a certain percentage of impact pressure is increased to compensate for the impact attenuation caused by the increase in the number of pipes. Since the increase in drill pipes will cause attenuation of the impact force during transmission, by increasing the impact pressure proportionally, sufficient impact force can always be maintained at the drill bit to compensate for the impact pressure attenuation caused by the increase in the number of pipes and ensure the rock breaking efficiency. This method of dynamically adjusting the impact pressure can better adapt to the drilling requirements at different hole depths.

[0044] In some embodiments, step S3 includes: based on the formula adjust the output impact pressure to make the effective impact pressure tend to the target impact pressure. In the formula, P c0 is the initial value of the impact pressure output at the rock drilling jumbo end; p T0 is the initial value of the propulsion pressure output at the rock drilling jumbo end, K CT1 is the drill bit parameter calibrated according to the characteristics of the rock drill, and C CT0 is the rock drill frequency calibrated according to the characteristics of the rock drill.

[0045] In some embodiments, step S3 includes: based on the formula p H1 = p H0 + K T1 *ΔP T *|sinθ|, output the rotation pressure. In the formula, K T1 is the coefficient affected by the friction between the borehole wall and the drill pipe, ΔP T is the propulsion pressure compensation value, p H0 is the initial rotation pressure setting value, p H1 is the target value of the rotation pressure at the rock drill after compensation as the hole depth increases, p Hmin is the rotation pressure setting value for preventing dry drilling, p Hmax is the rotation pressure setting value for preventing drill pipe jamming.

[0046] It can be understood that as the drilling depth increases, considering factors such as the deflection and friction of the drill pipe, in order to ensure the effective drilling parameters at the drill bit, the target value of the rotation pressure is adjusted with the drilling depth to maintain a stable drilling state; among them, a rotation pressure sensor can be used to monitor the actual rotation pressure p H , and the rotation pressure signal is processed through a filtering algorithm to eliminate high-frequency fluctuation signals and feedback it to the control system; on the other hand, the propulsion speed can be measured in real time through a flow meter, and the propulsion speed signal is processed through a filtering algorithm to eliminate fluctuation signals and feedback it to the control system;

[0047] Furthermore, the current actual rotation pressure p H and the target rotation pressure pH1 The deviation is e h = p H1 - p H , step S3 includes: Based on the formula Adjust the propulsion pressure to make the actual rotary pressure tend to the target rotary pressure. In the formula, e H is the actual rotary pressure p H and the target rotary pressure p H1 deviation, is the proportionality coefficient, is the integral coefficient, is the differential coefficient, P T is the measured value of the propulsion pressure at the rock drill before adjustment, is the target value of the propulsion pressure after adjustment, K1 and K2 are preset propulsion pressure adjustment range coefficients, P Tmin is the minimum value of the system-limited propulsion pressure, P Tmax is the maximum value of the system-limited propulsion pressure; By adjusting the output propulsion pressure, the rotary pressure P H reaches the target value P H0 nearby, so that the propulsion force and rotary force at the drill bit match the rock properties.

[0048] In some embodiments, step S3 includes: Based on the formula Adjust the impact pressure. In the formula, e V is the deviation between the actual drilling speed V1 and the target drilling speed V0, is the proportionality coefficient, is the integral coefficient, is the differential coefficient, P C is the measured value of the impact pressure at the rock drill before adjustment, is the target value of the impact pressure after adjustment, P Cmin is the minimum value of the system-limited impact pressure, P Cmax is the maximum value of the system-limited impact pressure; Among them, according to the formula the adjustable range of the impact pressure effective value can be obtained. According to the formula P c = K c1 *n*m*P c0 the output impact pressure P c can be obtained, and the system performance limit Among them, P Cmin is the minimum value of the system-limited impact pressure, P Cmaxis the maximum impact pressure restricted by the system; during the above adjustment process, while adjusting the propulsion pressure, the impact pressure is adjusted synchronously. Moreover, with the change of rock hardness, the impact pressure is adjusted to ensure the stability of the drilling speed, avoiding the deviation of the borehole caused by too fast or too slow drilling speed, so as to achieve the purpose of ensuring the borehole quality and improving the rock drilling efficiency. On the other hand, the stable control of the drilling speed can ensure the smoothness of the drilling process, reduce the borehole deviation caused by the change of rock hardness, and improve the quality indexes such as the straightness and aperture accuracy of the borehole. At the same time, by reasonably compensating and adjusting the propulsion pressure and impact pressure, sufficient and stable propulsion force and impact force are ensured at the drill bit, thus ensuring the borehole capacity and improving the rock drilling efficiency. This method ensures the matching of the effective propulsion pressure and impact pressure at the drill bit with the rock characteristics through adaptive PID control and the treatment of special working conditions such as dry drilling and sticking of the drill steel, and maximally avoids the problems of increased wear and tear such as dry grinding of the drill bit, bending of the drill pipe, and fracture of the tail of the drill steel due to empty impact. According to the actual borehole situation, the rock drilling parameters are accurately adjusted to ensure that the effective rock drilling parameters at the drill bit are the drilling parameters adapted to the rock stratum situation, avoiding unnecessary energy consumption, making the energy of the rock drill more reasonably utilized, and thus effectively reducing the energy cost of the borehole operation.

[0049] On the other hand, a preferred embodiment of the present invention further provides a rock drilling jumbo, which applies the above adaptive rock drilling control method.

[0050] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0051] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0052] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive rock drilling control method is applied to the control system of a rock drilling jumbo, characterized in that, The adaptive rock drilling control method includes: S1. Initialization, before operation, initialize the settings of parameters including the mass of the drilling component, the drilling angle, the calculation coefficient, the target propulsion pressure, the target impact pressure, and the control parameters based on the control system; S2. Drill according to the initialized parameters. The drill pipe number counter records the number of drill pipes, and performs impact pressure compensation and propulsion pressure compensation respectively according to the increased number of drill pipes; S3. Adjust the output propulsion pressure based on the difference between the target rotation pressure and the actual rotation pressure to make the actual rotation pressure tend to the target rotation pressure, and adjust the output impact pressure based on the relationship between the effective impact pressure and the effective propulsion pressure to make the effective impact pressure tend to the target impact pressure.

2. The adaptive rock drilling control method according to claim 1, characterized in that, Step S1 further includes: setting the dry drilling set value; Step S3 further includes: during the drilling process, continuously monitoring the propulsion speed and the rotation pressure. If the adjusted propulsion speed is greater than the dry drilling set value and / or the rotation pressure is less than the dry drilling set value, it is judged as the dry drilling state, and the drilling is stopped or switched to the dry drilling parameters to continue drilling; if the adjusted rotation pressure is greater than the sticking set value, it is judged as the sticking state, and it is adjusted to resume drilling or stop drilling and alarm according to the preset program.

3. The adaptive rock drilling control method according to claim 1, wherein Step S1 includes: setting the propulsion pressure compensation coefficient caused by the friction factor, the drill pipe self-weight compensation coefficient, the minimum propulsion pressure, and the maximum propulsion pressure. Step S2 includes: calculating the propulsion pressure compensation based on the propulsion pressure compensation coefficient, the drill pipe self-weight compensation coefficient, the current number of drill pipes, the mass of a single drill pipe, and the angle between the drill hole and the horizontal plane, and controlling the propulsion pressure to be between the set minimum propulsion pressure and the maximum propulsion pressure.

4. The adaptive rock drilling control method according to claim 1, wherein Step S1 includes: setting the impact compensation coefficient corresponding to the drill pipe; Step S2 includes: calculating the impact pressure compensation based on the impact compensation coefficient corresponding to the drill pipe, considering the current number of drill pipes, the mass of a single drill pipe, and the impact pressure detected at the rock drilling jumbo.

5. The adaptive rock drilling control method according to claim 1, wherein Step S3 includes: Based on Equation Adjust the output impact pressure so that the effective impact pressure tends to the target impact pressure. In the equation, P c0 Is the initial value of the impact pressure output at the rock drilling jumbo end; p T0 Is the initial value of the propulsion pressure output at the rock drilling jumbo end, K CT1 Is the calibrated bit parameter matched according to the characteristics of the rock drill, C CT0 Is the calibrated rock drill frequency matched according to the characteristics of the rock drill.

6. The adaptive rock drilling control method according to claim 2, characterized in that Step S3 includes: Based on the formula output the rotary pressure. In the formula, K T1 is the coefficient affected by the frictional force between the borehole wall and the drill pipe, ΔP T is the propulsion pressure compensation value, p H0 is the initial rotary pressure setting value, p H1 is the target rotary pressure value at the rock drill after compensation as the hole depth increases, p Hmin is the anti-air-striking rotary pressure setting value, p Hmax is the anti-sticking-bit rotary pressure setting value.

7. The adaptive rock drilling control method according to claim 6, characterized in that Step S3 includes: Based on Equation Adjust the propulsion pressure to make the actual rotation pressure tend to the target rotation pressure. In the formula, e H is the deviation between the actual rotation pressure p H and the target rotation pressure p H1 , is the proportionality coefficient, is the integral coefficient, is the differential coefficient, P T is the measured value of the propulsion pressure at the rock drill before adjustment, is the target value of the propulsion pressure after adjustment, K1 and K2 are preset propulsion pressure adjustment range coefficients, P Tmin is the minimum value of the system-limited propulsion pressure, P Tmax is the maximum value of the system-limited propulsion pressure.

8. The adaptive rock drilling control method according to claim 7, characterized in that Step S3 includes: Based on Equation to adjust the impact pressure, where e V is the deviation between the actual drilling speed V1 and the target drilling speed V0, is the proportionality coefficient, is the integral coefficient, is the differential coefficient, P C is the measured value of the impact pressure at the rock drill before adjustment, is the target value of the impact pressure after adjustment, P Cmin is the minimum value of the impact pressure limited by the system, P Cmax is the maximum value of the impact pressure limited by the system.

9. The adaptive rock drilling control method according to claim 2, characterized in that, Step S3 includes: if the adjusted rotation pressure is greater than the sticking set value, it is judged as the sticking state. First, stop rotating and flush water to reduce the friction force, control the slow pulling of the drill pipe to the preset distance, then perform low-impact drilling through a certain distance, and then adjust the working state to resume normal drilling. If the system still judges as the sticking state after three cycles, stop rotating and alarm.

10. A rock drilling jumbo, characterized in that, Apply the adaptive rock drilling control method according to any one of claims 1-9.

Images