Control method and device for hydraulic vertical drilling

Abstract

The invention discloses a hydraulic vertical drilling control method and device, and relates to the technical field of robot distribution network engineering equipment.The hydraulic vertical drilling control method comprises the steps that an operation control signal output by a control handle is obtained, and the operation control signal is used for controlling the expected working speed of a drilling machine; respectively obtaining Uv1 and Uv2 according to the working speed difference value based on outer ring PID speed control; according to the working angle difference value, based on inner ring PID angle control, Uv1 and Uv2 are obtained respectively; acquiring an execution signal U1 and an execution signal U2; the first actuating mechanism is controlled to act according to the actuating signal U1, and the second actuating mechanism is controlled to act according to the actuating signal U2. According to the method, the drilling speed can be controlled, meanwhile, automatic adjustment of the drilling perpendicularity is achieved, the problems that a multi-joint drilling device is high in vertical drilling operation difficulty and poor in drilling perpendicularity are solved, the number of sensors is reduced, and meanwhile the defects of overshoot control and slow response of a conventional PID in a complex working condition construction scene are overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of distribution network engineering equipment, and particularly to a control method and device for hydraulic vertical drilling. Background Art

[0002] In the construction operation of pole erection, pole hole excavation is an important construction link. However, the efficiency and quality at the construction site of pole erection are not high, and the construction method at the infrastructure site usually mainly relies on manual labor and is assisted by machinery. For example, for pit holes, methods such as manual labor, excavators, and drilling machines are used, and for pole erection, methods such as manual labor, pole erection machines, and forklift assistance are used.

[0003] With the mechanization transformation and upgrading of the distribution network, the construction method of using a rotary drilling rig or a modified mechanized equipment is adopted to improve the construction efficiency. However, the rotary drilling rig has high requirements for the construction terrain and a limited drilling radius. Although the form of changing the excavator bucket into a drill pipe can solve the requirements for the terrain, the excavator operation requires multi-handle coordinated control, has high requirements for the proficiency of the operator, has low drilling accuracy, and is difficult to meet the requirements for the verticality of the pole hole. PID control is widely used in the field of automatic control, but the PID control with fixed parameters is difficult to meet the precise control under complex working conditions. To achieve autonomous precise vertical drilling control, a control method that can automatically adjust the control parameters according to the control state is needed. Therefore, there is an urgent need for a control method that can achieve high-precision vertical drilling and is easy to operate in the distribution network project. Summary of the Invention

[0004] The main purpose of the present invention is to provide a control method and device for hydraulic vertical drilling, aiming to solve the technical problem that it is difficult to accurately identify the weld position based on machine vision in the prior art, resulting in poor adaptability of the welding robot in a complex environment.

[0005] To achieve the above purpose, the present invention provides a control method for hydraulic vertical drilling, including the steps of:

[0006] S10, obtaining an operation control signal output by a control handle, the operation control signal being used to control the expected working speed of the drilling rig, and the target working state of the drilling rig being driven and realized by a first actuator and a second actuator, and the target working state including a target working angle and an expected working speed;

[0007] S20, obtaining the working speed difference between the actual working speed and the expected working speed of the drilling rig;

[0008] S30, based on the outer-loop PID speed control according to the working speed difference, respectively obtaining a speed control signal Uv1 for the first actuator and a speed control signal Uv2 for the second actuator;

[0009] S40, obtaining the working angle difference between the actual working angle and the expected working angle of the drilling rig;

[0010] S50. Based on the inner-loop PID angle control according to the working angle difference, the angle control signals Uv1 of the first actuator and Uv2 of the second actuator are obtained respectively. Among them, the absolute value of the product of the working angle difference and the first-order differential of the working angle difference is used as the inner-loop fitness function, and the genetic algorithm is used to optimize the control parameters of the inner-loop PID to obtain the optimal inner-loop control parameters;

[0011] S60. Obtain the execution signal U1 of the first actuator according to the speed control signal Uv1 and the angle control signal Uv1; obtain the execution signal U2 of the second actuator according to the speed control signal Uv2 and the angle control signal Uv2;

[0012] S70. Control the action of the first actuator according to the execution signal U1, and control the action of the second actuator according to the execution signal U2.

[0013] Further, the step of "using the absolute value of the product of the working angle difference and the first-order differential of the working angle difference as the inner-loop fitness function, and using the genetic algorithm to optimize the control parameters of the inner-loop PID to obtain the optimal inner-loop control parameters" specifically includes:

[0014] S51. Take the proportional parameter, integral parameter, and differential parameter in the control parameters of the inner-loop PID as decision variables;

[0015] S52. Set the population size, crossover rate, and mutation rate of the genetic algorithm, and initialize the population;

[0016] S53. Perform selection processing, crossover processing, and mutation processing on the population to obtain offspring;

[0017] S54. Obtain the offspring individuals in the offspring whose inner-loop fitness function meets the preset conditions to form a new population;

[0018] S55. Judge whether the preset number of loop generations is reached;

[0019] S56. If the preset number of loop generations is reached, determine the individual with the minimum fitness in the population as the optimal inner-loop control parameters; if the preset number of loop generations is not reached, repeat steps S52 to S54 for iterative loop.

[0020] Further, obtain the actual distance signal collected by the rangefinder, and calculate the actual working speed according to the actual distance.

[0021] Further, according to the actual working angle signal collected by the angle sensor.

[0022] The present invention also provides a hydraulic vertical drilling device, which includes a filter, a motor, a variable pump, a check valve, a pressure reducing valve, a first pressure sensor, a second pressure sensor, a first pilot control valve, a second pilot control valve, a first control main valve, a first actuator, a second actuator, a second control main valve, a third pilot control valve, a fourth pilot control valve, a pilot pipeline, a high-pressure pipeline, a control handle, a controller, a base, a first actuator mechanism, a second actuator mechanism, a drill, an angle sensor, and a rangefinder. The motor is mechanically connected to the variable pump, the inlet of the variable pump is mechanically connected to the filter, the outlet of the variable pump is connected to the high-pressure pipeline through the check valve, the inlet of the pressure reducing valve is connected to the high-pressure pipeline, the outlet of the pressure reducing valve is connected to the pilot pipeline, the first control main valve is connected to the first actuator, the first actuator is respectively connected to the first actuator mechanism and the base, the second control main valve is connected to the second actuator, one end of the second actuator is hinged to the first actuator mechanism, the other end of the second actuator is hinged to the second actuator mechanism, the first actuator mechanism and the second actuator mechanism are connected by a pin shaft, and the drill is connected to the second actuator mechanism by a pin shaft. The output end of the controller is respectively connected to the first pilot valve, the second pilot valve, the third pilot valve, the fourth pilot valve, the pressure reducing valve, and the variable pump, and the input end of the controller is respectively connected to the angle sensor, the rangefinder, the first pressure sensor, the second pressure sensor, and the control handle.

[0023] It further includes a controller, which is used to implement the control method of hydraulic vertical drilling as described in any one of claims 1 to 4.

[0024] Furthermore, the device further includes an accumulator, a safety valve, and a low-pressure pipeline. The accumulator is connected to the high-pressure pipeline, the inlet of the safety valve is connected to the high-pressure pipeline, and the outlet of the safety valve is connected to the low-pressure pipeline.

[0025] Furthermore, the first working oil port of the first control main valve is connected to the rodless cavity of the first actuator, the second working oil port of the first control main valve is connected to the rod cavity of the first actuator, the third working oil port of the first control main valve is connected to the high-pressure pipeline, the fourth working oil port of the first control main valve is connected to the low-pressure pipeline, the left and right oil ports of the first control main valve are respectively connected to the first pilot control valve and the second pilot control valve, the first working oil port of the second control main valve is connected to the rodless cavity of the second actuator, the second working oil port of the second control main valve is connected to the rod cavity of the second actuator, the third oil port of the second control main valve is connected to the high-pressure pipeline, the fourth working oil port of the second control main valve is connected to the low-pressure pipeline, and the left and right oil ports of the second control main valve are respectively connected to the third pilot control valve and the fourth pilot control valve.

[0026] Compared with the prior art, the control method of hydraulic vertical drilling provided by the present invention has the following beneficial effects:

[0027] A control method for hydraulic vertical drilling provided by the present invention drives the working angle and working speed of the drill bit through the linkage of the first actuator and the second actuator to achieve drilling excavation. In actual work, the operation control signal output by the control handle determines the desired working speed of the drill rig to lower or lift, so as to realize the speed adjustment and angle adjustment of the drill rig installed on the second actuator. A sensor combination of an angle sensor and a rangefinder is adopted to obtain the distance signal and rotation angle signal of the drill rig. Compared with the commonly used scheme of three angle sensors, the design scheme of the present invention can reduce the requirement for the number of sensors used. In addition, in terms of the control algorithm, through the dual-loop PID control algorithm architecture composed of an outer-loop PID speed control and an inner-loop PID angle control, the speed and angle closed-loop control of the drill rig to lower / lift is realized at the same time. At the same time, when the lowering / lifting speed of the drill rig is slow, the change range of the angle of the drill rig is relatively small. At this time, larger inner-loop PID control parameters will cause overshoot and oscillation. On the contrary, when the change range of the angle is relatively large, smaller PID parameters will cause the phenomenon of slow control response speed. For this reason, the present invention uses the absolute value of the product of the working angle difference and the first-order differential of the working angle difference as the inner-loop fitness function index, and adjusts the control parameters of the inner-loop PID through the genetic algorithm, realizing the adaptive adjustment of the control parameters of the inner-loop PID. Compared with the traditional method of adjusting PID parameters only through the angle error evaluation index, integrating the first-order differential of the angle error can improve the response speed of parameter regulation and ensure the adaptability and control accuracy of the dual-loop PID control architecture under complex working conditions. The method of the present invention can realize the control of the drilling speed and at the same time realize the automatic adjustment of the drilling perpendicularity, solves the problems of high operation difficulty and poor drilling perpendicularity of the multi-joint drilling device for vertical drilling, reduces the number of sensors, and at the same time makes up for the deficiencies of conventional PID in terms of control overshoot and slow response in complex working condition construction scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0029] Figure 1 It is a schematic flow chart of a control method for hydraulic vertical drilling provided by an embodiment of the present application;

[0030] Figure 2 It is a schematic diagram of a dual-loop PID control framework provided by an embodiment of the present application;

[0031] Figure 3Schematic diagram of the genetic algorithm for optimizing PID parameters provided by the embodiments of the present application

[0032] Figure 4 Schematic diagram of the structure of a control device for a hydraulic vertical drilling provided by the embodiments of the present application

[0033] The implementation, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings Detailed implementation manners

[0034] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention

[0036] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly

[0037] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention

[0038] Please refer to the attached Figure 1 、 Figure 2 and Figure 3 , the present invention provides a control method for a hydraulic vertical drilling, including the following steps: S10, obtaining an operation control signal output by a control handle, the operation control signal being used to control the desired working speed of a drilling rig, the target working state of the drilling rig being driven and realized by a first execution structure and a second execution mechanism, the target working state including a target working angle and the desired working speed

[0039] S20. Obtain the working speed difference between the actual working speed and the desired working speed of the drill rig;

[0040] S30. Based on the outer-loop PID speed control according to the working speed difference, respectively obtain the speed control signal Uv1 of the first actuator and the speed control signal Uv2 of the second actuator;

[0041] S60. Obtain the working angle difference between the actual working angle and the desired working angle of the drill rig;

[0042] S50. Based on the inner-loop PID angle control according to the working angle difference, respectively obtain the angle control signal Uv1 of the first actuator and the angle control signal Uv2 of the second actuator. Among them, take the absolute value of the product of the working angle difference and the first-order differential of the working angle difference as the inner-loop fitness function, and use the genetic algorithm to optimize the control parameters of the inner-loop PID to obtain the optimal inner-loop control parameters;

[0043] S60. Obtain the execution signal U1 of the first actuator according to the speed control signal Uv1 and the angle control signal Uv1; obtain the execution signal U2 of the second actuator according to the speed control signal Uv2 and the angle control signal Uv2;

[0044] S70. Control the first actuator to act according to the execution signal U1, and control the second actuator to act according to the execution signal U2.

[0045] The control method for hydraulic vertical drilling provided by the present invention realizes drilling excavation by driving the working angle and working speed of the drill bit through the linkage of the first actuator and the second actuator; in actual work, the operation control signal output by the control handle determines the desired working speed of the drilling rig for lowering or lifting, thereby realizing the speed adjustment and angle adjustment of the lowering / lifting of the drilling rig installed on the second actuator, and adopts a sensor combination of an angle sensor and a rangefinder to obtain the distance signal and the rotation angle signal of the drilling rig. Compared with the currently commonly used three angle sensor solutions, the design scheme of the present invention can reduce the number of sensors required for use; in addition, in terms of the control algorithm, a dual-loop PID control algorithm architecture composed of an outer-loop PID speed control and an inner-loop PID angle control is used to simultaneously realize the lowering / lifting of the drilling rig. Speed and angle closed-loop control; At the same time, when the drilling rig is lowered / lifted at a slow speed, the angle change of the drilling rig is relatively small. At this time, the larger inner loop PID control parameter will cause overshoot and oscillation. On the contrary, when the angle change is relatively large, the smaller PID parameter will cause the control response speed to be slow. For this reason, the present invention uses the absolute value of the product of the working angle difference and the first-order differential of the working angle difference as the inner loop fitness function index, and adjusts the control parameters of the inner loop PID through the genetic algorithm to achieve the adaptive adjustment of the control parameters of the inner loop PID. Compared with the traditional method of adjusting the PID parameters only by the angle error evaluation index, the fusion of the first-order differential of the angle error can improve the parameter control response speed and ensure the adaptability and control accuracy of the dual-loop PID control architecture under complex working conditions. The method of the present invention can realize the drilling speed control and the automatic adjustment of the verticality of the drilling hole, solve the problem of high difficulty in vertical drilling operation and poor verticality of the drilling hole of the multi-joint drilling device, reduce the number of sensors, and make up for the shortcomings of the conventional PID in the complex working condition construction scene. Control overshoot and slow response.

[0046] Please refer to Figure 4, an embodiment of the present application provides a hydraulic vertical drilling device, including a filter 2, a motor 3, a variable pump 4, a check valve 5, a pressure reducing valve 6, a first pressure sensor 71, a second pressure sensor 72, a first pilot control valve 81, a second pilot control valve 82, a first control main valve 9, a first actuator 10, a second actuator 11, a second control main valve 12, a third pilot control valve 131, a fourth pilot control valve 132, a pilot pipeline 17, a high-pressure pipeline 18, a control handle 20, a controller 21, a base 22, a first actuator mechanism 23, a second actuator mechanism 24, a drill 25, an angle sensor 26, and a rangefinder 27. The motor 3 is mechanically connected to the variable pump 4. The inlet of the variable pump 4 is mechanically connected to the filter 2. The outlet of the variable pump 4 is connected to the high-pressure pipeline 18 through the check valve 5. The inlet of the pressure reducing valve 6 is connected to the high-pressure pipeline 18. The outlet of the pressure reducing valve 6 is connected to the pilot pipeline 17. The first control main valve 9 is connected to the first actuator 10. The first actuator 10 is respectively connected to the first actuator mechanism 23 and the base 22. The second control main valve 12 is connected to the second actuator 11. One end of the second actuator 11 is hinged to the first actuator mechanism 23, and the other end of the second actuator 11 is hinged to the second actuator mechanism 24. The first actuator mechanism 23 and the second actuator mechanism 24 are connected by a pin shaft. The drill 25 and the second actuator mechanism 24 are connected by a pin shaft. The output end of the controller 21 is respectively connected to the first pilot valve, the second pilot valve, the third pilot valve, the fourth pilot valve, the pressure reducing valve 6, and the variable pump 4. The input end of the controller 21 is respectively connected to the angle sensor 26, the rangefinder 37, the first pressure sensor 71, the second pressure sensor 72, and the control handle 20.

[0047] Specifically, the control device of the hydraulic vertical drilling further includes a fuel tank 1. The motor 3 drives the variable pump 4, and the variable pump 4 is used to adjust the flow rate and pressure. The filter 2 is used to remove impurities in the oil and protect the variable pump 4. The pressure reducing valve 6 is used to reduce the oil pressure and convert the high-pressure oil into low-pressure oil. The first control main valve 9 and the second control main valve 12 are used to control the actions of the actuators through different working oil ports to achieve different working modes. The first actuator 10 and the second actuator 11 drive the actuator mechanism to move. The first pilot control valve 81, the second pilot control valve 82, the third pilot control valve 131, and the fourth pilot control valve 132 are used to control the actions of the main valve to improve the control accuracy. The controller 21 receives the signals of the control handle 20, the pressure sensor, and the angle sensor 26, and adjusts the displacement of the variable pump 4 in real time according to the signals.

[0048] It can be understood that under the action of gravity, the drill pipe always maintains a vertically downward posture.

[0049] The device also includes an accumulator 15 , a safety valve 16 and a low-pressure pipeline 19 . The accumulator 15 is connected to the high-pressure pipeline 18 , the oil inlet of the safety valve 16 is connected to the high-pressure pipeline 18 , and the oil outlet of the safety valve 16 is connected to the low-pressure pipeline 19 .

[0050] Specifically, the accumulator 15 is used to store energy, and the safety valve 16 is used to prevent the oil pressure from being too high to avoid damage.

[0051] The first working oil port of the first control main valve 9 is connected to the rodless chamber of the first actuator 10, the second working oil port of the first control main valve 9 is connected to the rod chamber of the first actuator 10, the third working oil port of the first control main valve 9 is connected to the high-pressure pipeline 18, the fourth working oil port of the first control main valve 9 is connected to the low-pressure pipeline 19, the left and right oil ports of the first control main valve 9 are respectively connected to the first pilot control valve 81 and the second pilot control valve 82, the first working oil port of the second control main valve 12 is connected to the rodless chamber of the second actuator 11, the second working oil port of the second control main valve 12 is connected to the rod chamber of the second actuator 11, the third oil port of the second control main valve 12 is connected to the high-pressure pipeline 18, the fourth working oil port of the second control main valve 12 is connected to the low-pressure pipeline 19, and the left and right oil ports of the second control main valve 12 are respectively connected to the third pilot control valve 131 and the fourth pilot control valve 132.

[0052] In specific implementation, the rodless chamber refers to the side of the actuator without a piston rod, and the rod chamber refers to the side of the actuator with a piston. The first working oil port is used to receive pressure oil to push the piston to move, the second working oil port is used to release pressure oil to retract the piston, the third working oil port is used to receive high-pressure oil, the fourth working oil port is used to release low-pressure oil or return oil, and the left and right pilot control oil ports are used to control the action of the main valve. The main valve is controlled to deliver high-pressure oil to the corresponding chamber of the actuator through the control of the pilot control valve according to the input signal of the controller 21, thereby driving the actuator to act. At the same time, the oil inside the actuator is released to the low-pressure pipeline 19 through the fourth working oil port of the control main valve to achieve the retraction action of the actuator, that is, to complete the drilling operation.

[0053] Furthermore, when executing step S10, the control handle outputs an operation control signal, and controls the first actuator and the second actuator to jointly complete the working angle deflection according to the operation control signal.

[0054] Specifically, the motor 3 is used to drive the variable pump 4 to rotate. The variable pump 4 outputs high-pressure oil to the first actuator 10 and the second actuator 11. The safety valve 16 is used to stabilize the pressure of the high-pressure pipeline 18. When the downhole button of the control handle 20 is triggered and the control handle 20 is pushed forward at the same time, the control handle 20 outputs a control signal to the controller. The control signal output by the control handle 20 is the target signal for the rig to lower. The controller 21 receives the downhole signal and controls the first pilot control valve 81 to open. The first control main valve 9 works in the left working position. The high-pressure oil in the high-pressure pipeline 18 enters the rodless cavity of the first actuator 10 to push the piston rod of the first actuator 10 to extend. At the same time, the controller 21 controls the third pilot control valve 131 to open. The second control main valve 12 works in the left working position. The high-pressure oil enters the rodless cavity of the second actuator 11 to push the piston rod of the second actuator 11 to extend. Driven by the first actuator 10 and the second actuator 11, the first actuator mechanism 23 and the second actuator mechanism 24 rotate to drive the drill pipe to move. At this time, the distance measuring instrument 27 collects distance data in real time, and the angle sensor 26 collects angle deflection data in real time.

[0055] Further, when performing step S20, the actual distance signal of the distance measuring instrument is collected, the actual speed is calculated according to the actual distance, and the speed difference from the target speed is calculated according to the actual speed signal.

[0056] Specifically, the actual speed signal is the lowering speed of the rig during the downhole operation, which is obtained by differentiating the distance between the rig and the ground measured by the distance measuring instrument with respect to time. The target speed is equal to the amplitude of the control signal output by the control handle 20.

[0057] Further, in step S30, based on the outer-loop PID speed control according to the speed difference, the control signals Uv1 and Uv2 of the first actuator mechanism and the second actuator mechanism are obtained respectively.

[0058] In step S40, the actual working angle signal of the angle sensor is collected, and the angle difference between the actual working angle and the desired working angle is calculated.

[0059] Specifically, the actual working angle signal is the angle deflection signal generated after the first actuator mechanism 23 and the second actuator mechanism 24 move during the downhole operation. The desired working angle is the vertical angle required to complete the drilling operation, that is, drilling perpendicular to the ground surface.

[0060] In step S50, based on the inner-loop PID angle control according to the angle difference, the control correction signals Ux1 and Ux2 are obtained.

[0061] Among them, in S51, the proportional parameter, integral parameter, and differential parameter in the control parameters of the inner-loop PID are used as decision variables;

[0062] S52, Set the population size, crossover rate, and mutation rate of the genetic algorithm, and initialize the population;

[0063] S53, Perform selection processing, crossover processing, and mutation processing on the population to obtain offspring;

[0064] S54, Obtain the offspring individuals in the offspring whose inner-loop fitness function meets the preset conditions to form a new population;

[0065] S55, Determine whether the preset number of loop generations is reached;

[0066] S56, If the preset number of loop generations is reached, determine the individual with the minimum fitness in the population as the optimal control parameter for the inner loop; if the preset number of loop generations is not reached, repeat steps S52 to S54 for iterative loop.

[0067] Specifically, determine the population size of the genetic algorithm, that is, the number of individuals in each generation, set the crossover rate, that is, the probability that two parent individuals exchange information to produce offspring in the crossover stage of the genetic algorithm, and set the mutation rate, that is, the probability that the PID control parameters of an individual randomly change in the mutation stage of the genetic algorithm. The selection processing of the population is to select excellent individuals according to the fitness function, the crossover processing is that the selected individuals produce offspring through crossover operations, and the mutation processing is to randomly change the PID control parameters of the offspring at a certain mutation rate to increase the diversity of the population. The fitness function uses the minimum tracking error and its first derivative as the fitness function, providing a more dynamic performance index and being able to adjust the PID control parameters in real time.

[0068] Specifically, by iteratively executing selection processing, crossover processing, and mutation processing, gradually determine the optimal PID control parameters, and apply the optimal PID control parameters determined by the genetic algorithm to the controller 21 to optimize the control process of the drilling operation. Considering the angle error and the first derivative signal (change rate) in the fitness function improves the real-time adjustment ability of the PID control parameters, realizes more accurate real-time control, and through natural selection and genetic mechanisms, the obtained PID control parameters have better robustness.

[0069] Step S107, According to the double-loop PID control signals: Uv1, Uv2 and Ux1, Ux2, obtain the control signals U1 and U2 of the first actuator and the second actuator.

[0070] The double-loop PID, the outer loop is the PID speed control loop, and the inner loop is the PID angle control loop. The double-loop PID control ensures that the speed and verticality of the drill rig lowering meet the requirements.

[0071] In step S70, the first actuator and the second actuator are controlled according to the control signals U1 and U2. Specifically, U1 = Uv1 + Ux1, and U2 = Uv2 + Ux3.

[0072] A control method for hydraulic vertical drilling provided by an embodiment of the present application determines the desired speed of the drill rig for lowering or lifting by the control handle signal, collects the distance feedback signal of the rangefinder by the controller, calculates the actual speed and speed difference of the drill rig for lowering / lifting, and uses the outer-loop PID speed control to regulate the movement of the first actuator and the second actuator, thereby completing the movement control of the drill rig in the vertical direction. At the same time, the actual working angle signal of the drill rig angle sensor is collected, and the angle difference between the actual working angle signal and the desired working angle is calculated, and the first actuator and the second actuator are regulated by using the inner-loop PID angle control to complete the control of the angle deflection angle of the drill rig. According to the inner-loop angle error and its first-order differential signal, the genetic algorithm is used to realize the adaptive adjustment of the PID angle control inner-loop parameters under complex working conditions. When the absolute value of the product of the inner-loop angle error and the first-order differential of the angle error is small, smaller PID control parameters are selected to avoid oscillation and overshoot. When the angle error or the first-order differential of the angle error is large, the PID parameters are increased to achieve fast regulation and reduce the angle error. The method and device of the present invention can realize the control of the drilling speed and at the same time realize the automatic adjustment of the drilling verticality, solve the problems of high operation difficulty and poor drilling verticality of the multi-joint drilling device, reduce the number of sensors, and at the same time make up for the deficiencies of the conventional PID in terms of control overshoot and slow response in complex working condition construction scenarios.

[0073] The above embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A control method for hydraulic vertical drilling, characterized in that The method includes the following steps: Obtain an operation control signal output by a control handle, where the operation control signal is used to control the desired working speed of a drill rig. The target working state of the drill rig is driven and realized by a first actuator and a second actuator, and the target working state includes a target working angle and the desired working speed; Obtain a working speed difference between the actual working speed and the desired working speed of the drill rig; Based on an outer-loop PID speed control according to the working speed difference, respectively obtain a speed control signal Uv1 of the first actuator and a speed control signal Uv2 of the second actuator; Obtain a working angle difference between the actual working angle and the desired working angle of the drill rig; Based on an inner-loop PID angle control according to the working angle difference, respectively obtain an angle control signal Uv1 of the first actuator and an angle control signal Uv2 of the second actuator, where the absolute value of the product of the working angle difference and the first-order differential of the working angle difference is used as an inner-loop fitness function, and a genetic algorithm is used to optimize the control parameters of the inner-loop PID to obtain the optimal inner-loop control parameters; Obtain an execution signal U1 of the first actuator according to the speed control signal Uv1 and the angle control signal Uv1; obtain an execution signal U2 of the second actuator according to the speed control signal Uv2 and the angle control signal Uv2; Control the first actuator to act according to the execution signal U1, and control the second actuator to act according to the execution signal U2.

2. The control method of the hydraulic vertical drilling according to claim 1, wherein The step of "using the absolute value of the product of the working angle difference and the first-order differential of the working angle difference as an inner-loop fitness function, and using a genetic algorithm to optimize the control parameters of the inner-loop PID to obtain the optimal inner-loop control parameters" specifically includes: S51, taking the proportional parameter, integral parameter, and differential parameter in the control parameters of the inner-loop PID as decision variables; S52, setting the population size, crossover rate, and mutation rate of the genetic algorithm, and initializing the population; S53, performing selection processing, crossover processing, and mutation processing on the population to obtain offspring; S54, obtaining offspring individuals in the offspring whose inner-loop fitness function meets a preset condition to form a new population; S55, determining whether a preset number of loop generations is reached; S56, if the preset number of loop generations is reached, determining the individual with the minimum fitness in the population as the optimal inner-loop control parameter; if the preset number of loop generations is not reached, repeating steps S52 to S54 for iterative loop.

3. The control method of the hydraulic vertical drilling according to any one of claims 1 or 2, characterized in that, Obtain an actual distance signal collected by a rangefinder, and calculate and obtain the actual working speed according to the actual distance.

4. The control method of the hydraulic vertical drilling according to any one of claims 1 or 2, characterized in that According to the actual working angle signal collected by an angle sensor.

5. A hydraulic vertical drilling device, wherein It includes a filter, a motor, a variable pump, a check valve, a pressure reducing valve, a first pressure sensor, a second pressure sensor, a first pilot control valve, a second pilot control valve, a first control main valve, a first actuator, a second actuator, a second control main valve, a third pilot control valve, a fourth pilot control valve, a pilot pipeline, a high-pressure pipeline, a control handle, a controller, a base, a first actuator mechanism, a second actuator mechanism, a drill rig, an angle sensor, and a rangefinder. The motor is mechanically connected to the variable pump. The inlet of the variable pump is mechanically connected to the filter. The outlet of the variable pump is connected to the high-pressure pipeline through the check valve. The inlet of the pressure reducing valve is connected to the high-pressure pipeline. The outlet of the pressure reducing valve is connected to the pilot pipeline. The first control main valve is connected to the first actuator. The first actuator is respectively connected to the first actuator mechanism and the base. The second control main valve is connected to the second actuator. One end of the second actuator is hinged to the first actuator mechanism, and the other end of the second actuator is hinged to the second actuator mechanism. The first actuator mechanism and the second actuator mechanism are connected by a pin shaft. The drill rig and the second actuator mechanism are connected by a pin shaft. The output end of the controller is respectively connected to the first pilot valve, the second pilot valve, the third pilot valve, the fourth pilot valve, the pressure reducing valve, and the variable pump. The input end of the controller is respectively connected to the angle sensor, the rangefinder, the first pressure sensor, the second pressure sensor, and the control handle. It further includes a controller, and the controller is used to implement the control method of the hydraulic vertical drilling as described in any one of claims 1 to 4.

6. The control device of the hydraulic vertical drilling according to claim 5, wherein the device further includes an accumulator, a safety valve, and a low-pressure pipeline. The accumulator is connected to the high-pressure pipeline. The inlet of the safety valve is connected to the high-pressure pipeline. The outlet of the safety valve is connected to the low-pressure pipeline.

7. The control device of the hydraulic vertical drilling according to claim 6, wherein the first working oil port of the first control main valve is connected to the rodless cavity of the first actuator. The second working oil port of the first control main valve is connected to the rod cavity of the first actuator. The third working oil port of the first control main valve is connected to the high-pressure pipeline. The fourth working oil port of the first control main valve is connected to the low-pressure pipeline. The left and right oil ports of the first control main valve are respectively connected to the first pilot control valve and the second pilot control valve. The first working oil port of the second control main valve is connected to the rodless cavity of the second actuator. The second working oil port of the second control main valve is connected to the rod cavity of the second actuator. The third oil port of the second control main valve is connected to the high-pressure pipeline. The fourth working oil port of the second control main valve is connected to the low-pressure pipeline. The left and right oil ports of the second control main valve are respectively connected to the third pilot control valve and the fourth pilot control valve.

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