Boosting force self-adaptive control method and system, electronic equipment and storage medium

Abstract

The invention discloses a pressurizing force self-adaptive control method and system, electronic equipment and a storage medium, and belongs to the technical field of engineering machinery technologies. The pressurizing force self-adaptive control method comprises the steps that the current motor operation current value of the electric power head is detected through the power head motor controller; if the current motor operation current value is larger than the current upper threshold value, the downward pressurization force of the pressurization oil cylinder is reduced by increasing the control current of the proportional pressure control valve, so that target operation parameters are reduced; wherein the target operation parameters comprise the cutting depth, the drilling torque of the power head and the operation load of the power head; and if the current motor operation current value is smaller than the current lower threshold value, the downward pressurization force of the pressurization oil cylinder is increased by reducing the control current of the proportional pressure control valve, so that the target operation parameters are increased. The operation quality of the extended-range rotary drilling rig can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a pressure adaptive control method, system, electronic device and storage medium. Background Art

[0002] The extended-range rotary drilling rig uses an electric power head and a pressurized cylinder to work together, combining high efficiency and energy saving with precise control, and is suitable for construction in a variety of complex formations.

[0003] To maintain a stable motor current and reduce the impact of load fluctuations on the main engine, the motor of the electric power head must maintain stable torque. However, due to changes in the operating load, the operating torque of the electric power head of an extended-range rotary drilling rig fluctuates during drilling operations, seriously affecting the quality of the operation.

[0004] Therefore, how to improve the operating quality of the extended-range rotary drilling rig is a technical problem that those skilled in the art currently need to solve. Summary of the Invention

[0005] The purpose of this application is to provide a pressure adaptive control method, system, electronic equipment and storage medium, which can improve the operating quality of an extended-range rotary drilling rig.

[0006] To solve the above technical problems, the present application provides a pressure adaptive control method for an extended-range rotary drilling rig, which is applied to the extended-range rotary drilling rig. The extended-range rotary drilling rig includes an electric power head, a power head motor controller, a pressurized oil cylinder, and a proportional pressure control valve. The power head motor controller is used to control the motor of the electric power head, and the proportional pressure control valve is used to control the pressure of the pressurized oil cylinder. The pressure adaptive control method includes:

[0007] Detecting the current motor operating current value of the electric power head through the power head motor controller;

[0008] If the current motor operating current value is greater than the upper current threshold, the downward pressure of the pressurized oil cylinder is reduced by increasing the control current of the proportional pressure control valve, so as to reduce the target operating parameters; wherein the target operating parameters include cutting depth, drilling torque of the power head, and operating load of the power head;

[0009] If the current motor operating current value is less than the lower current threshold, the downward pressurizing force of the pressurizing cylinder is increased by reducing the control current of the proportional pressure control valve, so as to increase the target operating parameter.

[0010] Optionally, also include:

[0011] Determining the current operating formation type of the extended-range rotary drilling rig;

[0012] The control current of the proportional pressure control valve is set according to the current operating formation type.

[0013] Optionally, setting the control current of the proportional pressure control valve according to the current operating formation type includes:

[0014] If the current operating formation type is a soft rock layer or a sand layer, the control current of the proportional pressure control valve is maintained at a preset value until the current operating formation type changes or the operation is completed; wherein, the preset value is less than the maximum current value of the motor.

[0015] Optionally, setting the control current of the proportional pressure control valve according to the current operating formation type includes:

[0016] If the current operating formation type is a pebble layer or a non-dense rock layer, the control current of the proportional pressure control valve is kept at the maximum current value until the current operating formation type changes or the operation is completed.

[0017] Optionally, detecting the current motor operating current value of the electric power head by the power head motor controller includes:

[0018] Determining the actual torque of the electric power head by the power head motor controller;

[0019] Calculating a torque deviation based on the actual torque and rated torque of the electric power head;

[0020] The current motor operating current value of the electric power head is determined based on the torque deviation and the current-torque characteristic curve; wherein the current-torque characteristic curve is used to describe the corresponding relationship between the motor operating current and the torque.

[0021] Optionally, also include:

[0022] Determining a rated current value corresponding to a rated torque of the electric power head by using the current-torque characteristic curve;

[0023] The upper current threshold and the lower current threshold are selected on the current-torque characteristic curve according to the rated current value; wherein, the upper current threshold is greater than the lower current threshold, the first torque difference is equal to the second torque difference, the first torque difference is the difference between the torque corresponding to the upper current threshold and the torque corresponding to the rated current value, and the second torque difference is the difference between the torque corresponding to the rated current value and the torque corresponding to the lower current threshold.

[0024] Optionally, also include:

[0025] Obtaining historical operation data of the extended-range rotary drilling rig;

[0026] Inputting the historical operation data into an artificial intelligence model to obtain a change trend of the motor operation current value of the electric power head;

[0027] generating a pressure change strategy for the pressurizing cylinder according to a change trend of the motor operating current value;

[0028] The control current of the proportional pressure control valve is adjusted based on the pressure change strategy.

[0029] The present application also provides a pressure adaptive control system for use with an extended-range rotary drilling rig, the extended-range rotary drilling rig comprising an electric power head, a power head motor controller, a pressurized oil cylinder, and a proportional pressure control valve. The power head motor controller is used to control the motor of the electric power head, and the proportional pressure control valve is used to control the pressure of the pressurized oil cylinder. The pressure adaptive control system comprises:

[0030] A current detection module, configured to detect a current motor operating current value of the electric power head through the power head motor controller;

[0031] a first control module configured to, if the current motor operating current value is greater than an upper current threshold, reduce the downward pressure of the pressurized oil cylinder by increasing the control current of the proportional pressure control valve, so as to reduce target operating parameters; wherein the target operating parameters include cutting depth, drilling torque of the power head, and operating load of the power head;

[0032] The second control module is configured to increase the downward pressure of the pressurizing cylinder by reducing the control current of the proportional pressure control valve if the current motor operating current value is less than the lower current threshold value, so as to increase the target operating parameter.

[0033] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the above-mentioned pressure adaptive control method are implemented.

[0034] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned pressure adaptive control method when calling the computer program in the memory.

[0035] This application discloses an adaptive pressure control method. This method uses a power head motor controller to detect the current operating current of an electric power head. Based on this current value, the proportional pressure control valve's control current is dynamically adjusted, thereby regulating the pressure applied by the pressure cylinder to optimize target operating parameters (including cutting depth, power head drilling torque, and power head operating load). When the motor operating current exceeds an upper current threshold, the method increases the proportional pressure control valve's control current, reducing the downward pressure applied by the pressure cylinder, thereby reducing cutting depth and drilling torque, and lowering the power head's operating load. This process effectively prevents damage to the drill bit due to excessive load, reduces uneven drilling, reduces the risk of motor overload, and prolongs the equipment's service life. When the motor operating current is below a lower current threshold, the method decreases the proportional pressure control valve's control current, increasing the downward pressure applied by the pressure cylinder, thereby increasing cutting depth and drilling torque, and increasing the power head's operating load. This process improves construction efficiency and ensures that drilling depth and quality meet design requirements. This application achieves dynamic adjustment of operating parameters, enhancing the operating quality of extended-range rotary drilling rigs. The present application also provides a pressure adaptive control system, a storage medium and an electronic device, which have the above-mentioned beneficial effects and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 A flow chart of a pressure adaptive control method provided in an embodiment of the present application;

[0038] Figure 2 A schematic structural diagram of an extended-range rotary drilling rig provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of an adaptive pressurization control principle provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of a current-torque characteristic curve provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of a corresponding curve between pressurization pressure and control current provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of a mode selection control principle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] See below Figure 1 , Figure 1 This is a flow chart of a pressure adaptive control method provided in an embodiment of the present application.

[0045] Specific steps may include:

[0046] S101: detecting the current motor operating current value of the electric power head through the power head motor controller;

[0047] Among them, this embodiment can be applied to the vehicle controller of an extended-range rotary drilling rig, and the extended-range rotary drilling rig can also include an electric power head, a power head motor controller, a pressurized oil cylinder and a proportional pressure control valve. The power head motor controller is used to control the motor of the electric power head, and the proportional pressure control valve is used to control the pressure of the pressurized oil cylinder.

[0048] See Figure 2 , Figure 2 This is a structural diagram of an extended-range rotary drilling rig provided in an embodiment of the present application. Figure 2 The figure shows the pressurized hydraulic cylinder, proportional pressure control valve, electric power unit (EDU), power unit motor controller, vehicle controller (also known as controller), and drill tool. The proportional pressure control valve controls the downward pressure applied by the hydraulic cylinder. The hydraulic cylinder provides downward pressure to the EDU, which drives the drill tool to overcome loads during operation. The EDU provides feedback on the motor's operating current to the vehicle controller, which then outputs varying control currents to the proportional pressure control valve based on a program.

[0049] The above-mentioned extended-range rotary drilling rig may further include a power head motor.

[0050] The power head motor controller controls the operation of the electric power head's motor. A current sensor can be included in the power head motor controller to measure the motor's operating current in real time. By detecting the current operating current of the electric power head's motor through the power head motor controller, the motor's operating status can be monitored in real time.

[0051] After obtaining the current motor operating current value of the electric power head, this embodiment can compare the current motor operating current value with the upper current threshold and the lower current threshold, and perform the operation of S102 or S103 according to the comparison result. The upper current threshold is greater than the lower current threshold.

[0052] S102: If the current motor operating current value is greater than the upper current threshold, the downward pressure of the pressurizing cylinder is reduced by increasing the control current of the proportional pressure control valve, so as to reduce the target operating parameter;

[0053] The motor-driven electric power head of an extended-range rotary drilling rig exhibits the following characteristics during drilling operations: the power head motor's operating current is proportional to the power head's drilling torque and operating load, which in turn are proportional to the power head's drilling depth, which is in turn proportional to the pressure applied by the pressurized cylinder. High pressure in the pressurized cylinder increases the axial pressure on the drilling power head, increasing its drilling depth and the drilling torque and operating load of the power head and its motor, leading to an increase in the power head motor's operating current and load torque, while negative pressures decrease them.

[0054] If the current operating current of the electric power head exceeds the set upper current threshold, it indicates that the power head is overloaded and the motor is in a high-load state, potentially facing an overload risk. To prevent motor damage and optimize operating results, this embodiment increases the control current of the proportional pressure control valve to reduce the downward pressure of the pressurized oil cylinder, thereby reducing the power head's target operating parameters such as cutting depth, drilling torque, and operating load. These target operating parameters include cutting depth, drilling torque, and operating load.

[0055] Through the above-mentioned method, this embodiment can effectively reduce the burden on the motor, prevent overload, and avoid the situation where the operation quality is poor due to excessive load.

[0056] S103: If the current motor operating current value is less than the current lower threshold, the downward pressure of the pressurizing cylinder is increased by reducing the control current of the proportional pressure control valve, so as to increase the target operating parameter.

[0057] If the current motor operating current value of the electric power head is lower than the set current lower threshold, it indicates that the power head is underloaded and the motor is not fully utilizing its performance, which may lead to low construction efficiency. To address this situation, this step automatically reduces the control current of the proportional pressure control valve, thereby increasing the downward pressure of the pressurized oil cylinder, thereby increasing the power head's target operating parameters such as cutting depth, drilling torque, and operating load, allowing the power head to perform drilling operations more effectively. Through the above method, adaptive pressure control is achieved, which can fully utilize the power of the motor, improve construction efficiency, and enhance the overall operating capacity of the extended-range rotary drilling rig.

[0058] This embodiment uses a power head motor controller to detect the current motor operating current of the electric power head and dynamically adjusts the control current of the proportional pressure control valve based on the current motor operating current, thereby regulating the pressure applied by the pressurized cylinder to optimize target operating parameters (including cutting depth, power head drilling torque, and power head operating load). When the motor operating current exceeds an upper current threshold, this embodiment increases the control current of the proportional pressure control valve, reducing the downward pressure applied by the pressurized cylinder, thereby reducing the cutting depth and drilling torque, and lowering the power head operating load. This process effectively prevents damage to the drill bit due to excessive load, reduces uneven drilling, reduces the risk of motor overload, and prolongs the service life of the equipment. When the motor operating current is below a lower current threshold, this embodiment decreases the control current of the proportional pressure control valve, increasing the downward pressure applied by the pressurized cylinder, thereby increasing the cutting depth and drilling torque, and increasing the power head operating load. This process improves construction efficiency and ensures that the drilling depth and quality meet design requirements. This embodiment dynamically adjusts operating parameters, thereby improving the operating quality of extended-range rotary drilling rigs.

[0059] As for Figure 1 Further describing the corresponding embodiment, this embodiment can also determine the current operating formation type of the extended-range rotary drilling rig and set the control current of the proportional pressure control valve based on the current operating formation type. Specifically, this embodiment can determine the current operating formation type of the extended-range rotary drilling rig using a sensor or a preset program.

[0060] If the current operating formation type is a soft rock layer or a sand layer, the control current of the proportional pressure control valve can be set in the following manner: the control current of the proportional pressure control valve is controlled to remain at a preset value until the current operating formation type changes (that is, the previous operating formation type is not a soft rock layer or a sand layer) or the operation is completed; wherein, the preset value is less than the maximum current value of the motor.

[0061] If the current operating formation type is a pebble layer or a non-dense rock formation, the control current of the proportional pressure control valve can be set in the following manner: the control current of the proportional pressure control valve is controlled to remain at the maximum current value until the current operating formation type changes (that is, the current operating formation type is not a pebble layer or a non-dense rock formation) or the operation is completed.

[0062] Through the above method, the operation parameters can be optimized according to the current operation stratum type, thereby improving construction efficiency and equipment adaptability.

[0063] As a feasible implementation method, this embodiment can use the current-torque characteristic curve to determine the current motor operating current value of the electric power head. The specific process is as follows: determine the actual torque of the electric power head through the power head motor controller; calculate the torque deviation based on the actual torque and rated torque of the electric power head; determine the current motor operating current value of the electric power head based on the torque deviation and the current-torque characteristic curve; wherein, the current-torque characteristic curve is used to describe the correspondence between the motor operating current and torque.

[0064] In this embodiment, the upper current threshold and the lower current threshold may be determined by the current-torque characteristic curve: the rated current value corresponding to the rated torque of the electric power head is determined by using the current-torque characteristic curve; the upper current threshold and the lower current threshold are selected on the current-torque characteristic curve according to the rated current value;

[0065] In which, the upper current threshold is greater than the lower current threshold, the first torque difference is equal to the second torque difference, the first torque difference is the difference between the torque corresponding to the upper current threshold on the current-torque characteristic curve and the torque corresponding to the rated current value, and the second torque difference is the difference between the torque corresponding to the rated current value on the current-torque characteristic curve and the torque corresponding to the lower current threshold.

[0066] As a feasible implementation method, this embodiment can also use the following method to adjust the control current of the proportional pressure control valve: obtain the historical operation data of the extended-range rotary drilling rig; input the historical operation data into the artificial intelligence model to obtain the change trend of the motor operating current value of the electric power head; generate the pressure change strategy of the pressurized oil cylinder according to the change trend of the motor operating current value; and adjust the control current of the proportional pressure control valve based on the pressure change strategy.

[0067] The above-mentioned historical operation data may include parameters such as the motor operating current value, the pressure value, the operating stratum type, and the construction speed. The artificial intelligence model can analyze the patterns and associations in the historical operation data through a machine learning algorithm to predict the changing trend of the motor operating current value of the electric power head, that is, the changing trend of the motor operating current value. According to the predicted changing trend of the motor operating current value, this embodiment can generate a corresponding pressure change strategy. For example, if the prediction shows that the current value has an upward trend, it means that the load of the electric power head will increase. At this time, the pressure change strategy can be to reduce the pressure to avoid motor overload; conversely, if the current value has a downward trend, it means that the load of the electric power head will decrease. At this time, the pressure change strategy can be to increase the pressure to improve operation efficiency.

[0068] The regulation process of the control current may have a certain lag. To address this problem, this embodiment has an improvement method in this regard, which is as follows: the upper current threshold and the lower current threshold are automatically adjusted according to different operation stages, working conditions and the real-time status of the equipment. Specifically, this embodiment can collect data related to the operation stage, working conditions and equipment status (such as load size, operation speed, equipment temperature, etc.), and use the above data as input variables of the fuzzy controller. Fuzzy rules are set based on experience, such as "when the load is large and the operation speed is slow, increase the upper current threshold." The fuzzy controller calculates the appropriate upper current threshold and lower current threshold through fuzzy reasoning based on the fuzzy rules and input data, thereby realizing dynamic adjustment of the thresholds, so that the system can operate stably and efficiently under different conditions.

[0069] During the operation of an extended-range rotary drilling rig, conventional control methods can usually only make simple adjustments based on the current operating parameters, making it difficult to achieve precise control and optimization of operating parameters under complex working conditions. To address this issue, this embodiment provides an improvement in this regard, specifically as follows: a dynamic model of the electric power head operating system is constructed, which includes the relationship between the motor current, the pressurized oil cylinder pressure, and the target operating parameters. This embodiment can use the operating objectives for a period of time in the future (such as cutting depth, drilling torque, etc.) as the optimization target, combine the current state of the system and the model prediction, and calculate the optimal control input (such as the control current of the proportional pressure control valve) in real time. The above process can predict the changing trend during the operation process in advance and dynamically adjust the control strategy, thereby achieving precise control and optimization of the operating parameters.

[0070] The process described in the above embodiment is explained below through an embodiment in actual application.

[0071] The power head motor operates with stable torque, which not only stabilizes the motor's operating current but also prevents damage to the main engine caused by load fluctuations. Due to changes in the operating load, the existing extended-range rotary drilling rig electric power head experiences operating torque fluctuations during drilling operations. Moreover, since the drilling tool cutting depth cannot be changed in real time, the operating load does not reach the rated torque of the extended-range rotary drilling rig electric power head, and the working efficiency of the electric power head cannot be effectively utilized. In addition, the geological characteristics of different strata require different pressurized drilling processes. The existing solution can only be manually pressurized by the operator based on experience, which is inefficient and difficult to guarantee quality.

[0072] To address the technical issues inherent in the aforementioned related technologies, this embodiment provides a control scheme for adaptively controlling the drilling torque of an electric power head based on the applied pressure of a pressurized oil cylinder. This scheme achieves linked control of the operating torque of the electric power head and the applied pressure of the pressurized oil cylinder. This scheme fully utilizes the operating capabilities of the electric power head, improves its operating efficiency, and enhances construction quality. This scheme also enhances the reliability of the electric power head's operation, preventing excessive wear of the drill bit, damage to the motor or motor driver due to overload, and reducing downtime caused by failures. Specifically, this scheme implements adaptive applied pressure control by collecting the operating current signal of the electric power head's motor, program-controlling the current of the pressurized oil cylinder's proportional pressure control valve, and adjusting the axial pressure of the electric power head in real time. This stabilizes the load torque of the electric power head during drilling operations when the load torque is high, and automatically increases the footage speed to enhance drilling efficiency when the load torque is low. This scheme also allows for multiple adaptive applied pressure modes to be selected and switched to suit different formations. For example, a light pressure and slow feed mode is used for soft rock and sand formations, while a no pressure and slow feed mode is used for gravel and non-dense formations.

[0073] When the electric power head of the extended-range electric rotary drill drives the drill tool to drill, the pressurized oil cylinder pressurizes the electric power head downward, and finally transmits pressure to the drill tool, controlling the cutting depth of the drill tool. Specifically, this embodiment can have the following control modes:

[0074] Automatic control mode for sudden load changes: The power head motor controller detects the operating current value I of the power head motor in real time. When it detects that the operating current value I of the power head motor reaches the upper monitoring current threshold value Imax set by the controller, the controller immediately issues a command to increase the control current of the proportional pressure control valve to reduce the proportional control pressure, reduce the downward pressure of the pressurized oil cylinder, and reduce the cutting depth of the drill bit. This reduces the operating load of the electric power head and the power head motor. After the operating current of the power head motor drops to the lower monitoring current threshold value Imin set by the controller, the control current of the proportional pressure control valve is stabilized.

[0075] Gradual load automatic control mode: The power head motor controller detects the operating current value I of the power head motor in real time. When it detects that the operating current value I of the power head motor is lower than the monitoring current lower threshold value Imin set by the controller, the controller immediately issues a command to reduce the control current of the proportional pressure control valve to increase the proportional control pressure, increase the downward pressure of the pressurized oil cylinder, increase the cutting depth of the drill bit, and increase the operating load of the electric power head and power head motor. It will enter the sudden load automatic control mode after the operating current I of the power head motor increases to the monitoring current upper threshold value Imax set by the controller.

[0076] Alternating load control mode selection: For soft rock and sand formations, the light pressure and slow feed mode is adopted; that is, by constantly controlling the proportional pressure control valve current Iy of the pressurized oil cylinder, the pressurized oil cylinder pressure is stabilized at a small value, realizing the light pressure and slow feed drilling process. It is suitable for solving the motor vibration phenomenon caused by alternating workload when drilling in soft rock and sand formations.

[0077] Heavy-load control mode selection: For formations such as pebble layers and non-dense rock formations, the zero-pressure mode is adopted: the current of the proportional pressure control valve of the pressurized oil cylinder is controlled by the maximum current, so that the pressurized oil cylinder pressure is directly returned to zero, realizing a non-pressure slow-forward drilling process, which is suitable for drilling in formations such as pebble layers and non-dense rock formations, and eliminates the motor overload protection choking phenomenon caused by excessive drilling load.

[0078] See Figure 3 , Figure 3 This is a schematic diagram of the adaptive pressurization control principle provided by an embodiment of the present application. The deviation is determined based on the rated torque and actual torque of the power unit. This deviation is then entered into the controller's current-torque characteristic curve for query, and the query result is output to the pressurization control unit. The pressurization control unit can then transmit the control output to the pressurization cylinder solenoid valve (i.e., the pressurization cylinder control valve). "+" indicates positive feedback, and "-" indicates negative feedback.

[0079] See Figure 4 , Figure 4 A schematic diagram of a current-torque characteristic curve provided in an embodiment of the present application is shown in FIG. Figure 4 The horizontal axis is the motor operating current I of the electric power head (unit is A), and the vertical axis is the motor torque T (unit is Newton per meter, ), Tmax represents the maximum working torque value, TB represents the rated working torque value, IB represents the current value corresponding to the rated working torque value, and the positions of the upper threshold and the lower threshold are also shown in the figure.

[0080] See Figure 5 , Figure 5 A schematic diagram of a corresponding curve of pressurization pressure and control current provided in an embodiment of the present application, Figure 5The horizontal axis represents the current Iy (in milliamperes mA), and the vertical axis represents the pressure P (in bar).

[0081] This embodiment can store the rated working torque value TB of the variable frequency motor and the upper and lower thresholds of the trigger control current in the controller. During operation, the upper and lower thresholds of the trigger control current are compared with the current working current, and the corresponding command current is output in time to control the proportional pressure control valve of the pressurized oil cylinder, thereby adjusting the downward pressure of the pressurized oil cylinder and the cutting depth of the drill bit in real time.

[0082] It can be seen that this embodiment collects the actual working current of the electric power head motor through the controller, and queries and compares the upper and lower thresholds of the trigger control current set by the controller, and outputs corresponding instructions to control the control current of the proportional pressure control valve set in the pressurization chamber of the pressurized oil cylinder in real time, changes the axial pressure of the pressurized oil cylinder on the power head, changes the cutting depth of the power head force transmission terminal drill bit, and ensures that the operating load of the power head force transmission terminal drill bit is always within the rated working torque of the power head.

[0083] See Figure 6 , Figure 6 This is a schematic diagram of a mode selection control principle provided in an embodiment of the present application. This embodiment can transmit a 0 pressurization mode instruction and an adjustable pressurization mode instruction to the pressurization control unit of the controller to control the pressurization cylinder solenoid valve.

[0084] Specifically, if the controller receives a 0 pressurization mode instruction, it outputs the maximum control current to control the proportional pressure control valve to return the cylinder pressurization pressure P to 0, thereby realizing a no-pressure slow-forward drilling process; if the controller receives an adjustable pressurization mode instruction, it stabilizes the control current to control the proportional pressure control valve according to the instruction signal to stabilize the cylinder pressurization pressure P at a certain value, thereby realizing a light-pressure slow-forward drilling process.

[0085] It can be seen that this embodiment provides an adaptive construction drilling process with multiple optional formation modes. According to the selected formation mode, the program outputs a stable control current to control the proportional pressure control valve of the pressurized oil cylinder pressurized chamber, stabilizes the downward axial pressure of the pressurized oil cylinder on the power head, and realizes various special drilling processes such as light pressure and slow advance of the power head, no pressure and slow advance, etc.

[0086] An adaptive pressure control system provided in an embodiment of the present application is applied to an extended-range rotary drilling rig, the extended-range rotary drilling rig comprising an electric power head, a power head motor controller, a pressurized oil cylinder, and a proportional pressure control valve. The power head motor controller is used to control the motor of the electric power head, and the proportional pressure control valve is used to control the pressure of the pressurized oil cylinder. The adaptive pressure control system comprises:

[0087] A current detection module, configured to detect a current motor operating current value of the electric power head through the power head motor controller;

[0088] a first control module configured to, if the current motor operating current value is greater than an upper current threshold, reduce the downward pressure of the pressurized oil cylinder by increasing the control current of the proportional pressure control valve, so as to reduce target operating parameters; wherein the target operating parameters include cutting depth, drilling torque of the power head, and operating load of the power head;

[0089] The second control module is configured to increase the downward pressure of the pressurizing cylinder by reducing the control current of the proportional pressure control valve if the current motor operating current value is less than the lower current threshold value, so as to increase the target operating parameter.

[0090] This embodiment uses a power head motor controller to detect the current motor operating current of the electric power head and dynamically adjusts the control current of the proportional pressure control valve based on the current motor operating current, thereby regulating the pressure applied by the pressurized cylinder to optimize target operating parameters (including cutting depth, power head drilling torque, and power head operating load). When the motor operating current exceeds an upper current threshold, this embodiment increases the control current of the proportional pressure control valve, reducing the downward pressure applied by the pressurized cylinder, thereby reducing the cutting depth and drilling torque, and lowering the power head operating load. This process effectively prevents damage to the drill bit due to excessive load, reduces uneven drilling, reduces the risk of motor overload, and prolongs the service life of the equipment. When the motor operating current is below a lower current threshold, this embodiment decreases the control current of the proportional pressure control valve, increasing the downward pressure applied by the pressurized cylinder, thereby increasing the cutting depth and drilling torque, and increasing the power head operating load. This process improves construction efficiency and ensures that the drilling depth and quality meet design requirements. This embodiment dynamically adjusts operating parameters, thereby improving the operating quality of extended-range rotary drilling rigs.

[0091] Furthermore, it also includes:

[0092] The third control module is used to determine the current operating formation type of the extended-range rotary drilling rig; and is also used to set the control current of the proportional pressure control valve according to the current operating formation type.

[0093] Furthermore, the process of the third control module setting the control current of the proportional pressure control valve according to the current operating formation type includes: if the current operating formation type is a soft rock layer or a sand layer, the control current of the proportional pressure control valve is controlled to remain at a preset value until the current operating formation type changes or the operation is completed; wherein, the preset value is less than the maximum current value of the motor.

[0094] Furthermore, the process of the third control module setting the control current of the proportional pressure control valve according to the current operating formation type includes: if the current operating formation type is a pebble layer or a non-dense rock layer, the control current of the proportional pressure control valve is controlled to remain at the maximum current value until the current operating formation type changes or the operation is completed.

[0095] Furthermore, the process of the current detection module detecting the current motor operating current value of the electric power head through the power head motor controller includes: determining the actual torque of the electric power head through the power head motor controller; calculating the torque deviation based on the actual torque and rated torque of the electric power head; determining the current motor operating current value of the electric power head based on the torque deviation and the current-torque characteristic curve; wherein the current-torque characteristic curve is used to describe the correspondence between the motor operating current and the torque.

[0096] Furthermore, it also includes:

[0097] A threshold setting module is used to determine the rated current value corresponding to the rated torque of the electric power head using the current-torque characteristic curve; and is also used to select the upper current threshold and the lower current threshold on the current-torque characteristic curve according to the rated current value; wherein the upper current threshold is greater than the lower current threshold, the first torque difference is equal to the second torque difference, the first torque difference is the difference between the torque corresponding to the upper current threshold and the torque corresponding to the rated current value, and the second torque difference is the difference between the torque corresponding to the rated current value and the torque corresponding to the lower current threshold.

[0098] Furthermore, it also includes:

[0099] The fifth control module is used to obtain the historical operating data of the extended-range rotary drilling rig; is also used to input the historical operating data into an artificial intelligence model to obtain the changing trend of the motor operating current value of the electric power head; is also used to generate a pressure change strategy for the pressurized oil cylinder according to the changing trend of the motor operating current value; and is also used to adjust the control current of the proportional pressure control valve based on the pressure change strategy.

[0100] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and will not be repeated here.

[0101] This application also provides a storage medium having a computer program stored thereon. When executed, the computer program can implement the steps provided in the above embodiments. The storage medium may include: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or other medium capable of storing program code.

[0102] The present application also provides an electronic device that may include a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps provided in the above embodiment can be implemented. Of course, the electronic device may also include various network interfaces, a power supply, and other components.

[0103] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of this application.

[0104] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A pressure adaptive control method, characterized in that: Applied to an extended-range rotary drilling rig, the extended-range rotary drilling rig includes an electric power head, a power head motor controller, a pressurized oil cylinder, and a proportional pressure control valve. The power head motor controller is used to control the motor of the electric power head, and the proportional pressure control valve is used to control the pressure of the pressurized oil cylinder. The pressurized pressure adaptive control method includes: Detecting the current motor operating current value of the electric power head through the power head motor controller; If the current motor operating current value is greater than the upper current threshold, the downward pressure of the pressurized oil cylinder is reduced by increasing the control current of the proportional pressure control valve, so as to reduce the target operating parameters; wherein the target operating parameters include cutting depth, drilling torque of the power head, and operating load of the power head; If the current motor operating current value is less than the lower current threshold, the downward pressurizing force of the pressurizing cylinder is increased by reducing the control current of the proportional pressure control valve, so as to increase the target operating parameter.

2. The pressure adaptive control method according to claim 1, characterized in that: Also includes: Determining the current operating formation type of the extended-range rotary drilling rig; The control current of the proportional pressure control valve is set according to the current operating formation type.

3. The pressure adaptive control method according to claim 2, characterized in that: Setting the control current of the proportional pressure control valve according to the current operating formation type includes: If the current operating formation type is a soft rock layer or a sand layer, the control current of the proportional pressure control valve is maintained at a preset value until the current operating formation type changes or the operation is completed; wherein, the preset value is less than the maximum current value of the motor.

4. The pressure adaptive control method according to claim 2, characterized in that: Setting the control current of the proportional pressure control valve according to the current operating formation type includes: If the current operating formation type is a pebble layer or a non-dense rock layer, the control current of the proportional pressure control valve is kept at the maximum current value until the current operating formation type changes or the operation is completed.

5. The pressure adaptive control method according to claim 1, characterized in that: Detecting the current motor operating current value of the electric power head by the power head motor controller includes: Determining the actual torque of the electric power head by the power head motor controller; Calculating a torque deviation based on the actual torque and rated torque of the electric power head; The current motor operating current value of the electric power head is determined based on the torque deviation and the current-torque characteristic curve; wherein the current-torque characteristic curve is used to describe the corresponding relationship between the motor operating current and the torque.

6. The pressure adaptive control method according to claim 5, characterized in that: Also includes: Determining a rated current value corresponding to a rated torque of the electric power head by using the current-torque characteristic curve; The upper current threshold and the lower current threshold are selected on the current-torque characteristic curve according to the rated current value; wherein, the upper current threshold is greater than the lower current threshold, the first torque difference is equal to the second torque difference, the first torque difference is the difference between the torque corresponding to the upper current threshold and the torque corresponding to the rated current value, and the second torque difference is the difference between the torque corresponding to the rated current value and the torque corresponding to the lower current threshold.

7. The pressure adaptive control method according to any one of claims 1 to 6, characterized in that: Also includes: Obtaining historical operation data of the extended-range rotary drilling rig; Inputting the historical operation data into an artificial intelligence model to obtain a change trend of the motor operation current value of the electric power head; generating a pressure change strategy for the pressurizing cylinder according to a change trend of the motor operating current value; The control current of the proportional pressure control valve is adjusted based on the pressure change strategy.

8. A pressure adaptive control system, characterized in that: Applied to an extended-range rotary drilling rig, the extended-range rotary drilling rig includes an electric power head, a power head motor controller, a pressurized oil cylinder and a proportional pressure control valve. The power head motor controller is used to control the motor of the electric power head, and the proportional pressure control valve is used to control the pressure of the pressurized oil cylinder. The pressurization force adaptive control system includes: A current detection module, configured to detect a current motor operating current value of the electric power head through the power head motor controller; a first control module configured to, if the current motor operating current value is greater than an upper current threshold, reduce the downward pressure of the pressurized oil cylinder by increasing the control current of the proportional pressure control valve, so as to reduce target operating parameters; wherein the target operating parameters include cutting depth, drilling torque of the power head, and operating load of the power head; The second control module is configured to increase the downward pressure of the pressurizing cylinder by reducing the control current of the proportional pressure control valve if the current motor operating current value is less than the lower current threshold value, so as to increase the target operating parameter.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the pressure adaptive control method according to any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the pressure adaptive control method according to any one of claims 1 to 7.

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