Method, system and equipment for controlling soil throwing of power head of rotary drilling rig and medium

Abstract

The invention discloses a soil throwing control method, system and equipment for a power head of a rotary drilling rig and a medium, and belongs to the technical field of electric mechanical control technologies. The rotary drilling rig further comprises an operation handle, a power head motor, a first motor controller and an energy storage assembly, the first motor controller is connected with the power head motor and the energy storage assembly, and the energy storage assembly comprises a power battery and a super capacitor which are connected in parallel. The soil throwing control method for the power head of the rotary drilling rig comprises the following steps: receiving a soil throwing signal input by the operating handle; generating a corresponding torque instruction according to the soil throwing signal; and the positive torque instruction and the negative torque instruction are circularly issued to the first motor controller, so that the first motor controller drives the power head motor to execute soil throwing operation through the energy storage assembly. On the premise that the capacity of the power battery is not expanded, the rotary drilling rig can meet the charging and discharging requirements of soil throwing operation.

Description

Technical Field

[0001] The present application relates to the field of electric machinery control technology, and in particular to a method, system, equipment and medium for controlling soil throwing of a power head of a rotary drilling rig. Background Art

[0002] Currently, new energy rotary drilling rigs use power batteries, comprised of single cells connected in series and parallel. Soil shedding, also known as soil unloading, involves controlling the rotary drilling rig's power head to spin and remove soil. When the power head performs frequent soil shedding operations, the drive motor must frequently start and stop rapidly, switching between forward and reverse directions at high speeds.

[0003] During soil-swinging operations, the rapid start-up and acceleration of the power head motor significantly increase the instantaneous discharge current of the power battery compared to conventional drilling. Furthermore, the regenerative braking energy generated by the frequent braking of the power head motor and high-speed reversal during soil-swinging can lead to a sharp increase in the current fed back to the power battery. To address these conditions, the current solution generally uses an expanded power battery pack. However, long-term high-rate charge and discharge accelerates battery polarization, causing the actual usable capacity to decline. Furthermore, larger capacity batteries directly increase the manufacturing cost of the equipment.

[0004] Therefore, how to make the rotary drilling rig meet the charging and discharging requirements of the soil-throwing operation without expanding the power battery capacity 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 method, system, equipment and medium for controlling soil throwing of the power head of a rotary drilling rig, which can enable the rotary drilling rig to meet the charging and discharging requirements of the soil throwing operation without expanding the power battery.

[0006] To solve the above technical problems, the present application provides a method for controlling soil throwing of a power head of a rotary drilling rig, which is applied to a vehicle controller of the rotary drilling rig. The rotary drilling rig also includes an operating handle, a power head motor, a first motor controller, and an energy storage component. The first motor controller is connected to the power head motor and the energy storage component respectively. The energy storage component includes a power battery and a supercapacitor connected in parallel. The method for controlling soil throwing of the power head of the rotary drilling rig includes:

[0007] receiving a soil-throwing signal inputted by the operating handle;

[0008] Generate a corresponding torque command according to the soil-throwing signal; wherein the torque command includes a positive torque command and a negative torque command; the positive torque command is a command for controlling the power head motor to rotate in a positive direction at a target torque value, and the negative torque command is a command for controlling the power head motor to rotate in a reverse direction at a target torque value;

[0009] The positive torque instruction and the negative torque instruction are cyclically issued to the first motor controller, so that the first motor controller uses the energy storage component to drive the power head motor to perform the soil throwing operation.

[0010] Optionally, cyclically issuing the positive torque command and the negative torque command to the first motor controller includes:

[0011] Step 1: issuing the positive torque instruction to the first motor controller to cause the first motor controller to perform a forward drive operation; wherein the implementation process of the forward drive operation includes: using the electric energy provided by the energy storage component to drive the power head motor to rotate in the forward direction at a target torque value;

[0012] Step 2: issuing the negative torque instruction to the first motor controller, so that the first motor controller sequentially performs a braking control operation and a reverse driving operation; wherein the implementation process of the braking control operation includes: controlling the power head motor to brake at a target torque value and storing the recovered braking energy in the energy storage component; the implementation process of the reverse driving operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate in the reverse direction at the target torque value;

[0013] Step 3: Send the positive torque instruction to the first motor controller, so that the first motor controller performs the braking control operation and the forward driving operation in sequence, and enters step 2.

[0014] Optionally, storing the recovered braking energy in the energy storage component includes:

[0015] Determining whether the current electric energy value of the supercapacitor is less than a preset electric energy value;

[0016] If yes, storing the recovered braking energy in the supercapacitor;

[0017] If not, the recovered braking energy is stored in the supercapacitor and the power battery.

[0018] Optionally, after issuing the positive torque instruction to the first motor controller, the method further includes:

[0019] Determining whether the rotational speed of the power head motor is greater than a first rotational speed;

[0020] If yes, proceed to the step of issuing the negative torque instruction to the first motor controller;

[0021] Accordingly, after sending the negative torque instruction to the first motor controller, the method further includes:

[0022] Determining whether the rotational speed of the power head motor is greater than a second rotational speed;

[0023] If so, the step of issuing the positive torque instruction to the first motor controller is entered.

[0024] Optionally, also include:

[0025] If a soil throwing stop signal is received, it is determined whether the speed of the power head motor is equal to 0;

[0026] If yes, stop cyclically sending the positive torque command and the negative torque command to the first motor controller;

[0027] If not, the first motor controller is controlled to perform the braking control operation until the rotation speed of the power head motor is equal to 0.

[0028] Optionally, the rotary drilling rig further includes a hoisting motor and a second motor controller, wherein the second motor controller is connected to the hoisting motor and the energy storage assembly respectively;

[0029] Correspondingly, it also includes:

[0030] If the rotary drilling rig is in a hoisting state, determining whether the hoisting motor is in a lowering energy recovery state;

[0031] If yes, detecting the lowering speed of the hoisting motor;

[0032] If the lowering speed is greater than or equal to the critical speed, the recovered lowering energy is stored in the supercapacitor and the power battery using the second motor controller;

[0033] If the lowering speed is less than the critical speed and the current electric energy value of the supercapacitor is less than a preset electric energy value, the second motor controller is used to store the recovered lowering energy in the supercapacitor and the power battery;

[0034] If the lowering speed is less than the critical speed and the current electric energy value of the supercapacitor is greater than or equal to the preset electric energy value, the connection between the supercapacitor and the second motor controller is disconnected so that the second motor controller stores the recovered lowering energy in the power battery.

[0035] Optionally, the energy storage component further includes a control module connected in series with the supercapacitor; the control module is used to control the connection between the supercapacitor and the power battery;

[0036] Correspondingly, it also includes:

[0037] If the current demand value of the current working condition of the rotary drilling rig is less than the target current value, determining whether the current electric energy value of the supercapacitor is less than the preset electric energy value;

[0038] If so, using the control module to control the supercapacitor to connect to the power battery, so that the power battery transmits electrical energy to the supercapacitor;

[0039] If not, the supercapacitor is controlled to be disconnected from the power battery.

[0040] The present application also provides a soil-spinning control system for a power head of a rotary drilling rig, which is applied to a vehicle controller of the rotary drilling rig. The rotary drilling rig further includes an operating handle, a power head motor, a first motor controller, and an energy storage component. The first motor controller is connected to the power head motor and the energy storage component, respectively. The energy storage component includes a power battery and a supercapacitor connected in parallel. The soil-spinning control system for the power head of the rotary drilling rig includes:

[0041] A signal receiving module, configured to receive a soil-throwing signal inputted by the operating handle;

[0042] An instruction generation module is used to generate a corresponding torque instruction according to the soil-throwing signal; wherein the torque instruction includes a positive torque instruction and a negative torque instruction; the positive torque instruction is an instruction for controlling the power head motor to rotate in the positive direction at a target torque value, and the negative torque instruction is an instruction for controlling the power head motor to rotate in the reverse direction at the target torque value;

[0043] The soil-throwing module is used to cyclically send the positive torque instruction and the negative torque instruction to the first motor controller, so that the first motor controller uses the energy storage component to drive the power head motor to perform the soil-throwing operation.

[0044] 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 soil-throwing control method of the power head of the rotary drilling rig are implemented.

[0045] The present application also provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, it implements the steps of the above-mentioned method for controlling soil throwing of the power head of the rotary drilling rig.

[0046] The present application provides a method for controlling soil throwing of the power head of a rotary drilling rig. The rotary drilling rig used in the present method includes an operating handle, a power head motor, a first motor controller and an energy storage component, and the energy storage component includes a power battery and a super capacitor connected in parallel. After receiving the soil throwing signal, a corresponding positive torque instruction and a negative torque instruction are generated according to the soil throwing signal; the present application performs the soil throwing operation by cyclically sending the positive torque instruction and the negative torque instruction to the first motor controller so that the power head motor switches forward and reverse at the target torque. The above process utilizes the power battery and the super capacitor in the energy storage component to drive the power head motor to perform the soil throwing operation. The super capacitor can provide high-power instantaneous energy support when quickly switching forward and reverse. Therefore, the present application can enable the rotary drilling rig to meet the charging and discharging requirements of the soil throwing operation without expanding the power battery. The present application also provides a soil throwing control system for the power head of a rotary drilling rig, a storage medium and an electronic device, which have the above-mentioned beneficial effects and are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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.

[0048] Figure 1 A flow chart of a method for controlling soil throwing of a power head of a rotary drilling rig provided in an embodiment of the present application;

[0049] Figure 2 A schematic structural diagram of a rotary drilling rig provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of a supercapacitor charging process provided in an embodiment of the present application;

[0051] Figure 4 A schematic diagram of a soil dumping control process provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] 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.

[0053] See below Figure 1 , Figure 1This is a flow chart of a method for controlling soil throwing of a power head of a rotary drilling rig provided in an embodiment of the present application.

[0054] Specific steps may include:

[0055] S101: receiving a soil-shaking signal input by the operating handle.

[0056] Among them, this embodiment can be applied to the whole vehicle controller of the rotary drilling rig (such as a new energy rotary drilling rig), and the rotary drilling rig also includes an operating handle, a power head motor, a first motor controller and an energy storage component. The first motor controller is connected to the power head motor and the energy storage component respectively. The energy storage component includes a power battery and a supercapacitor in parallel. The power battery can transmit electric energy to the power head motor through the first motor controller to drive the power head motor to rotate. The supercapacitor can transmit electric energy to the power head motor through the first motor controller to drive the power head motor to rotate. The whole vehicle controller can be connected to the first motor controller and the operating handle respectively. The supercapacitor described in this article is a supercapacitor.

[0057] The user can input a soil-throwing signal through the operating handle, and the vehicle controller receives the signal and identifies it as a soil-throwing signal, and starts the soil-throwing operation process of S102-S103.

[0058] S102: generating a corresponding torque command according to the soil-throwing signal;

[0059] After receiving the soil-spinning signal, the vehicle controller can analyze the soil-spinning signal to obtain the target torque for the soil-spinning operation, and then generate a torque command based on the target torque. The torque command includes a positive torque command and a negative torque command; the positive torque command is used to control the power head motor to rotate in the forward direction at the target torque value, and the negative torque command is used to control the power head motor to rotate in the reverse direction at the target torque value.

[0060] S103: cyclically issuing the positive torque instruction and the negative torque instruction to the first motor controller, so that the first motor controller uses the energy storage component to drive the power head motor to perform a soil throwing operation.

[0061] In this step, a positive torque command may be first issued to the first motor controller, and then a negative torque command may be issued to the first motor controller after the positive torque command is issued, and then a positive torque command may be issued to the first motor controller after the negative torque command is issued, and so on. The energy used by the first motor controller to control the power head motor to operate according to the positive torque command or the negative torque command comes from the parallel power battery and supercapacitor.

[0062] If the first motor controller receives a positive torque instruction, the energy storage component can be used to drive the power head motor to rotate in the forward direction at the target torque value; if the first motor controller receives a negative torque instruction, the energy storage component can be used to drive the power head motor to rotate in the reverse direction at the target torque value; by cyclically issuing positive torque instructions and negative torque instructions, the rotation direction and motor torque of the power head motor can be repeatedly switched, thereby realizing the soil throwing operation.

[0063] Specifically, after receiving a positive torque command or a negative torque command, the first motor controller can control the switching of the motor torque direction of the power head motor; when the motor torque direction is switched, if the speed of the power head motor is 0, the power head motor rotates under the drive of the energy storage component; when the motor torque direction is switched, if the speed of the power head motor is not 0, the speed of the power head motor is first reduced to 0 and then rotated under the drive of the energy storage component, that is, the speed direction of the power head motor is consistent with the torque direction.

[0064] As a feasible implementation manner, the forward rotation may be clockwise rotation, the reverse rotation may be counterclockwise rotation, and vice versa.

[0065] The rotary drilling rig used in this embodiment includes an operating handle, a power head motor, a first motor controller and an energy storage component, and the energy storage component includes a power battery and a super capacitor in parallel. After receiving the soil-shaking signal, a corresponding positive torque instruction and a negative torque instruction are generated according to the soil-shaking signal; this embodiment cyclically sends the positive torque instruction and the negative torque instruction to the first motor controller so that the power head motor switches forward and reverse at the target torque, thereby performing the soil-shaking operation. The above process utilizes the power battery and the super capacitor in the energy storage component to drive the power head motor to perform the soil-shaking operation. The super capacitor can provide high-power instantaneous energy support when quickly switching forward and reverse. Therefore, this embodiment can enable the rotary drilling rig to meet the charging and discharging requirements of the soil-shaking operation without expanding the power battery.

[0066] As for Figure 1 Further introduction to the corresponding embodiment, the process of cyclically issuing the positive torque command and the negative torque command to the first motor controller includes:

[0067] Step A1: issuing the positive torque instruction to the first motor controller to enable the first motor controller to perform a forward driving operation.

[0068] The forward drive operation includes utilizing the electrical energy provided by the energy storage assembly to drive the power head motor to rotate in the forward direction at a target torque. Step A1 assumes that the current speed of the power head motor is zero. If the current speed of the power head motor is not zero, step A1 may include issuing the positive torque command to the first motor controller, causing it to sequentially execute the braking control operation and the forward drive operation.

[0069] After sending the positive torque instruction to the first motor controller, it can also be determined whether the speed of the power head motor is greater than the first speed; if so, enter step A2 of sending the negative torque instruction to the first motor controller; if not, control the first motor controller to continue to perform the forward drive operation.

[0070] After sending the positive torque instruction to the first motor controller, it can also be determined whether the speed of the power head motor is stable; if so, enter step A2 of sending the negative torque instruction to the first motor controller; if not, control the first motor controller to continue to perform the forward drive operation.

[0071] After the positive torque instruction is issued to the first motor controller, step A2 of issuing the negative torque instruction to the first motor controller may be entered after a first delay.

[0072] Step A2: issuing the negative torque instruction to the first motor controller, so that the first motor controller performs a braking control operation and a reverse driving operation in sequence.

[0073] The braking control operation includes controlling the power head motor to brake at a target torque value and storing the recovered braking energy in the energy storage component. During braking, the direction of the target torque is opposite to the rotation direction of the power head motor.

[0074] In this embodiment, the first motor controller first performs a braking control operation. When the braking control operation is completed (i.e., the power head motor speed is 0), the first motor controller then performs a reverse drive operation. The reverse drive operation includes utilizing the electrical energy provided by the energy storage assembly to drive the power head motor to rotate in the reverse direction at a target torque value.

[0075] After sending the negative torque instruction to the first motor controller, it can also be determined whether the speed of the power head motor is greater than the second speed; if so, enter step A3 of sending the positive torque instruction to the first motor controller; if not, control the first motor controller to continue to perform the reverse drive operation.

[0076] After sending the negative torque instruction to the first motor controller, it can also be determined whether the speed of the power head motor is stable; if so, enter step A3 of sending the positive torque instruction to the first motor controller; if not, control the first motor controller to continue to perform the reverse drive operation.

[0077] After the negative torque instruction is sent to the first motor controller, step A3 of sending the positive torque instruction to the first motor controller may be entered after a second delay.

[0078] Step A3: Send the positive torque instruction to the first motor controller, so that the first motor controller performs the braking control operation and the forward driving operation in sequence, and enters step A2.

[0079] Among them, in this solution, the first motor controller first performs the braking control operation, and when the braking control operation is completed (that is, the speed of the power head motor is 0), the first motor controller then performs the forward driving operation.

[0080] During braking control, the first motor controller stores recovered braking energy in the energy storage component by determining whether the current energy value of the supercapacitor is less than a preset energy value; if so, storing the recovered braking energy in the supercapacitor; if not, storing the recovered braking energy in the supercapacitor and the power battery. This method prioritizes storing braking energy in the supercapacitor, allowing the supercapacitor and power battery to continue to be used for soil rejection control in subsequent operations, improving the sustainability of the rotary drilling rig.

[0081] Furthermore, if a soil-throwing stop signal is received, it is determined whether the rotational speed of the power head motor is equal to 0; if so, the operation of cyclically sending the positive torque instruction and the negative torque instruction to the first motor controller is stopped; if not, the first motor controller is controlled to perform the braking control operation until the rotational speed of the power head motor is equal to 0. After the rotational speed of the power head motor is equal to 0, the operation of cyclically sending the positive torque instruction and the negative torque instruction to the first motor controller is stopped.

[0082] As for Figure 1 As a further introduction to the corresponding embodiment, the rotary drilling rig further includes a hoisting motor and a second motor controller, and the second motor controller is connected to the hoisting motor and the energy storage component respectively.

[0083] Based on the above structure, if the rotary drilling rig is in the hoisting state, it is determined whether the hoisting motor is in the lowering energy recovery state; if so, the lowering speed of the hoisting motor is detected; if not, the process is terminated. If the lowering speed is greater than or equal to the critical speed, the second motor controller is used to store the recovered lowering energy in the supercapacitor and the power battery; if the lowering speed is less than the critical speed and the current electric energy value of the supercapacitor is less than the preset electric energy value, the second motor controller is used to store the recovered lowering energy in the supercapacitor and the power battery; if the lowering speed is less than the critical speed and the current electric energy value of the supercapacitor is greater than or equal to the preset electric energy value, the connection between the supercapacitor and the second motor controller is disconnected, so that the second motor controller stores the recovered lowering energy in the power battery. Through the above method, the lowering energy recovered when the winch motor is lowered can be used to recharge the supercapacitor and power battery; this solution intelligently controls energy storage by detecting the lowering speed and the power state of the supercapacitor, avoiding overload and overcharging, reasonably allocating energy storage, and reducing the risk of failure caused by improper energy recovery.

[0084] As for Figure 1 Further introduction to the corresponding embodiment, the energy storage component also includes a control module connected in series with the supercapacitor; the control module is used to control the connection between the supercapacitor and the power battery, that is, the control module can control the connection between the supercapacitor and the power battery, and the control module can also control the disconnection between the supercapacitor and the power battery.

[0085] Based on the structure of the above-mentioned energy storage component, the current demand value of the current working condition of the rotary drilling rig can be determined. If the current demand value of the current working condition of the rotary drilling rig is less than the target current value, it is determined whether the current electric energy value of the supercapacitor is less than the preset electric energy value; if so, the control module is used to control the supercapacitor to be connected to the power battery so that the power battery transmits electric energy to the supercapacitor; if not, the supercapacitor is controlled to be disconnected from the power battery. At this time, the power battery does not transmit electric energy to the supercapacitor. When soil dumping is required, the control module can also be used to control the supercapacitor to resume connection with the power battery.

[0086] During the soil throwing process, the conventional control method in this field is to control the power head motor to rotate according to a fixed torque, but the above method is difficult to adapt to different working conditions and load changes, and it is difficult to achieve optimal energy efficiency and soil throwing efficiency. In response to this problem, the present embodiment has an improved method in this regard, which is as follows: when the torque instruction is issued for the first and second time, the target torque is set according to the soil throwing signal, and before the torque instruction is issued for the nth time (the value of n is greater than 2), the target torque is updated by determining the time it takes for the power head motor to reach the desired speed when the torque instruction is issued for the n-1th time, and the torque instruction to be issued for the nth time is determined based on the updated target torque, so that the power head motor works at the updated target torque. By dynamically adjusting the torque instruction as described above, the power head motor can better adapt to different working conditions and load changes, improve soil throwing efficiency and energy efficiency, and at the same time reduce mechanical wear and extend the service life of the equipment.

[0087] The process described in the above embodiment is explained below through an embodiment in actual application.

[0088] Existing soil-throwing control of the power head of rotary drilling rigs mostly adopts the form of engine-driven hydraulic pump, which in turn drives the hydraulic motor. This traditional method has low energy consumption utilization rate.

[0089] In order to meet the requirements of long battery life and high power, new energy rotary drilling rigs usually achieve this by increasing the battery capacity, but this will lead to increased costs and increased system complexity. Specifically, new energy rotary drilling rigs use power batteries as their power source, which are composed of single cells connected in series and parallel. The soil throwing and drilling operations of the power head, as well as the lifting and lowering of the hoisting mechanism are all driven by motors, with high energy transfer efficiency, and some energy can be recovered to the power battery when the motor is braked. However, when the power head performs high-frequency soil throwing operations, the drive motor needs to frequently start and stop quickly and switch between forward and reverse rotation at high speed. Compared with conventional drilling conditions, on the one hand, the rapid start-up and acceleration process of the motor causes a significant increase in the instantaneous discharge current of the power battery. On the other hand, the regenerative braking energy generated by the frequent braking and high-speed reversal of the motor causes a sharp increase in the current fed back to the power battery. When the hoisting mechanism is quickly lowered, significant regenerative braking energy is also generated, causing a sharp increase in the current fed back to the power battery. For the above working conditions, the current solution generally adopts the expansion of power battery packs. However, long-term high-rate charging and discharging will accelerate the battery polarization effect, resulting in the attenuation of the actual available capacity. At the same time, larger capacity batteries directly increase the manufacturing cost of the equipment and extend the investment return period.

[0090] To address the technical issues presented by the aforementioned related technologies, this embodiment provides a soil-spinning control solution for the power head of a rotary drilling rig, utilizing supercapacitors for power enhancement. This solution utilizes a smaller-capacity power battery to meet the energy and power requirements of a new energy rotary drilling rig under normal operating conditions. The addition of a supercapacitor addresses the charge and discharge capacity requirements during rapid winch lowering and soil-spinning, which exceed the instantaneous charge and discharge capacity limits of the power battery. The energy storage system, consisting of a power battery and supercapacitor connected in parallel, in this embodiment supplies power to each motor controller, driving the corresponding motor.

[0091] See Figure 2 , Figure 2 This is a structural schematic diagram of a rotary drilling rig provided in an embodiment of the present application. The rotary drilling rig includes: a winch motor, a first motor controller 1, a power head motor, a second motor controller 2, a vehicle controller, an operating handle, a control module, a power battery, a supercapacitor, an external power supply and a range extender. The above devices can be connected by electrical energy or by a CAN (Controller Area Network) bus.

[0092] The vehicle controller receives operating handle signals via the CAN bus to identify the operating status of the rotary drilling rig. The energy storage system (i.e., the energy storage component) consists of a power battery and supercapacitors connected in parallel, powering each motor controller to drive the corresponding motor. The control module controls the connection and disconnection of the supercapacitors from the energy storage system. The power battery provides power to the vehicle and charges the supercapacitors. The range extender and external power supply charge the power battery and provide power to the vehicle.

[0093] To address the transient high power demands of rotary drilling rigs under soil-throwing conditions, as well as the high feedback currents generated by high-speed forward and reverse switching and the rapid lowering of winches, this case proposes an energy storage system consisting of a power battery and a supercapacitor in parallel. This energy storage system utilizes the high power density and rapid charge and discharge characteristics of supercapacitors to provide charge and discharge capacity requirements that exceed the instantaneous charge and discharge capacity limits of the power battery under these conditions. The control method is as follows:

[0094] Step B1: The vehicle controller detects the hoisting working condition. When in the lowering energy recovery stage, coordinated control is performed based on the hoisting lowering speed and the current power value of the supercapacitor.

[0095] When the winch lowering speed is greater than or equal to the critical speed, the supercapacitor is controlled to connect to the energy storage system and cooperate with the power battery to recover energy.

[0096] When the winch lowering speed is less than the critical speed, if the current power value of the supercapacitor is greater than the preset power value, the supercapacitor is controlled to be disconnected from the energy storage system, and energy is only recovered by the power battery; when the winch lowering speed is less than the critical speed, if the current power value of the supercapacitor is less than or equal to the preset power value, the supercapacitor is controlled to be connected to the energy storage system, and energy is recovered in coordination with the power battery.

[0097] Step B2: When the rotary drilling rig is in a low-load condition except for the winch lowering energy recovery stage, the following logic control is executed:

[0098] If the current electric energy value of the supercapacitor is greater than the preset electric energy value, the supercapacitor is controlled to be disconnected from the energy storage system;

[0099] If the current energy value of the supercapacitor is less than or equal to the preset energy value, then: the supercapacitor is controlled to be connected to the energy storage system; the power battery is controlled to replenish energy to the supercapacitor; during the charging process, the current energy value of the supercapacitor is continuously monitored; when the current energy value of the supercapacitor reaches or exceeds the preset energy value, the supercapacitor is controlled to be disconnected from the energy storage system.

[0100] Step B3: Check that there are no abnormalities in the power battery, supercapacitor, and control system.

[0101] Step B4: The vehicle controller receives and identifies the handle soil-throwing signal.

[0102] Step B5: The control module controls the supercapacitor to connect to the energy storage system, and together with the power battery, it supplies power to the power head motor.

[0103] Step B6: The vehicle controller controls the power head motor to enter the torque mode.

[0104] Step B7: The vehicle controller sends a positive torque command to the motor controller. The energy storage system composed of the power battery and the supercapacitor in parallel synergistically provides instantaneous high power to drive the power head motor to rotate forward to the specified speed.

[0105] Step B8: The vehicle controller sends a negative torque command to the motor controller, first causing the power head motor to brake rapidly from the specified forward speed to zero speed. During this stage, the supercapacitor and the power battery provide a large reverse torque. At the same time, the supercapacitor and the power battery recover braking energy. Then, the power head motor is rapidly accelerated from zero speed to the specified reverse speed under the action of the large reverse torque. This process is provided with energy by the supercapacitor and the power battery at the same time.

[0106] Step B9: The vehicle controller sends a positive torque command to the motor controller to first brake the power head motor rapidly from the specified reverse speed to zero speed. During this stage, the supercapacitor and the power battery provide a large positive torque. At the same time, the supercapacitor and the power battery recover the braking energy. Then, the power head motor is rapidly accelerated from zero speed to the specified forward speed under the action of the large positive torque. This process is provided by the supercapacitor and the power battery at the same time.

[0107] Step B10: Repeat steps B8 and B9 until the soil throwing is completed.

[0108] During the operation of the rotary drilling rig, the above steps B1 to B10 may be repeated.

[0109] The preset energy value of the supercapacitor in steps B1 and B2 is sufficient to meet the energy required by the power head to unload soil. The rated energy of the supercapacitor exceeds the energy required to unload soil and is sufficient to absorb all recoverable energy generated by the winch under maximum lowering conditions. The unloading signal in step B4 is generated by the operator's operating handle or other switch signal.

[0110] The above process provides a method for controlling the power head and winch of a rotary drilling rig. When the energy storage system composed of the supercapacitor and power battery is normal, when the winch is quickly lowered and the power head is unloading soil, the control module controls the supercapacitor to connect to the system, and the supercapacitor provides the charging and discharging capacity requirements that exceed the instantaneous charging and discharging capacity limit of the power battery.

[0111] See Figure 3 , Figure 3 A schematic diagram of a supercapacitor charging process provided in an embodiment of the present application is as follows:

[0112] Determine whether the winch is lowered.

[0113] If the winch is lowered, it is determined whether the winch speed is less than the set speed; if the winch speed is less than the set speed, it is determined whether the current power value of the supercapacitor is greater than the set value; if the current power value of the supercapacitor is greater than the set value, the supercapacitor is controlled to be disconnected from the energy storage system, and only the power battery recovers energy; if the current power value of the supercapacitor is not greater than the set value or if the winch speed is not less than the set speed, the supercapacitor is controlled to be connected to the energy storage system, and the supercapacitor and power battery work together to recover energy.

[0114] If the winch is not lowered, determine whether it is currently in a low-load condition; if it is in a low-load condition, determine whether the current electric energy value of the supercapacitor is greater than the set value; if the current electric energy value of the supercapacitor is greater than the set value, control the supercapacitor to be disconnected from the energy storage system; if the current electric energy value of the supercapacitor is not greater than the set value, control the supercapacitor to be connected to the energy storage system, and the power battery charges the supercapacitor; if it is not in a low-load condition, control the supercapacitor to be disconnected from the energy storage system.

[0115] See Figure 4 , Figure 4 A schematic diagram of a soil dumping control process provided in an embodiment of the present application is as follows:

[0116] Determine whether there are any abnormalities in the power battery, supercapacitor and control system; if so, determine whether there is a soil-shedding signal; if not, stop the vehicle for inspection and troubleshooting.

[0117] If there is no soil-shaking signal, the supercapacitor is disconnected from the power battery, and the power battery alone supplies power to the entire vehicle.

[0118] If a soil-shaking signal is present, the control module controls the supercapacitor to connect to the energy storage system. The vehicle controller sends a large forward torque to the motor controller to accelerate the motor forward to the set speed. The vehicle controller sends a large reverse torque to the motor controller. The motor brakes rapidly in the forward direction to zero speed, while the supercapacitor and the power battery recover braking energy. The motor accelerates from zero speed to the reverse set speed. The vehicle controller sends a large forward torque to the motor controller. The motor brakes rapidly in the reverse direction to zero speed, while the supercapacitor and the power battery recover braking energy. The motor accelerates from zero speed to the forward set speed.

[0119] Determine whether the soil throwing is completed; if so, control the supercapacitor to be disconnected from the power battery; if not, enter the step of the vehicle controller sending a large reverse torque to the motor controller.

[0120] The above-mentioned motor is a power head motor, such as a permanent magnet synchronous motor.

[0121] In this embodiment, a supercapacitor is connected in parallel with the power battery, allowing a small-capacity power battery to perform the entire vehicle's functions, reducing overall machine cost. This embodiment uses a supercapacitor to boost the power battery, reducing the transient high power demand of the power battery during soil unloading. The supercapacitor absorbs the high feedback current generated by high-speed forward and reverse switching and rapid winch lowering, extending the power battery's life.

[0122] The embodiment of the present application provides a soil-spinning control system for a power head of a rotary drilling rig, which is applied to a vehicle controller of the rotary drilling rig. The rotary drilling rig further includes an operating handle, a power head motor, a first motor controller, and an energy storage component. The first motor controller is connected to the power head motor and the energy storage component, respectively. The energy storage component includes a power battery and a supercapacitor connected in parallel. The soil-spinning control system for the power head of the rotary drilling rig includes:

[0123] A signal receiving module, configured to receive a soil-throwing signal inputted by the operating handle;

[0124] An instruction generation module is used to generate a corresponding torque instruction according to the soil-throwing signal; wherein the torque instruction includes a positive torque instruction and a negative torque instruction; the positive torque instruction is an instruction for controlling the power head motor to rotate in the positive direction at a target torque value, and the negative torque instruction is an instruction for controlling the power head motor to rotate in the reverse direction at the target torque value;

[0125] The soil-throwing module is used to cyclically send the positive torque instruction and the negative torque instruction to the first motor controller, so that the first motor controller uses the energy storage component to drive the power head motor to perform the soil-throwing operation.

[0126] The rotary drilling rig used in this embodiment includes an operating handle, a power head motor, a first motor controller and an energy storage component, and the energy storage component includes a power battery and a super capacitor in parallel. After receiving the soil-shaking signal, a corresponding positive torque instruction and a negative torque instruction are generated according to the soil-shaking signal; this embodiment cyclically sends the positive torque instruction and the negative torque instruction to the first motor controller so that the power head motor switches forward and reverse at the target torque, thereby performing the soil-shaking operation. The above process utilizes the power battery and the super capacitor in the energy storage component to drive the power head motor to perform the soil-shaking operation. The super capacitor can provide high-power instantaneous energy support when quickly switching forward and reverse. Therefore, this embodiment can enable the rotary drilling rig to meet the charging and discharging requirements of the soil-shaking operation without expanding the power battery.

[0127] The process of the soil-spinning module cyclically sending the positive torque command and the negative torque command to the first motor controller includes:

[0128] Step 1: issuing the positive torque instruction to the first motor controller to cause the first motor controller to perform a forward drive operation; wherein the implementation process of the forward drive operation includes: using the electric energy provided by the energy storage component to drive the power head motor to rotate in the forward direction at a target torque value;

[0129] Step 2: issuing the negative torque instruction to the first motor controller, so that the first motor controller sequentially performs a braking control operation and a reverse driving operation; wherein the implementation process of the braking control operation includes: controlling the power head motor to brake at a target torque value and storing the recovered braking energy in the energy storage component; the implementation process of the reverse driving operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate in the reverse direction at the target torque value;

[0130] Step 3: Send the positive torque instruction to the first motor controller, so that the first motor controller performs the braking control operation and the forward driving operation in sequence, and enters step 2.

[0131] Furthermore, the process of the first motor controller storing the recovered braking energy in the energy storage component includes: determining whether the current electric energy value of the supercapacitor is less than the preset electric energy value; if so, storing the recovered braking energy in the supercapacitor; if not, storing the recovered braking energy in the supercapacitor and the power battery.

[0132] Furthermore, it also includes:

[0133] The jump control module is configured to, after issuing the positive torque command to the first motor controller, determine whether the rotational speed of the power head motor is greater than a first rotational speed; if so, proceed to the step of issuing the negative torque command to the first motor controller. The jump control module is further configured to, after issuing the negative torque command to the first motor controller, determine whether the rotational speed of the power head motor is greater than a second rotational speed; if so, proceed to the step of issuing the positive torque command to the first motor controller.

[0134] Furthermore, it also includes:

[0135] The soil-shaking module is also used to determine whether the speed of the power head motor is equal to 0 if a soil-shaking stop signal is received; if so, stop the operation of cyclically sending the positive torque instruction and the negative torque instruction to the first motor controller; if not, control the first motor controller to perform the braking control operation until the speed of the power head motor is equal to 0.

[0136] Furthermore, the rotary drilling rig further includes a hoisting motor and a second motor controller, wherein the second motor controller is connected to the hoisting motor and the energy storage assembly respectively;

[0137] Correspondingly, it also includes:

[0138] The lowering energy recovery module is used to determine whether the hoisting motor is in a lowering energy recovery state if the rotary drilling rig is in a hoisting condition; if so, to detect the lowering speed of the hoisting motor; and to use the second motor controller to store the recovered lowering energy in the supercapacitor and the power battery if the lowering speed is greater than or equal to the critical speed; and to use the second motor controller to store the recovered lowering energy in the supercapacitor and the power battery if the lowering speed is less than the critical speed and the current electric energy value of the supercapacitor is less than the preset electric energy value; and to disconnect the supercapacitor from the second motor controller if the lowering speed is less than the critical speed and the current electric energy value of the supercapacitor is greater than or equal to the preset electric energy value, so that the second motor controller stores the recovered lowering energy in the power battery.

[0139] Furthermore, the energy storage component further includes a control module connected in series with the supercapacitor; the control module is used to control the connection between the supercapacitor and the power battery;

[0140] Correspondingly, it also includes:

[0141] The charging module is configured to determine whether the current electric energy value of the supercapacitor is less than a preset electric energy value if the current demand value of the current working condition of the rotary drilling rig is less than the target current value; if so, use the control module to control the supercapacitor to be connected to the power battery so that the power battery transmits electric energy to the supercapacitor; if not, control the supercapacitor to be disconnected from the power battery.

[0142] 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.

[0143] This application also provides a storage medium having a computer program stored thereon, which, when executed, 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, or an optical disk, among other media capable of storing program code.

[0144] 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.

[0145] 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.

[0146] 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 method for controlling soil throwing of a power head of a rotary drilling rig, characterized in that: The vehicle controller applied to the rotary drilling rig further includes an operating handle, a power head motor, a first motor controller and an energy storage component. The first motor controller is connected to the power head motor and the energy storage component respectively. The energy storage component includes a power battery and a supercapacitor connected in parallel. The power head soil throwing control method of the rotary drilling rig includes: receiving a soil-throwing signal inputted by the operating handle; Generate a corresponding torque command according to the soil-throwing signal; wherein the torque command includes a positive torque command and a negative torque command; the positive torque command is a command for controlling the power head motor to rotate in a positive direction at a target torque value, and the negative torque command is a command for controlling the power head motor to rotate in a reverse direction at a target torque value; The positive torque instruction and the negative torque instruction are cyclically issued to the first motor controller, so that the first motor controller uses the energy storage component to drive the power head motor to perform the soil throwing operation.

2. The soil throwing control method of the power head of the rotary drilling rig according to claim 1 is characterized in that: Cyclic sending of the positive torque command and the negative torque command to the first motor controller includes: Step 1: issuing the positive torque instruction to the first motor controller to cause the first motor controller to perform a forward drive operation; wherein the implementation process of the forward drive operation includes: using the electric energy provided by the energy storage component to drive the power head motor to rotate in the forward direction at a target torque value; Step 2: issuing the negative torque instruction to the first motor controller, so that the first motor controller sequentially performs a braking control operation and a reverse driving operation; wherein the implementation process of the braking control operation includes: controlling the power head motor to brake at a target torque value and storing the recovered braking energy in the energy storage component; the implementation process of the reverse driving operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate in the reverse direction at the target torque value; Step 3: Send the positive torque instruction to the first motor controller, so that the first motor controller performs the braking control operation and the forward driving operation in sequence, and enters step 2.

3. The soil throwing control method of the power head of the rotary drilling rig according to claim 2 is characterized in that: Storing the recovered braking energy in the energy storage component includes: Determining whether the current electric energy value of the supercapacitor is less than a preset electric energy value; If yes, storing the recovered braking energy in the supercapacitor; If not, the recovered braking energy is stored in the supercapacitor and the power battery.

4. The soil throwing control method of the power head of the rotary drilling rig according to claim 2 is characterized in that: After issuing the positive torque instruction to the first motor controller, the method further includes: Determining whether the rotational speed of the power head motor is greater than a first rotational speed; If yes, proceed to the step of issuing the negative torque instruction to the first motor controller; Accordingly, after sending the negative torque instruction to the first motor controller, the method further includes: Determining whether the rotational speed of the power head motor is greater than a second rotational speed; If so, the step of issuing the positive torque instruction to the first motor controller is entered.

5. The soil throwing control method of the power head of the rotary drilling rig according to claim 2, characterized in that: Also includes: If a soil throwing stop signal is received, it is determined whether the speed of the power head motor is equal to 0; If yes, stop cyclically sending the positive torque command and the negative torque command to the first motor controller; If not, the first motor controller is controlled to perform the braking control operation until the rotation speed of the power head motor is equal to 0.

6. The soil throwing control method of the power head of the rotary drilling rig according to claim 1 is characterized in that: The rotary drilling rig further includes a hoisting motor and a second motor controller, wherein the second motor controller is connected to the hoisting motor and the energy storage assembly respectively; Correspondingly, it also includes: If the rotary drilling rig is in a hoisting state, determining whether the hoisting motor is in a lowering energy recovery state; If yes, detecting the lowering speed of the hoisting motor; If the lowering speed is greater than or equal to the critical speed, the recovered lowering energy is stored in the supercapacitor and the power battery using the second motor controller; If the lowering speed is less than the critical speed and the current electric energy value of the supercapacitor is less than a preset electric energy value, the second motor controller is used to store the recovered lowering energy in the supercapacitor and the power battery; If the lowering speed is less than the critical speed and the current electric energy value of the supercapacitor is greater than or equal to the preset electric energy value, the connection between the supercapacitor and the second motor controller is disconnected so that the second motor controller stores the recovered lowering energy in the power battery.

7. The soil throwing control method for the power head of a rotary drilling rig according to any one of claims 1 to 6, characterized in that: The energy storage component further includes a control module connected in series with the supercapacitor; the control module is used to control the connection between the supercapacitor and the power battery; Correspondingly, it also includes: If the current demand value of the current working condition of the rotary drilling rig is less than the target current value, determining whether the current electric energy value of the supercapacitor is less than the preset electric energy value; If so, using the control module to control the supercapacitor to connect to the power battery, so that the power battery transmits electrical energy to the supercapacitor; If not, the supercapacitor is controlled to be disconnected from the power battery.

8. A soil-throwing control system for the power head of a rotary drilling rig, characterized in that: The vehicle controller applied to the rotary drilling rig further includes an operating handle, a power head motor, a first motor controller and an energy storage component. The first motor controller is connected to the power head motor and the energy storage component respectively. The energy storage component includes a power battery and a supercapacitor connected in parallel. The power head soil throwing control system of the rotary drilling rig includes: A signal receiving module, configured to receive a soil-throwing signal inputted by the operating handle; An instruction generation module is used to generate a corresponding torque instruction according to the soil-throwing signal; wherein the torque instruction includes a positive torque instruction and a negative torque instruction; the positive torque instruction is an instruction for controlling the power head motor to rotate in the positive direction at a target torque value, and the negative torque instruction is an instruction for controlling the power head motor to rotate in the reverse direction at the target torque value; The soil-throwing module is used to cyclically send the positive torque instruction and the negative torque instruction to the first motor controller, so that the first motor controller uses the energy storage component to drive the power head motor to perform the soil-throwing operation.

9. An electronic device, characterized in that: It 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 soil-throwing control method of the power head of the rotary drilling rig as claimed in 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 the processor, implement the steps of the soil-throwing control method for the power head of a rotary drilling rig as claimed in any one of claims 1 to 7.

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