A method, system, device and medium for controlling soil throwing of a power head of a rotary drilling rig

Abstract

This application discloses a method, system, equipment, and medium for controlling the soil-throwing operation of a rotary drilling rig's power head, belonging to the technical field of electromechanical control technology. 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 both the power head motor and the energy storage component. The energy storage component includes a power battery and a supercapacitor connected in parallel. The method for controlling the soil-throwing operation of the rotary drilling rig's power head includes: receiving a soil-throwing signal input from the operating handle; generating a corresponding torque command based on the soil-throwing signal; and cyclically sending the positive torque command and the negative torque command 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. This application enables the rotary drilling rig to meet the charging and discharging requirements for soil-throwing operations without expanding the capacity of the power battery.

Description

Technical Field

[0001] This application relates to the field of electromechanical control technology, and in particular to a method, system, equipment and medium for controlling the soil ejection of the power head of a rotary drilling rig. Background Technology

[0002] Currently, new energy rotary drilling rigs use power batteries as their power source, which are composed of individual cells connected in series and parallel. Soil dumping, also known as unloading, refers to the operation of controlling the rotary drilling rig's power head to rotate and dump excavated soil. When the power head performs high-frequency soil dumping operations, the drive motor needs to frequently perform rapid start-stop and high-speed forward and reverse rotation switching.

[0003] In soil-throwing operations, compared to conventional drilling operations, the rapid start-up and acceleration of the power head motor significantly increases the instantaneous discharge current of the power battery. Furthermore, the regenerative braking energy generated by the frequent braking of the power head motor and its high-speed reverse rotation during soil-throwing causes a sharp increase in the current fed back to the power battery. Current solutions for these conditions generally employ larger capacity power battery packs; however, prolonged high-rate charging and discharging accelerates battery polarization, leading to a decrease in actual usable capacity. Simultaneously, larger capacity batteries directly increase the manufacturing cost of the equipment.

[0004] Therefore, how to enable rotary drilling rigs to meet the charging and discharging requirements of soil-throwing operations without expanding the capacity of the power battery is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, system, equipment and medium for controlling the soil dumping of a rotary drilling rig's power head, which can enable the rotary drilling rig to meet the charging and discharging requirements of the soil dumping operation without expanding the capacity of the power battery.

[0006] To address the aforementioned technical problems, this application provides a method for controlling the soil ejection of a rotary drilling rig's power head, applied to the rig's overall controller. 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 both the power head motor and the energy storage component. The energy storage component includes a power battery and a supercapacitor connected in parallel. The method for controlling the soil ejection of the rotary drilling rig's power head includes:

[0007] Receive the soil-throwing signal input by the operating handle;

[0008] A corresponding torque command is generated based on 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 to control the power head motor to rotate in the positive direction with a target torque value, and the negative torque command is a command to control the power head motor to rotate in the opposite direction with a target torque value;

[0009] The positive torque command and the negative torque command are cyclically sent to the first motor controller so that the first motor controller can use the energy storage component to drive the power head motor to perform the soil throwing operation.

[0010] Optionally, the positive torque command and the negative torque command are cyclically sent to the first motor controller, including:

[0011] Step 1: Send the positive torque command to the first motor controller to enable the first motor controller to perform a forward drive operation; wherein, the implementation process of the forward drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate forward at the target torque value;

[0012] Step 2: Send the negative torque command to the first motor controller so that the first motor controller sequentially executes braking control operation and reverse drive operation; wherein, 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 reverse drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate in the opposite direction at a target torque value;

[0013] Step 3: Send the positive torque command to the first motor controller so that the first motor controller sequentially executes the braking control operation and the forward drive operation, and then proceeds to step 2.

[0014] Optionally, the recovered braking energy is stored in the energy storage component, including:

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

[0016] If so, the recovered braking energy will be stored in the supercapacitor;

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

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

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

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

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

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

[0023] If so, proceed to the step of issuing the positive torque command to the first motor controller.

[0024] Optional, also includes:

[0025] If a soil-throwing stop signal is received, determine whether the rotational speed of the power head motor is equal to 0.

[0026] If so, then stop the operation of 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 speed of the power head motor is equal to 0.

[0028] Optionally, the rotary drilling rig further includes a winch motor and a second motor controller, the second motor controller being connected to the winch motor and the energy storage component respectively;

[0029] Correspondingly, it also includes:

[0030] If the rotary drilling rig is in winch mode, then determine whether the winch motor is in the energy recovery state.

[0031] If so, then the lowering speed of the hoist motor is detected;

[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 energy value of the supercapacitor is less than the preset energy value, then the recovered lowering energy is stored in the supercapacitor and the power battery using the second motor controller.

[0034] If the lowering speed is less than the critical speed, and the current energy value of the supercapacitor is greater than or equal to the preset energy value, then the connection between the supercapacitor and the second motor controller is disconnected, so that the second motor controller stores the recovered lowering energy into 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 rotary drilling rig under the current working condition is less than the target current value, then it is determined whether the current energy value of the supercapacitor is less than the preset energy value.

[0038] If so, the control module is used to control the connection between the supercapacitor and the power battery, so that the power battery can transfer electrical energy to the supercapacitor.

[0039] If not, then the supercapacitor is disconnected from the power battery.

[0040] This application also provides a power head soil-throwing control system for a rotary drilling rig, applied to the 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 both the power head motor and the energy storage component. 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:

[0041] The signal receiving module is used to receive the soil-throwing signal input by the operating handle;

[0042] The instruction generation module is used to generate a corresponding torque instruction based on the soil-throwing signal; wherein, the torque instruction includes a positive torque instruction and a negative torque instruction; the positive torque instruction is used to control the power head motor to rotate in the positive direction with a target torque value, and the negative torque instruction is used to control the power head motor to rotate in the reverse direction with a target torque value;

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

[0044] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the above-described rotary drilling rig's power head soil-throwing control method.

[0045] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the above-described rotary drilling rig's power head soil-throwing control method.

[0046] This application provides a method for controlling the soil-throwing operation of a rotary drilling rig's power head. The rotary drilling rig used in this method includes an operating handle, a power head motor, a first motor controller, and an energy storage component. The energy storage component includes a power battery and a supercapacitor connected in parallel. Upon receiving a soil-throwing signal, corresponding positive and negative torque commands are generated based on the signal. This application causes the power head motor to switch between forward and reverse rotation at a target torque by cyclically sending positive and negative torque commands to the first motor controller, thereby performing the soil-throwing operation. The above process utilizes the power battery and supercapacitor in the energy storage component to drive the power head motor to perform the soil-throwing operation. The supercapacitor can provide high-power instantaneous energy support during rapid switching between forward and reverse rotation. Therefore, this application can enable the rotary drilling rig to meet the charging and discharging requirements of the soil-throwing operation without expanding the capacity of the power battery. This application also provides a rotary drilling rig's power head soil-throwing control system, a storage medium, and an electronic device, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0047] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A flowchart illustrating a method for controlling the soil ejection from the power head of a rotary drilling rig, provided as an embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the structure of a rotary drilling rig provided in an embodiment of this application;

[0050] Figure 3 This is a schematic diagram of the charging process of a supercapacitor provided in an embodiment of this application;

[0051] Figure 4 This is a schematic diagram of a soil-throwing control process provided in an embodiment of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] Please see below. Figure 1 , Figure 1This is a flowchart illustrating a method for controlling the soil ejection from the power head of a rotary drilling rig, as provided in an embodiment of this application.

[0054] Specific steps may include:

[0055] S101: Receive the soil-throwing signal input by the operating handle.

[0056] This embodiment can be applied to the vehicle controller of a rotary drilling rig (such as a new energy 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 both the power head motor and the energy storage component. The energy storage component includes a power battery and a supercapacitor connected in parallel. The power battery can transmit electrical energy to the power head motor through the first motor controller to drive the power head motor to rotate. The supercapacitor can also transmit electrical energy to the power head motor through the first motor controller to drive the power head motor to rotate. The vehicle controller can be connected to both the first motor controller and the operating handle. The supercapacitor mentioned in this document is a supercapacitor.

[0057] Users can input a soil-throwing signal through the control handle. When the vehicle controller receives the signal and recognizes it as a soil-throwing signal, it will initiate the soil-throwing operation process of S102-S103.

[0058] S102: Generate a corresponding torque command based on the soil-throwing signal;

[0059] Specifically, after the vehicle controller receives the soil-throwing signal, it can analyze the signal to obtain the target torque for the soil-throwing operation, and then generate a torque command based on the target torque. This 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 of the target torque value, and the negative torque command is used to control the power head motor to rotate in the reverse direction of the target torque value.

[0060] S103: The positive torque command and the negative torque command are cyclically sent to the first motor controller so that the first motor controller can use the energy storage component to drive the power head motor to perform the soil-throwing operation.

[0061] In this step, a positive torque command can be sent to the first motor controller first, followed by a negative torque command, and then a positive torque command, and so on. The energy used by the first motor controller to control the power head motor according to the positive or negative torque command comes from the parallel-connected power battery and supercapacitor.

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

[0063] Specifically, upon receiving a positive or negative torque command, the first motor controller can control the switching of the motor torque direction of the power head motor. When switching the motor torque direction, if the speed of the power head motor is 0, the power head motor rotates under the drive of the energy storage component. When switching the motor torque direction, if the speed of the power head motor is not 0, the speed of the power head motor first decreases to 0 and then rotates 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 method, forward rotation can be clockwise, reverse rotation can be counterclockwise, 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. This energy storage component includes a power battery and a supercapacitor connected in parallel. Upon receiving a soil-throwing signal, corresponding positive and negative torque commands are generated based on the signal. In this embodiment, the power head motor is switched between forward and reverse rotation at the target torque by cyclically sending positive and negative torque commands to the first motor controller, thereby performing the soil-throwing operation. The above process utilizes the power battery and supercapacitor in the energy storage component to drive the power head motor to perform the soil-throwing operation. The supercapacitor can provide high-power instantaneous energy support during rapid switching between forward and reverse rotation. Therefore, this embodiment can meet the charging and discharging requirements of the rotary drilling rig for soil-throwing operations without expanding the capacity of the power battery.

[0066] As for Figure 1 A further description of 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: Send the positive torque command to the first motor controller so that the first motor controller performs a positive drive operation.

[0068] The forward drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate forward at a target torque value. Step A1 assumes that the current rotational speed of the power head motor is 0. If the current rotational speed of the power head motor is not 0, step A1 can be to issue the positive torque command to the first motor controller, causing the first motor controller to sequentially execute braking control and forward drive operations.

[0069] After sending the positive torque command 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, then proceed to step A2 of sending the negative torque command to the first motor controller; if not, then control the first motor controller to continue to perform the positive drive operation.

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

[0071] After issuing the positive torque command to the first motor controller, step A2 can be initiated after a first delay, whereby the negative torque command is issued to the first motor controller.

[0072] Step A2: Send the negative torque command to the first motor controller so that the first motor controller sequentially performs braking control operation and reverse drive operation.

[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 scheme, the first motor controller first performs a braking control operation. After the braking control operation is completed (i.e., the speed of the power head motor is 0), the first motor controller then performs a reverse drive operation. The reverse drive operation includes using the electrical energy provided by the energy storage component to drive the power head motor to rotate in the opposite direction with a target torque value.

[0075] After issuing the negative torque command 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, then proceed to step A3 of issuing the positive torque command to the first motor controller; if not, then control the first motor controller to continue to perform the reverse drive operation.

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

[0077] After issuing the negative torque command to the first motor controller, step A3 can be initiated after a second delay, whereby the positive torque command is issued to the first motor controller.

[0078] Step A3: Send the positive torque command to the first motor controller so that the first motor controller sequentially executes the braking control operation and the forward drive operation, and then proceeds to step A2.

[0079] In this scheme, the first motor controller first performs the braking control operation, and when the braking control operation is completed (i.e., the speed of the power head motor is 0), the first motor controller then performs the forward drive operation.

[0080] During braking control operations, the process by which the first motor controller stores the recovered braking energy into the energy storage component includes: determining whether the current energy value of the supercapacitor is less than a preset energy value; if so, storing the recovered braking energy into the supercapacitor; if not, storing the recovered braking energy into both the supercapacitor and the power battery. This method prioritizes storing braking energy into the supercapacitor, allowing for continued use of the supercapacitor and power battery for soil-throwing control in subsequent processes, thus 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 command and the negative torque command 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 command and the negative torque command to the first motor controller is stopped.

[0082] As for Figure 1 In a further description of the corresponding embodiment, the rotary drilling rig described above also includes a winch motor and a second motor controller, the second motor controller being connected to the winch motor and the energy storage component respectively.

[0083] Based on the above structure, if the rotary drilling rig is in winch mode, it is determined whether the winch motor is in the energy recovery state; if so, the lowering speed of the winch motor is detected; if not, the process ends. If the lowering speed is greater than or equal to the critical speed, the recovered 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 energy value of the supercapacitor is less than the preset energy value, the recovered 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 energy value of the supercapacitor is greater than or equal to the preset energy value, the connection between the supercapacitor and the second motor controller is disconnected, so that the second motor controller stores the recovered energy in the power battery. The above method allows for the reuse of energy recovered during the lowering of the supercapacitor and power battery. This solution intelligently controls energy storage by detecting the lowering speed and the electrical state of the supercapacitor, avoiding overload and overcharging, and rationally allocating energy storage to reduce the risk of failure caused by improper energy recovery.

[0084] As for Figure 1 In a further description of 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 aforementioned energy storage component, the current demand value of the rotary drilling rig under its current operating condition can be determined. If the current demand value of the rotary drilling rig under its current operating condition is less than the target current value, it is determined whether the current energy value of the supercapacitor is less than the preset energy value. If so, the control module is used to control the connection between the supercapacitor and the power battery so that the power battery can transmit energy to the supercapacitor. If not, the supercapacitor is disconnected from the power battery, and the power battery does not transmit energy to the supercapacitor. When soil dumping is required, the control module can be used to control the supercapacitor to reconnect 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 at a fixed torque. However, 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. To address this problem, this embodiment has an improvement method, as follows: When the torque command is issued for the first and second time, a target torque is set according to the soil-throwing signal. Before issuing the torque command for the nth time (where n is greater than 2), the time taken for the power head motor to reach the desired speed when the torque command is issued for the (n-1)th time is determined, and the target torque is updated. The torque command to be issued for the nth time is determined based on the updated target torque, so that the power head motor operates at the updated target torque. By dynamically adjusting the torque command as described above, the power head motor can better adapt to different working conditions and load changes, improve soil-throwing efficiency and energy efficiency, while reducing mechanical wear and extending the service life of the equipment.

[0087] The process described in the above embodiments is illustrated below through examples in practical applications.

[0088] Most existing rotary drilling rigs use an engine-driven hydraulic pump, which in turn drives a hydraulic motor. This traditional method has low energy efficiency.

[0089] To meet the requirements of long endurance and high power, new energy rotary drilling rigs typically increase battery capacity, but this leads to increased costs and system complexity. Specifically, new energy rotary drilling rigs use power batteries as their power source, which are composed of individual 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 winch mechanism, are all driven by motors, resulting in high energy transfer efficiency. Furthermore, some energy can be recovered to the power battery during motor braking. However, when the power head performs high-frequency soil-throwing operations, the drive motor needs to frequently start and stop rapidly and switch between high-speed forward and reverse rotation. Compared to conventional drilling conditions, on the one hand, the rapid start-up and acceleration of the motor significantly increases the instantaneous discharge current of the power battery; on the other hand, the regenerative braking energy generated by the frequent braking and high-speed reverse rotation of the motor causes a sharp increase in the current fed back to the power battery. Significant regenerative braking energy is also generated during the rapid lowering of the winch mechanism, leading to a sharp increase in the current fed back to the power battery. In response to the above operating conditions, current solutions generally adopt the use of larger capacity power battery packs. However, long-term high-rate charging and discharging will accelerate the battery polarization effect, leading to a decrease in actual usable capacity. At the same time, larger capacity batteries directly increase the manufacturing cost of the equipment and prolong the investment payback period.

[0090] To address the technical problems existing in the aforementioned related technologies, this embodiment provides a soil-throwing control scheme for a rotary drilling rig's power head that utilizes supercapacitors. This scheme meets the energy and power requirements of the new energy rotary drilling rig under normal operating conditions by configuring a relatively small-capacity power battery, while adding a supercapacitor to meet the charging and discharging capacity requirements exceeding the instantaneous charging and discharging capacity limit of the power battery during rapid winch lowering and soil throwing. In this embodiment, an energy storage system composed of a power battery and a supercapacitor connected in parallel supplies power to each motor controller, driving the corresponding motors to operate.

[0091] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a rotary drilling rig provided in an embodiment of this 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 power or by CAN (Controller Area Network) bus.

[0092] The aforementioned 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., energy storage components) consists of a power battery and a supercapacitor connected in parallel, supplying power to each motor controller to drive the corresponding motor; the control module controls the connection and disconnection of the supercapacitor within the energy storage system. The power battery provides power to the vehicle and charges the supercapacitor. The range extender and external power source charge the power battery and provide power to the vehicle.

[0093] To address the transient high power demands of rotary drilling rigs during soil dumping operations, high-speed forward and reverse switching, and high feedback current generated by rapid winch lowering, this paper proposes an energy storage system consisting of a power battery and a supercapacitor connected in parallel. This energy storage system utilizes the high power density and rapid charge / discharge characteristics of the supercapacitor to provide charge / discharge capacity exceeding the instantaneous charge / discharge capacity limit of the power battery under the aforementioned operating conditions. The control method is as follows:

[0094] Step B1: The vehicle controller detects the hoist's operating condition. When it is in the energy recovery phase of lowering, it performs coordinated control based on the hoist's lowering speed and the current energy value of the supercapacitor.

[0095] When the hoist's lowering speed is greater than or equal to the critical speed, the supercapacitor is connected to the energy storage system to recover energy in conjunction with the power battery.

[0096] When the hoisting speed is less than the critical speed, if the current energy value of the supercapacitor is greater than the preset energy value, the supercapacitor will be disconnected from the energy storage system, and only the power battery will recover energy. When the hoisting speed is less than the critical speed, if the current energy value of the supercapacitor is less than or equal to the preset energy value, the supercapacitor will be connected to the energy storage system to recover energy in conjunction with the power battery.

[0097] Step B2: When the rotary drilling rig is in a low-load operating condition other than the winch lowering energy recovery phase, the following logic control is executed:

[0098] If the current energy value of the supercapacitor is greater than the preset energy value, the supercapacitor will 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: control the supercapacitor to connect to the energy storage system; control the power battery to replenish the supercapacitor with energy; continuously monitor the current energy value of the supercapacitor during the charging process; when the current energy value of the supercapacitor reaches or exceeds the preset energy value, control the supercapacitor to disconnect from the energy storage system.

[0100] Step B3: The power battery, supercapacitor, and control system were all found to be normal.

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

[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 torque mode.

[0104] Step B7: The vehicle controller sends a positive torque command to the motor controller. The energy storage system, consisting of the power battery and the supercapacitor connected in parallel, works together to provide instantaneous high power, driving 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, which first causes 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, and at the same time, the supercapacitor and the power battery recover braking energy. Then, under the action of the large reverse torque, the power head motor accelerates rapidly from zero speed to the specified reverse speed. This process is powered by the supercapacitor and the power battery.

[0106] Step B9: The vehicle controller sends a positive torque command to the motor controller to first cause the power head motor to brake rapidly from the reverse specified 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 braking energy. Then, under the action of the large positive torque, the power head motor accelerates rapidly from zero speed to the forward specified speed. This process is powered by the supercapacitor and the power battery.

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

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

[0109] In steps B1 and B2 above, the preset energy value of the supercapacitor is sufficient to meet the energy requirements of the power head for unloading soil; the rated energy of the supercapacitor is greater than the energy required for soil throwing and is sufficient to absorb all recoverable energy generated by the winch under maximum lowering conditions. The soil unloading signal in step B4 is generated by triggering the operator's handle or other switch signals.

[0110] The above process provides a control method for the power head and winch of a rotary drilling rig. When the energy storage system composed of the supercapacitor and the power battery is normal, during the rapid lowering of the winch and the unloading of soil by the power head, the control module controls the supercapacitor to connect to the system. The supercapacitor provides a charging and discharging capacity that exceeds the instantaneous charging and discharging capacity limit of the power battery.

[0111] Please see Figure 3 , Figure 3 The following is a schematic diagram of the charging process of a supercapacitor provided in an embodiment of this application:

[0112] Determine whether the hoist needs to be lowered.

[0113] If the winch is lowered, it checks if the winch speed is less than the set speed. If the winch speed is less than the set speed, it checks if the current energy value of the supercapacitor is greater than the set value. If the current energy value of the supercapacitor is greater than the set value, it controls the supercapacitor to disconnect from the energy storage system, and only the power battery recovers energy. If the current energy value of the supercapacitor is not greater than the set value or if the winch speed is not less than the set speed, it controls the supercapacitor to connect to the energy storage system, and the supercapacitor and the power battery work together to recover energy.

[0114] If the winch is not lowered, determine if the current operating condition is low load. If it is, determine if the current energy value of the supercapacitor is greater than the set value. If the current energy value of the supercapacitor is greater than the set value, disconnect the supercapacitor from the energy storage system. If the current energy value of the supercapacitor is not greater than the set value, connect the supercapacitor to the energy storage system, and the power battery charges the supercapacitor. If the current operating condition is not low load, disconnect the supercapacitor from the energy storage system.

[0115] Please see Figure 4 , Figure 4 This application provides a schematic diagram of a soil-throwing control process, the process of which is as follows:

[0116] Determine if the power battery, supercapacitor, and control system are all functioning normally; if so, check for any soil-throwing signals; if not, stop the vehicle, inspect it, and troubleshoot the problem.

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

[0118] If a soil-throwing 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 to the set speed. The vehicle controller then sends a large reverse torque to the motor controller; the motor brakes rapidly to zero speed in the forward direction, while the supercapacitor and power battery recover braking energy; the motor accelerates from zero speed to the set reverse speed; the vehicle controller sends a large forward torque to the motor controller; the motor brakes rapidly to zero speed in the reverse direction, while the supercapacitor and power battery recover braking energy; the motor accelerates from zero speed to the set forward speed.

[0119] Determine whether the soil-throwing process is complete; if yes, disconnect the supercapacitor from the power battery; if not, proceed to the step where the vehicle controller sends a large reverse torque to the motor controller.

[0120] The motors mentioned above are power head motors, such as permanent magnet synchronous motors.

[0121] In this embodiment, the supercapacitor is connected in parallel with the power battery, allowing the small-capacity power battery to achieve the functions of the entire vehicle, thus reducing the overall cost. This embodiment uses a supercapacitor to power the power battery, reducing the transient high-power demand of the power battery under unloading conditions. The supercapacitor absorbs the high feedback current generated by high-speed forward and reverse switching and rapid lowering of the winch, extending the lifespan of the power battery.

[0122] This application provides a soil-throwing control system for the power head of a rotary drilling rig, applied to the 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 both the power head motor and the energy storage component. The energy storage component includes a power battery and a supercapacitor connected in parallel. The soil-throwing control system for the power head of the rotary drilling rig includes:

[0123] The signal receiving module is used to receive the soil-throwing signal input by the operating handle;

[0124] The instruction generation module is used to generate a corresponding torque instruction based on the soil-throwing signal; wherein, the torque instruction includes a positive torque instruction and a negative torque instruction; the positive torque instruction is used to control the power head motor to rotate in the positive direction with a target torque value, and the negative torque instruction is used to control the power head motor to rotate in the reverse direction with a target torque value;

[0125] The soil-throwing module is used to cyclically send the positive torque command and the negative torque command to the first motor controller, so that the first motor controller can use the energy storage component to drive the power head motor to perform 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. This energy storage component includes a power battery and a supercapacitor connected in parallel. Upon receiving a soil-throwing signal, corresponding positive and negative torque commands are generated based on the signal. In this embodiment, the power head motor is switched between forward and reverse rotation at the target torque by cyclically sending positive and negative torque commands to the first motor controller, thereby performing the soil-throwing operation. The above process utilizes the power battery and supercapacitor in the energy storage component to drive the power head motor to perform the soil-throwing operation. The supercapacitor can provide high-power instantaneous energy support during rapid switching between forward and reverse rotation. Therefore, this embodiment can meet the charging and discharging requirements of the rotary drilling rig for soil-throwing operations without expanding the capacity of the power battery.

[0127] The process by which the soil-throwing module cyclically sends the positive torque command and the negative torque command to the first motor controller includes:

[0128] Step 1: Send the positive torque command to the first motor controller to enable the first motor controller to perform a forward drive operation; wherein, the implementation process of the forward drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate forward at the target torque value;

[0129] Step 2: Send the negative torque command to the first motor controller so that the first motor controller sequentially executes braking control operation and reverse drive operation; wherein, 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 reverse drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate in the opposite direction at a target torque value;

[0130] Step 3: Send the positive torque command to the first motor controller so that the first motor controller sequentially executes the braking control operation and the forward drive operation, and then proceeds to step 2.

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

[0132] Furthermore, it also includes:

[0133] The jump control module is configured to, after sending 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 sending the negative torque command to the first motor controller. The jump control module is also configured to, after sending 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 sending the positive torque command to the first motor controller.

[0134] Furthermore, it also includes:

[0135] The soil-throwing module is further configured to, upon receiving a soil-throwing stop signal, determine whether the rotational speed of the power head motor is equal to 0; if so, stop the operation of cyclically sending the positive torque command and the negative torque command to the first motor controller; if not, control the first motor controller to perform the braking control operation until the rotational speed of the power head motor is equal to 0.

[0136] Furthermore, the rotary drilling rig also includes a winch motor and a second motor controller, the second motor controller being connected to the winch motor and the energy storage component respectively;

[0137] Correspondingly, it also includes:

[0138] The energy recovery module is configured to: determine whether the winch motor is in energy recovery mode if the rotary drilling rig is in winch operation; if so, detect the lowering speed of the winch motor; store the recovered energy in the supercapacitor and the power battery using a second motor controller if the lowering speed is greater than or equal to a critical speed; store the recovered energy 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 energy value of the supercapacitor is less than a preset energy value; and disconnect the connection between the supercapacitor and the second motor controller if the lowering speed is less than the critical speed and the current energy value of the supercapacitor is greater than or equal to the preset energy value, so that the second motor controller stores the recovered energy in the power battery.

[0139] Furthermore, 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.

[0140] Correspondingly, it also includes:

[0141] The charging module is used to determine whether the current energy value of the supercapacitor is less than the preset 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, the control module is used to control the supercapacitor to connect with the power battery so that the power battery can transmit energy to the supercapacitor; if not, the supercapacitor is controlled to disconnect 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 they will not be repeated here.

[0143] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0144] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0145] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0146] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for controlling soil ejection from the power head of a rotary drilling rig, characterized in that, The rotary drilling rig includes a vehicle controller, an operating handle, a power head motor, a first motor controller, and an energy storage component. The first motor controller is connected to both the power head motor and the energy storage component. The energy storage component includes a power battery and a supercapacitor connected in parallel. The method for controlling the soil ejection from the power head of the rotary drilling rig includes: Receive the soil-throwing signal input by the operating handle; A corresponding torque command is generated based on 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 to control the power head motor to rotate in the positive direction with a target torque value, and the negative torque command is a command to control the power head motor to rotate in the opposite direction with a target torque value; The positive torque command and the negative torque command are cyclically sent 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. Specifically, the process of cyclically issuing the positive torque command and the negative torque command to the first motor controller includes: Step 1: Send the positive torque command to the first motor controller to enable the first motor controller to perform a forward drive operation; wherein, the implementation process of the forward drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate forward at the target torque value; Step 2: Send the negative torque command to the first motor controller so that the first motor controller sequentially executes braking control operation and reverse drive operation; wherein, 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 reverse drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate in the opposite direction at a target torque value; Step 3: Send the positive torque command to the first motor controller so that the first motor controller executes the braking control operation and the forward drive operation in sequence, and then proceeds to step 2; The energy storage component includes storing the recovered braking energy. Determine whether the current energy value of the supercapacitor is less than a preset energy value; If so, the recovered braking energy will be stored in the supercapacitor; If not, the recovered braking energy will be stored in the supercapacitor and the power battery; The rotary drilling rig also includes a winch motor and a second motor controller, the second motor controller being connected to the winch motor and the energy storage component respectively; Correspondingly, it also includes: If the rotary drilling rig is in winch mode, then determine whether the winch motor is in the energy recovery state. If so, then the lowering speed of the hoist motor is detected; 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 energy value of the supercapacitor is less than the preset energy value, then 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 energy value of the supercapacitor is greater than or equal to the preset energy value, then the connection between the supercapacitor and the second motor controller is disconnected, so that the second motor controller stores the recovered lowering energy into the power battery.

2. The method for controlling soil ejection from the power head of a rotary drilling rig according to claim 1, characterized in that, After issuing the positive torque command to the first motor controller, the method further includes: Determine whether the rotational speed of the power head motor is greater than the first rotational speed; If so, proceed to the step of issuing the negative torque command to the first motor controller; Accordingly, after issuing the negative torque command to the first motor controller, the method further includes: Determine whether the rotational speed of the power head motor is greater than the second rotational speed; If so, proceed to the step of issuing the positive torque command to the first motor controller.

3. The method for controlling soil ejection from the power head of a rotary drilling rig according to claim 1, characterized in that, Also includes: If a soil-throwing stop signal is received, determine whether the rotational speed of the power head motor is equal to 0. If so, then stop the operation of 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 speed of the power head motor is equal to 0.

4. The method for controlling soil ejection from the power head of a rotary drilling rig according to any one of claims 1 to 3, characterized in that, 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. Correspondingly, it also includes: If the current demand value of the rotary drilling rig under the current working condition is less than the target current value, then it is determined whether the current energy value of the supercapacitor is less than the preset energy value. If so, the control module is used to control the connection between the supercapacitor and the power battery, so that the power battery can transfer electrical energy to the supercapacitor. If not, then the supercapacitor is disconnected from the power battery.

5. A soil-throwing control system for the power head of a rotary drilling rig, characterized in that, The rotary drilling rig includes a vehicle controller and an operating handle, a power head motor, a first motor controller, and an energy storage component. The first motor controller is connected to both the power head motor and the energy storage component. 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: The signal receiving module is used to receive the soil-throwing signal input by the operating handle; The instruction generation module is used to generate a corresponding torque instruction based on the soil-throwing signal; wherein, the torque instruction includes a positive torque instruction and a negative torque instruction; the positive torque instruction is used to control the power head motor to rotate in the positive direction with a target torque value, and the negative torque instruction is used to control the power head motor to rotate in the reverse direction with a target torque value; The soil-throwing module is used to cyclically send the positive torque command and the negative torque command 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. The process by which the soil-throwing module cyclically sends the positive torque command and the negative torque command to the first motor controller includes: Step 1: Send the positive torque command to the first motor controller to enable the first motor controller to perform a forward drive operation; wherein, the implementation process of the forward drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate forward at the target torque value; Step 2: Send the negative torque command to the first motor controller so that the first motor controller sequentially executes braking control operation and reverse drive operation; wherein, 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 reverse drive operation includes: using the electrical energy provided by the energy storage component to drive the power head motor to rotate in the opposite direction at a target torque value; Step 3: Send the positive torque command to the first motor controller so that the first motor controller executes the braking control operation and the forward drive operation in sequence, and then proceeds to step 2; The process by which the first motor controller stores the recovered braking energy into the energy storage component includes: determining whether the current energy value of the supercapacitor is less than a preset energy value; if so, storing the recovered braking energy into the supercapacitor; if not, storing the recovered braking energy into both the supercapacitor and the power battery. The rotary drilling rig also includes a winch motor and a second motor controller, the second motor controller being connected to the winch motor and the energy storage component respectively; Correspondingly, it also includes: The energy recovery module is configured to: determine whether the winch motor is in energy recovery mode if the rotary drilling rig is in winch operation; if so, detect the lowering speed of the winch motor; store the recovered energy in the supercapacitor and the power battery using a second motor controller if the lowering speed is greater than or equal to a critical speed; store the recovered energy 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 energy value of the supercapacitor is less than a preset energy value; and disconnect the connection between the supercapacitor and the second motor controller if the lowering speed is less than the critical speed and the current energy value of the supercapacitor is greater than or equal to the preset energy value, so that the second motor controller stores the recovered energy in the power battery.

6. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the power head soil-throwing control method of the rotary drilling rig as described in any one of claims 1 to 4.

7. 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 power head soil-throwing control method for rotary drilling rigs as described in any one of claims 1 to 4.

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