A rotary control method, system, device and medium of a rotary drilling rig

Abstract

The application discloses a rotary control method, system, device and medium of a rotary drilling machine, and belongs to the technical field of engineering machinery control. The rotary drilling machine comprises a rotary platform, a motor, a rotary brake device and an operating handle. The rotary control method of the rotary drilling machine comprises the following steps: if a rotary instruction issued by the operating handle is received, the motor is controlled to drive the rotary platform to rotate; it is judged whether the rotary drilling machine enters a braking stage; if yes, the motor and / or the rotary brake device are controlled to perform multiple braking operations, so that the platform rotary angle is less than or equal to a first angle threshold. The application can automatically control the rotary platform to rotate, and improve the operation accuracy and reliability of the rotary drilling machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery control, in particular to a rotary control method, system, device and medium of a rotary drilling rig. BACKGROUND

[0002] The rotary power system commonly used by the rotary drilling rig is an engine directly driving a hydraulic pump, so as to realize the rotary motion of the upper platform through a hydraulic motor and a hydraulic proportional valve. At present, in the process of rotary control of the rotary drilling rig, the operator usually needs to manually control the operation handle to control the rotary platform to rotate. This process has poor micro-motion, large operation error, low operation efficiency, and high requirement for the operation level of the operator, resulting in poor operation quality of the rotary drilling rig.

[0003] Therefore, how to automatically control the rotary platform to rotate and improve the operation accuracy and reliability of the rotary drilling rig is a technical problem to be solved by those skilled in the art at present. SUMMARY

[0004] The purpose of the present application is to provide a rotary control method, system, device and medium of a rotary drilling rig, which can automatically control the rotary platform to rotate and improve the operation accuracy and reliability of the rotary drilling rig.

[0005] To solve the above technical problems, the present application provides a rotary control method of a rotary drilling rig, the rotary drilling rig comprising a rotary platform, a motor, a rotary brake device and an operation handle, the rotary control method of the rotary drilling rig comprising:

[0006] If the rotary instruction issued by the operation handle is received, the motor is controlled to drive the rotary platform to rotate;

[0007] It is judged whether the rotary drilling rig enters a braking stage;

[0008] If yes, the motor and / or the rotary brake device is controlled to perform a plurality of braking operations, so that the platform rotary angle is less than or equal to a first angle threshold; wherein the execution frequency of the braking operation is positively correlated with the size of the platform rotary angle, the platform rotary angle is determined according to the current platform angle of the rotary platform and the drilling angle, the current platform angle is used to describe the current rotary position of the rotary platform, and the drilling angle is used to describe the position of the target drilling hole.

[0009] Optionally, the rotary drilling rig further comprises a battery connected with the motor;

[0010] Correspondingly, before the motor and / or the rotary brake device is controlled to perform a plurality of braking operations, it further comprises:

[0011] The current platform angle of the rotary platform is subtracted from the drilling angle to obtain the platform rotary angle.

[0012] detecting a current remaining power and a current battery state of the battery;

[0013] determining a current rotary working condition of the rotary drilling rig according to the platform rotation angle, the current remaining power and the current battery state; wherein the current rotary working condition comprises a first working condition and a second working condition; in the first working condition, the platform rotation angle is greater than the first angle threshold and less than the second angle threshold, the current remaining power is greater than the power threshold, and the current battery state is the uncharged state; in the second working condition, the platform rotation angle is greater than or equal to the second angle threshold, the current remaining power is less than or equal to the power threshold, and the current battery state is the charged state;

[0014] setting a working mode of the motor according to the current rotary working condition.

[0015] Optionally, setting the working mode of the motor according to the current rotary working condition comprises:

[0016] if the current rotary working condition of the rotary drilling rig is the first working condition, setting the working mode of the motor to a brake mode when the motor performs a braking operation, so as to consume energy generated in the braking process by the electric resistance of the motor;

[0017] if the current rotary working condition of the rotary drilling rig is the second working condition, setting the working mode of the motor to a generator mode when the motor performs a braking operation, so as to transmit energy generated in the braking process to the battery.

[0018] Optionally, controlling the motor and / or the rotary braking device to perform a plurality of braking operations comprises:

[0019] if the current rotary working condition of the rotary drilling rig is the first working condition, determining whether the maximum braking torque of the motor is greater than the platform rotation torque; if yes, controlling the motor to perform a plurality of braking operations; if no, controlling the motor and the rotary braking device to synchronously perform a plurality of braking operations;

[0020] if the current rotary working condition of the rotary drilling rig is the second working condition, determining whether the torque corresponding to the maximum energy recovery power of the motor is greater than the platform rotation torque; if yes, controlling the motor to perform a plurality of braking operations; if no, controlling the motor and the rotary braking device to synchronously perform a plurality of braking operations; wherein the maximum energy recovery power of the motor is the minimum value between the maximum power generation power of the motor and the maximum allowable recharging power of the battery.

[0021] Optionally, controlling the motor to drive the rotary platform to rotate comprises:

[0022] inputting the slewing instruction into a speed loop, so that the speed loop outputs a speed control instruction;

[0023] inputting the speed control instruction into a current loop, so that the current loop outputs a target torque;

[0024] controlling the motor to drive the slewing platform to rotate according to a target speed corresponding to the speed control instruction and the target torque.

[0025] Optionally, the process that the current loop outputs the target torque comprises:

[0026] calculating the target torque according to the platform slewing angle, the target speed corresponding to the speed control instruction, and the mass of the slewing platform.

[0027] Optionally, determining whether the rotary drilling rig enters a braking phase comprises:

[0028] setting a platform slewing angle when the slewing instruction is received as a target angle;

[0029] multiplying the target angle by a preset coefficient to obtain a braking angle; wherein the preset coefficient is less than 1 and greater than 0;

[0030] determining whether a platform slewing angle of the rotary drilling rig at a current time is less than the braking angle;

[0031] if yes, determining that the rotary drilling rig enters the braking phase;

[0032] if no, determining that the rotary drilling rig does not enter the braking phase.

[0033] The application further provides a slewing control system of a rotary drilling rig, the rotary drilling rig comprising a slewing platform, a motor, a slewing brake device, and an operating handle, the slewing control system of the rotary drilling rig comprising:

[0034] a driving module configured to control the motor to drive the slewing platform to rotate if a slewing instruction issued by the operating handle is received;

[0035] a determining module configured to determine whether the rotary drilling rig enters a braking phase;

[0036] a braking module configured to control the motor and / or the slewing brake device to perform a plurality of braking operations if the rotary drilling rig enters the braking phase, so that a platform slewing angle is less than or equal to a first angle threshold; wherein the execution frequency of the braking operation is positively correlated with the size of the platform slewing angle, the platform slewing angle is determined according to a current platform angle of the slewing platform and a drilling angle, the current platform angle is used to describe a current slewing position of the slewing platform, and the drilling angle is used to describe a position of a target drilling hole.

[0037] The application further provides a storage medium, which stores a computer program, and the computer program realizes the steps of the rotary control method of the rotary drilling rig when executed.

[0038] The application further provides an electronic device, which comprises a memory and a processor, and the memory stores a computer program, and the processor realizes the steps of the rotary control method of the rotary drilling rig when the computer program in the memory is invoked.

[0039] The application provides a rotary control method of a rotary drilling rig. The method controls the motor to drive the rotary platform to rotate after receiving the rotary instruction issued by the operating handle. After the rotary drilling rig enters the braking stage, the motor and / or the rotary braking device perform multiple braking operations so that the rotary drilling rig completes the rotary operation. In the braking stage, the execution frequency of the braking operation is positively correlated with the size of the rotary angle of the platform, so as to reduce the vibration and impact of the rotary platform when approaching the target drilling hole, and ensure that the rotary platform can rotate smoothly and accurately. Therefore, the application can automatically control the rotary platform to rotate, and improve the operation accuracy and reliability of the rotary drilling rig. The application further provides a rotary control system of a rotary drilling rig, a storage medium and an electronic device, which have the above beneficial effects, and details are not described herein. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the application, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0041] Figure 1 A flowchart of the rotary control method of the rotary drilling rig provided by the embodiments of the application;

[0042] Figure 2 A working flowchart of the rotary drilling rig provided by the embodiments of the application;

[0043] Figure 3 A control flowchart of the all-electric rotary drilling rig provided by the embodiments of the application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0045] Please see the following Figure 1 , Figure 1 A flowchart of a rotary control method of a rotary drilling rig provided by the embodiments of the present application.

[0046] The specific steps can include:

[0047] S101: If a rotary instruction issued by the operating handle is received, the motor is controlled to drive the rotary platform to rotate.

[0048] The embodiments can be applied to a controller of a rotary drilling rig, which can further include a rotary platform (i.e., a rig platform), a motor, a rotary braking device and an operating handle.

[0049] The operating handle is a control component of the rotary drilling rig, which is usually operated by an operator to issue various control instructions, such as a rotary instruction. The rotary instruction is an instruction for controlling the rotary platform to rotate clockwise or counterclockwise.

[0050] The motor in the embodiments is a power source for driving the rotary platform to rotate, which can be controlled to output a torque to drive the rotary platform to rotate after receiving the rotary instruction. The rotary braking device is a device for applying a braking torque to the rotary platform by mechanical braking.

[0051] The embodiments can further set a reference direction in a world coordinate system in advance, set an included angle between an orientation of the rotary platform and the reference direction as a current platform angle, and set an included angle between a direction of a line connecting a center of the rotary platform and a target drilling hole and the reference direction as a drilling angle. The orientation of the rotary platform can be a direction of a drilling device of the rotary drilling rig relative to the center of the rotary platform. The embodiments can establish a polar coordinate system with the center of the rotary platform, the reference direction is a polar axis direction of the polar coordinate system, and the current platform angle and the drilling angle have a value range of 0 to 360 degrees. A polar angle of any point on a straight line where the orientation of the rotary platform is located is taken as the current platform angle, and a polar angle of a position where the target drilling hole is located is taken as the drilling angle. The drilling device rotates synchronously with the rotary platform.

[0052] S102: Determine whether the rotary drilling rig enters a braking phase.

[0053] Wherein, in the process of rotating the rotating platform, there can be an acceleration stage, a uniform speed stage and a braking stage; at the end of the braking stage, the rotating platform stops rotating.

[0054] If the rotary drilling rig enters the braking stage, proceed to S103; if the rotary drilling rig does not enter the braking stage, continue to control the motor to drive the rotating platform to rotate.

[0055] The embodiment can determine the platform rotation angle according to the current platform angle and the drilling angle of the rotating platform, for example, subtract the value of the drilling angle from the current platform angle to obtain the platform rotation angle. The platform rotation angle is used to describe the angle by which the rotating platform needs to rotate in order to rotate the drilling device of the rotary drilling rig to above the target drilling hole.

[0056] In the process of rotating the rotating platform, the current platform angle changes in real time and the drilling angle does not change, so the platform rotation angle changes in real time. The embodiment can determine whether the rotary drilling rig enters the braking stage based on the platform rotation angle.

[0057] Specifically, the embodiment can set the platform rotation angle at the time of receiving the rotating instruction as a target angle; multiply the target angle by a preset coefficient to obtain a braking angle; wherein the preset coefficient is less than 1 and greater than 0; determine whether the platform rotation angle of the rotary drilling rig at the current time is less than the braking angle; if yes, determine that the rotary drilling rig enters the braking stage; if no, determine that the rotary drilling rig does not enter the braking stage. For example, the platform rotation angle at the time of receiving the rotating instruction is 70 degrees, i.e. the rotating platform needs to rotate clockwise by 70 degrees to rotate the drilling device to above the target drilling hole. When the preset coefficient is 0.3, the rotary drilling rig is determined to enter the braking stage when the platform rotation angle is less than 21 degrees.

[0058] In addition, the embodiment can also use a fixed angle as the angle for determining whether the rotary drilling rig enters the braking stage. When the platform rotation angle is less than the fixed angle, it is determined that the rotary drilling rig enters the braking stage; when the platform rotation angle is greater than or equal to the fixed angle, it is determined that the rotary drilling rig does not enter the braking stage.

[0059] S103: Control the motor and / or the rotating brake device to perform a plurality of braking operations, so that the platform rotation angle is less than or equal to a first angle threshold.

[0060] Wherein, this step is based on the rotary drilling rig entering the braking stage. At this time, the motor and / or the rotating brake device can be controlled to perform a plurality of braking operations, so that the platform rotation angle is less than or equal to a first angle threshold.

[0061] In the process of performing the step, the frequency of the brake operation is positively correlated with the size of the platform rotation angle. The platform rotation angle is determined according to the current platform angle of the slewing platform and the drilling angle, wherein the current platform angle is used to describe the current slewing position of the slewing platform, and the drilling angle is used to describe the position of the target drilling hole.

[0062] In the embodiment, after receiving the slewing instruction issued by the operation handle, the motor is controlled to drive the slewing platform to rotate. After the rotary drilling rig enters the braking phase, the motor and / or the slewing brake device are controlled to perform multiple brake operations, so that the rotary drilling rig completes the slewing operation. In the braking phase, the frequency of the brake operation is positively correlated with the size of the platform rotation angle, so as to reduce the vibration and impact of the slewing platform when approaching the target drilling hole, and ensure that the slewing platform can rotate smoothly and accurately. Therefore, the embodiment can automatically control the slewing platform to rotate, and improve the operation accuracy and reliability of the rotary drilling rig.

[0063] As for the Figure 1 For further introduction of the corresponding embodiment, the rotary drilling rig can further include a battery connected with the motor. Correspondingly, before controlling the motor and / or the slewing brake device to perform multiple brake operations, the working mode of the motor can be set in the following manner: the platform rotation angle is obtained by subtracting the drilling angle from the current platform angle of the slewing platform; the current remaining power and the current battery state of the battery are detected; the current slewing working condition of the rotary drilling rig is determined according to the platform rotation angle, the current remaining power and the current battery state; and the working mode of the motor is set according to the current slewing working condition.

[0064] The current slewing working condition includes a first working condition and a second working condition. In the first working condition, the platform rotation angle is greater than the first angle threshold and less than the second angle threshold, the current remaining power is greater than the power threshold, and the current battery state is the uncharged state. In the second working condition, the platform rotation angle is greater than or equal to the second angle threshold, the current remaining power is less than or equal to the power threshold, and the current battery state is the charged state. The first working condition is the working condition corresponding to the normal slewing mode, and the second working condition is the working condition corresponding to the energy recovery mode.

[0065] If the platform rotation angle is greater than the first angle threshold and less than the second angle threshold, the current remaining power is greater than the power threshold, and the current battery state is the uncharged state, it is determined that the current slewing working condition of the rotary drilling rig is the first working condition.

[0066] If the platform rotation angle is greater than or equal to the second angle threshold, the current remaining power is less than or equal to the power threshold, and the current battery state is the charged state, it is determined that the current slewing working condition of the rotary drilling rig is the second working condition.

[0067] If the current rotary working condition of the rotary drilling rig is the first working condition, the process of setting the working mode of the motor includes: setting the working mode of the motor to a brake mode when the motor performs a braking operation, so as to consume the energy generated in the braking process by the electric resistance of the motor. In the brake mode, the motor does not recover energy, and the braking energy can be consumed in the form of heat. The brake mode is a generator mode that outputs a braking torque.

[0068] If the current rotary working condition of the rotary drilling rig is the second working condition, the process of setting the working mode of the motor includes: setting the working mode of the motor to a generator mode when the motor performs a braking operation, so as to transmit the energy generated in the braking process to the battery.

[0069] If the current rotary working condition of the rotary drilling rig is the first working condition, the multiple braking operations can be performed by: judging whether the maximum braking torque of the motor is greater than the platform rotary torque; if yes, controlling the motor to perform the multiple braking operations; and if no, controlling the motor and the rotary brake device to synchronously perform the multiple braking operations.

[0070] If the current rotary working condition of the rotary drilling rig is the second working condition, the multiple braking operations can be performed by: judging whether the torque corresponding to the maximum energy recovery power of the motor is greater than the platform rotary torque; if yes, controlling the motor to perform the multiple braking operations; and if no, controlling the motor and the rotary brake device to synchronously perform the multiple braking operations; wherein the maximum energy recovery power of the motor is the minimum value between the maximum power generation power of the motor and the maximum allowed recharging power of the battery.

[0071] As to the Figure 1 For further introduction of the corresponding embodiment, the motor can be controlled to drive the rotary platform to rotate in a double closed-loop control manner, and the specific process includes: inputting the rotary instruction into a speed loop, so as to output a speed control instruction by the speed loop; inputting the speed control instruction into a current loop, so as to output a target torque by the current loop; and controlling the motor to drive the rotary platform to rotate according to a target speed corresponding to the speed control instruction and the target torque.

[0072] The process of outputting the target torque by the current loop includes: calculating the target torque according to the platform rotary angle, the target speed corresponding to the speed control instruction, and the mass of the rotary platform.

[0073] In the rotation control process, the traditional control method usually adopts fixed rotation speed and brake parameters, which is difficult to dynamically adjust according to different working conditions, resulting in the inability to maintain the best performance in complex environments. To solve this problem, the embodiment has the following improvements: real-time monitoring of the load change of the rotary platform and environmental factors (such as wind and ground inclination), automatic adjustment of the rotation speed and braking strategy based on the load change and environmental factors to ensure the best performance in different working conditions.

[0074] The above-described processes described in the embodiments are illustrated below through examples in practical applications.

[0075] The rotary control drilling machine currently commonly used rotation power system is an engine directly driving a hydraulic pump, and then a hydraulic motor and a hydraulic proportional valve are used to realize the rotation of the rotary platform. The braking potential energy generated when the hydraulic motor drives the rotary platform to rotate is converted into heat energy of the hydraulic system, and the rotary drilling machine works for a long time, and the rotation action occupies a large proportion, which cannot be recycled and causes energy waste. The control of the rotary platform of the rotary drilling machine is generally manually controlled by the operator to control the operation handle of the rotary motor to control the rotation of the upper platform. The rotary motor is controlled by a hydraulic valve, which has poor micro-motion and large operation error, low operation efficiency, and high requirements for the operation level of the operator. During the rotation of the rotary drilling machine, various factors (such as poor micro-motion of the electric proportional valve control, uneven ground, improper operation, etc.) can cause the rotation accuracy to decrease. The above-mentioned situations can affect the accuracy and position accuracy of the drilling, and in severe cases, the drilling can deviate from the designed position, affecting the engineering quality.

[0076] The rotary control drilling machine currently has the following technical problems:

[0077] (1) The existing rotation power system of the rotary drilling machine has low energy utilization rate. The braking potential energy of the upper platform during rotation causes the hydraulic system to heat up and cannot be recycled, and additional energy is required to cool the hydraulic system, resulting in energy waste.

[0078] (2) The rotary drilling machine has poor micro-motion, large vibration, and low efficiency during the operation of the upper rotation, and has high requirements for the operation level of the operator.

[0079] (3) The rotary drilling machine can cause the rotation accuracy to decrease during the rotation process due to various factors (such as poor micro-motion of the electric proportional valve control, uneven ground, improper operation, etc.). The accuracy and position accuracy of the drilling are affected, and in severe cases, the drilling can deviate from the designed position, affecting the engineering quality.

[0080] To solve the technical problems in the above related technologies, the embodiment provides a full-electric rotary drilling rig rotary potential energy recovery scheme, which determines whether the rotary process of the upper rotary platform adopts an energy recovery mode or a normal rotary mode according to the rotary angle, speed and load of the rotary platform, and controls the accuracy, safety and reliability of the rotation in real time, so that energy recovery is achieved and accurate and reliable control is achieved.

[0081] Please refer to Figure 2 , Figure 2 A working flowchart of a rotary drilling rig is provided in the embodiment, and the rotary drilling rig can include an operation handle, a controller, a battery charger, a battery system, a motor driver, a synchronous motor and a rotary platform.

[0082] The operation handle sends a control signal to the controller as an instruction input device; the controller serves as a system brain; the battery charger is used for bidirectional energy management; the battery system serves as an energy storage unit; the motor driver is used for power conversion; the synchronous motor can be switched between a motor mode and a generator mode; and the rotary platform serves as an execution structure, a kinetic energy storage end and a release section, and can feed back real-time states such as angles and speeds to the controller.

[0083] In the driving mode of the rotary drilling rig, the signal transmission path is in turn: the operation handle, the controller, the battery charger, the battery, the motor driver, the synchronous motor and the rotary platform. In the driving mode, the energy flow path is: the battery, the motor driver and the synchronous motor (in the motor mode).

[0084] In the recovery mode of the rotary drilling rig, the signal transmission path is in turn: the rotary platform, the synchronous motor, the motor driver and the battery. In the recovery mode, the energy flow path is: the synchronous motor (in the generator mode), the motor driver and the battery.

[0085] The rotary drilling rig has a state feedback function, that is, the real-time state of the rotary platform is fed back to the controller through an angle sensor and a rotational speed sensor.

[0086] The controller adopts double closed-loop control, and the outer loop is a speed loop and the inner loop is a current loop. The speed loop can receive a handle instruction, and the current loop can calculate a required torque according to the handle speed instruction and achieve accurate torque control.

[0087] The working mode of the synchronous motor includes a motor mode and a generator mode; in the motor mode, accurate rotational speed and torque can be output according to the calculated required speed and torque; and in the generator mode, platform rotary mechanical energy can be converted into electrical energy.

[0088] The energy management strategy of the rotary drilling rig includes: a dynamic SOC (State Of Charge, remaining capacity) balance control strategy, a charging strategy based on different working conditions and an overvoltage / undervoltage protection mechanism.

[0089] The control method of the rotary drilling rig in the normal rotation mode is as follows: whether to enter the normal rotation mode is judged according to preset conditions; when the platform rotation angle is greater than 0.02 degrees and less than 30 degrees (the platform rotation angle = the real-time angle of the platform - the drilling angle), the battery SOC is greater than 50%, and the battery charging state is in the uncharged state, if the operation rotation handle moves left or right, the normal rotation mode is entered; the controller calculates the required torque for rotation according to the platform rotation angle, the speed and the mass of the platform; the rotation motor matches the output of the accurate speed and torque according to the platform rotation angle and the required torque to control the uniform rotation of the platform; in the rotation process, the motor needs to brake multiple times according to the amplitude of the real-time platform rotation angle close to the drilling angle to reduce the vibration and impact during braking, until the platform rotation angle is less than 0.02 degrees, the rotation action is stopped.

[0090] The control method of the rotary drilling rig in the energy recovery mode is as follows: when the platform rotation angle is greater than 30 degrees (the platform rotation angle = the real-time angle of the platform - the drilling angle), the battery SOC is less than 50%, and the battery charging state is in the charged state, the system enters the energy recovery mode; the controller calculates the required torque for rotation according to the platform rotation angle, the speed and the mass of the platform; at this time, if the maximum torque of energy recovery meets the torque demand of platform rotation, the torque provided by the rotation brake device is no longer provided; if the maximum torque of energy recovery does not meet the torque demand of platform rotation, the difference between the required torque for platform rotation and the torque of energy recovery is taken as the torque required to be provided by the rotation brake device; the rotation motor matches the output of the accurate speed and torque according to the platform rotation angle and the required torque to control the uniform rotation of the platform; in the rotation process, the rotation motor needs to brake multiple times according to the amplitude of the real-time platform rotation angle close to the drilling angle to reduce the vibration and impact during braking, until the platform rotation angle is less than 0.02 degrees, the rotation action is stopped.

[0091] It can be seen that the embodiment provides the rotary drilling rig rotation potential energy recovery system and the control method, the technology can recover the rotation brake potential energy of the upper platform of the rotary drilling rig, and solves the problems of poor rotation operation micro-motion, large vibration, low efficiency, and low rotation positioning accuracy.

[0092] Please refer to Figure 3 , Figure 3 The control flowchart of the full-electric rotary drilling rig provided in the embodiment of the application, the implementation process includes:

[0093] After the start of the slewing, the slewing state is judged based on the slewing angle, the battery SOC and the battery charger state. If it is a normal slewing mode, the required torque is determined, the slewing motor is controlled to output positive torque, and the slewing motor is controlled to output negative torque after the slewing brake. If it is an energy recovery mode, the energy recovery power is determined according to the motor power generation, the charging power is determined according to the energy recovery power and the maximum allowed charging power, the battery state and the SOC value are detected after the battery is charged, and it is judged whether the battery is fault-free and the SOC > 50%. If yes, the control flow of the normal slewing mode is entered, and if no, the operation of the battery charging is continuously executed. The embodiment can determine the torque that can be reached according to the slewing angle, the slewing platform mass and the slewing speed, and further calculate the motor power generation.

[0094] The above process provides a platform slewing potential energy recovery scheme based on a rotary drilling rig. The scheme automatically adjusts the recovery control mode through an intelligent energy recovery mechanism, realizes the recovery of the slewing potential energy, and the energy recovered in the energy recovery mode can be used for the motor control in the normal slewing mode. The above process provides an accurate control mode for the platform slewing motor of the rotary drilling rig. The controller realizes accurate, stable and reliable platform slewing action control through the control mode of double closed loop and multi-stage reduction.

[0095] The specific steps of the above energy recovery control method include:

[0096] Step 1: judging whether to enter the energy recovery mode according to the preset condition. If yes, step 2 is executed, and if no, the normal slewing mode is entered.

[0097] Step 2: calculating the maximum torque of energy recovery.

[0098] Step 3: when the slewing platform enters the normal slewing mode, the controller calculates the required torque of the slewing according to the platform slewing angle, speed and platform mass, which is used as the basis for the torque provided by the slewing brake device.

[0099] Step 4: when the slewing platform enters the energy recovery mode, if the maximum torque of energy recovery meets the torque demand of the platform slewing, the recovery torque is directly used for the platform slewing action, and if the maximum torque of energy recovery does not meet the torque demand of the platform slewing, the difference between the required torque of the platform slewing and the energy recovery torque is used as the torque required to be provided by the slewing brake device.

[0100] Step 5: in the energy recovery mode, if the battery is fault-free and the SOC value > 50% preset value, the normal slewing mode is converted.

[0101] The formula for calculating the energy recovery torque in step 2 is: ; T represents the required torque, P represents the rated power, and n represents the rated speed.

[0102] The process of the rotary drilling rig energy recovery mode battery charging control is as follows: the rotary torque required by the rotary platform is calculated according to the rotary angle and speed of the rotary platform and the mass of the platform, the power generated by the motor is calculated, then the maximum power allowed for charging is calculated according to the current SOC value of the battery, and the power generated by the motor is compared with the maximum power allowed for charging of the battery, when the power generated by the motor is less than or equal to the maximum power allowed for charging of the battery, that is, the current power generated by the motor is the energy recovery power, the obtained recovery power is used to charge the battery.

[0103] The embodiment can recover the potential energy generated in the rotary process of the rotary platform in the energy recovery mode, store it in the battery for reuse, reduce energy waste, and realize long endurance and green environmental protection construction of the rotary drilling rig. Through precise torque synchronous control, the embodiment avoids the operation error caused by poor micro-motion of the proportional valve control, improves the accuracy, stability and efficiency of the rotary operation. In the embodiment, the rotary speed can be controlled gently and uniformly according to different rotary angle values through multiple deceleration strategies, vibration is reduced, and the safety and reliability of the system are improved. Through accurate calculation of the rotary torque, the rotary torque can be limited and protected in the embodiment, key components such as the motor and the driver are protected, the service life of the equipment is prolonged, and the failure rate is reduced.

[0104] The embodiment of the application provides a rotary control system of a rotary drilling rig, the rotary drilling rig comprising a rotary platform, a motor, a rotary brake device and an operation handle, and the rotary control system of the rotary drilling rig comprising:

[0105] A driving module is configured to control the motor to drive the rotary platform to rotate if the rotary instruction issued by the operation handle is received.

[0106] A judging module is configured to judge whether the rotary drilling rig enters a braking stage.

[0107] A braking module is configured to control the motor and / or the rotary brake device to perform multiple braking operations if the rotary drilling rig enters the braking stage, so that the platform rotary angle is less than or equal to a first angle threshold; wherein the execution frequency of the braking operation is positively correlated with the size of the platform rotary angle, the platform rotary angle is determined according to a current platform angle of the rotary platform and a drilling angle, the current platform angle is used to describe the current rotary position of the rotary platform, and the drilling angle is used to describe the position of a target drilling hole.

[0108] The embodiment controls the motor to drive the rotary platform to rotate after receiving the rotary instruction issued by the operation handle, controls the motor and / or the rotary brake device to perform multiple braking operations after the rotary excavator enters the braking stage, so that the rotary excavator completes the rotary operation. In the braking stage, the execution frequency of the braking operation is positively correlated with the size of the platform rotary angle, so as to reduce the vibration and impact of the rotary platform when approaching the target borehole, and ensure that the rotary platform can rotate smoothly and accurately. Therefore, the embodiment can automatically control the rotary platform to rotate, improve the operation accuracy and reliability of the rotary excavator.

[0109] Further, the rotary excavator further comprises a battery connected with the motor;

[0110] Correspondingly, it further comprises:

[0111] The motor control module is configured to subtract the borehole angle from the current platform angle of the rotary platform to obtain the platform rotary angle before controlling the motor and / or the rotary brake device to perform multiple braking operations, and is further configured to detect the current remaining power and the current battery state of the battery, and is further configured to determine the current rotary working condition of the rotary excavator according to the platform rotary angle, the current remaining power and the current battery state, wherein the current rotary working condition comprises a first working condition and a second working condition; in the first working condition, the platform rotary angle is greater than the first angle threshold and less than the second angle threshold, the current remaining power is greater than the power threshold, and the current battery state is the uncharged state; in the second working condition, the platform rotary angle is greater than or equal to the second angle threshold, the current remaining power is less than or equal to the power threshold, and the current battery state is the charged state; and is further configured to set the working mode of the motor according to the current rotary working condition.

[0112] Further, the process of setting the working mode of the motor according to the current rotary working condition by the motor control module comprises: if the current rotary working condition of the rotary excavator is the first working condition, setting the working mode of the motor to the braking mode to consume the energy generated in the braking process by the resistance of the motor when the motor performs the braking operation; and if the current rotary working condition of the rotary excavator is the second working condition, setting the working mode of the motor to the generator mode to transmit the energy generated in the braking process to the battery when the motor performs the braking operation.

[0113] Further, the process that the brake module controls the motor and / or the slewing brake device to perform the multiple braking operations comprises: if the current slewing working condition of the rotary drilling rig is the first working condition, determining whether the maximum braking torque of the motor is greater than the platform slewing torque; if yes, controlling the motor to perform the multiple braking operations; if no, controlling the motor and the slewing brake device to synchronously perform the multiple braking operations; if the current slewing working condition of the rotary drilling rig is the second working condition, determining whether the torque corresponding to the maximum energy recovery power of the motor is greater than the platform slewing torque; if yes, controlling the motor to perform the multiple braking operations; if no, controlling the motor and the slewing brake device to synchronously perform the multiple braking operations; wherein the maximum energy recovery power of the motor is the minimum value between the maximum power generation power of the motor and the maximum allowable recharging power of the battery.

[0114] Further, the process that the drive module controls the motor to drive the slewing platform to rotate comprises: inputting the slewing instruction into a speed loop, so that the speed loop outputs a speed control instruction; inputting the speed control instruction into a current loop, so that the current loop outputs a target torque; and controlling the motor to drive the slewing platform to rotate according to a target speed corresponding to the speed control instruction and the target torque.

[0115] Further, the process that the current loop outputs the target torque comprises: calculating the target torque according to the platform slewing angle, the target speed corresponding to the speed control instruction and the mass of the slewing platform.

[0116] Further, the process that the determination module determines whether the rotary drilling rig enters the braking phase comprises: setting a platform slewing angle at the time of receiving the slewing instruction as a target angle; multiplying the target angle by a preset coefficient to obtain a braking angle; wherein the preset coefficient is less than 1 and greater than 0; determining whether the platform slewing angle of the rotary drilling rig at the current time is less than the braking angle; if yes, determining that the rotary drilling rig enters the braking phase; if no, determining that the rotary drilling rig does not enter the braking phase.

[0117] Since the embodiments of the system part correspond to the embodiments of the method part, the embodiments of the system part are described in the description of the embodiments of the method part, and are not described here.

[0118] The application further provides a storage medium having a computer program stored thereon, and the computer program can implement the steps provided in the above embodiments when executed. The storage medium can include a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0119] The application also provides an electronic device, which can include a memory and a processor, the memory has a computer program stored therein, and the processor can implement the steps provided by the above embodiments when invoking the computer program in the memory. Of course, the electronic device can also include various network interfaces, power supplies, and other components.

[0120] The various embodiments described in the specification are described in progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be mutually referred to. For the system disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part. It should be noted that, for those skilled in the art, without departing from the principles of the present application, some improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

[0121] It should also be noted that, in the specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A swing control method of a rotary drilling rig, characterized by, The rotary drilling rig comprises a rotating platform, a motor, a rotating brake device and an operating handle, and the rotating control method of the rotary drilling rig comprises: If a rotating instruction issued by the operating handle is received, the motor is controlled to drive the rotating platform to rotate; It is judged whether the rotary drilling rig enters a braking stage; If yes, the motor and / or the rotating brake device are controlled to perform multiple braking operations so that the platform rotating angle is less than or equal to a first angle threshold; wherein the execution frequency of the braking operation is positively correlated with the size of the platform rotating angle, the platform rotating angle is determined according to the current platform angle of the rotating platform and the drilling angle, the current platform angle is used to describe the current rotating position of the rotating platform, and the drilling angle is used to describe the position of the target drilling hole; The rotary drilling rig further comprises a battery connected with the motor; Correspondingly, before the motor and / or the rotating brake device are controlled to perform multiple braking operations, the following steps are further included: The current platform angle of the rotating platform is subtracted by the drilling angle to obtain the platform rotating angle; The current remaining power and the current battery state of the battery are detected; The current rotating working condition of the rotary drilling rig is determined according to the platform rotating angle, the current remaining power and the current battery state; wherein the current rotating working condition comprises a first working condition and a second working condition; in the first working condition, the platform rotating angle is greater than the first angle threshold and less than a second angle threshold, the current remaining power is greater than a power threshold, and the current battery state is an uncharged state; in the second working condition, the platform rotating angle is greater than or equal to the second angle threshold, the current remaining power is less than or equal to the power threshold, and the current battery state is a charged state; The working mode of the motor is set according to the current rotating working condition; Correspondingly, controlling the motor and / or the rotating brake device to perform multiple braking operations comprises: If the current rotating working condition of the rotary drilling rig is the first working condition, it is judged whether the maximum braking torque of the motor is greater than the platform rotating torque; if yes, the motor is controlled to perform multiple braking operations; if no, the motor and the rotating brake device are controlled to synchronously perform multiple braking operations; If the current rotating working condition of the rotary drilling rig is the second working condition, it is judged whether the torque corresponding to the maximum energy recovery power of the motor is greater than the platform rotating torque; if yes, the motor is controlled to perform multiple braking operations; if no, the motor and the rotating brake device are controlled to synchronously perform multiple braking operations; wherein the maximum energy recovery power of the motor is the minimum value between the maximum power generation power of the motor and the maximum allowed recharge power of the battery; Wherein, controlling the motor to drive the rotating platform to rotate comprises: The rotating instruction is input into a speed loop so that the speed loop outputs a speed control instruction; The speed control instruction is input into a current loop so that the current loop outputs a target torque; The motor is controlled to drive the rotating platform to rotate according to the target speed corresponding to the speed control instruction and the target torque.

2. The swing control method of the rotary drilling rig according to claim 1, characterized by, The working mode of the motor is set according to the current rotary working condition, comprising: If the current rotary working condition of the rotary drilling rig is the first working condition, the working mode of the motor is set to a brake mode when the motor performs a brake operation, so as to consume the energy generated in the brake process by the motor; If the current rotary working condition of the rotary drilling rig is the second working condition, the working mode of the motor is set to a generator mode when the motor performs a brake operation, so as to transmit the energy generated in the brake process to the battery.

3. The swing control method of the rotary drilling rig according to claim 1, characterized by, The process of outputting the target torque by the current loop comprises: The target torque is calculated according to the platform rotary angle, the target speed corresponding to the speed control instruction and the mass of the rotary platform.

4. The swing control method of the rotary drilling rig according to claim 1, characterized by, The rotary drilling rig is determined whether to enter a brake stage, comprising: The platform rotary angle when the rotary instruction is received is set as a target angle; The target angle is multiplied by a preset coefficient to obtain a brake angle; wherein the preset coefficient is less than 1 and greater than 0; It is determined whether the platform rotary angle of the rotary drilling rig at the current time is less than the brake angle; If yes, it is determined that the rotary drilling rig enters the brake stage; If no, it is determined that the rotary drilling rig does not enter the brake stage.

5. A swing control system of a rotary drilling rig, characterized by, The rotary drilling rig comprises a rotary platform, a motor, a rotary brake device and an operation handle, and the rotary control system of the rotary drilling rig comprises: A driving module is configured to control the motor to drive the rotary platform to rotate if the rotary instruction issued by the operation handle is received; A determination module is configured to determine whether the rotary drilling rig enters a brake stage; A brake module is configured to control the motor and / or the rotary brake device to perform a plurality of brake operations if the rotary drilling rig enters the brake stage, so that the platform rotary angle is less than or equal to a first angle threshold; wherein the execution frequency of the brake operation is positively correlated with the size of the platform rotary angle, the platform rotary angle is determined according to the current platform angle of the rotary platform and the drilling angle, the current platform angle is used to describe the current rotary position of the rotary platform, and the drilling angle is used to describe the position of the target drilling hole; The rotary drilling rig further comprises a battery connected with the motor; Correspondingly, it further comprises: The motor control module is configured to subtract the drilling angle from the current platform angle of the slewing platform to obtain the platform slewing angle before the motor and / or the slewing brake device perform the multiple braking operations; to detect the current remaining power and the current battery state of the battery; to determine the current slewing working condition of the rotary drilling rig according to the platform slewing angle, the current remaining power and the current battery state; the current slewing working condition includes a first working condition and a second working condition; in the first working condition, the platform slewing angle is greater than the first angle threshold and less than the second angle threshold, the current remaining power is greater than the power threshold, and the current battery state is the uncharged state; in the second working condition, the platform slewing angle is greater than or equal to the second angle threshold, the current remaining power is less than or equal to the power threshold, and the current battery state is the charged state; and to set the working mode of the motor according to the current slewing working condition. The process that the braking module controls the motor and / or the slewing brake device to perform the multiple braking operations includes: if the current slewing working condition of the rotary drilling rig is the first working condition, determining whether the maximum braking torque of the motor is greater than the platform slewing torque; if yes, controlling the motor to perform the multiple braking operations; if no, controlling the motor and the slewing brake device to synchronously perform the multiple braking operations; if the current slewing working condition of the rotary drilling rig is the second working condition, determining whether the torque corresponding to the maximum energy recovery power of the motor is greater than the platform slewing torque; if yes, controlling the motor to perform the multiple braking operations; if no, controlling the motor and the slewing brake device to synchronously perform the multiple braking operations; the maximum energy recovery power of the motor is the minimum value between the maximum power generation power of the motor and the maximum allowed recharge power of the battery. The process that the driving module controls the motor to drive the slewing platform to rotate includes: inputting the slewing instruction into a speed loop so that the speed loop outputs a speed control instruction; inputting the speed control instruction into a current loop so that the current loop outputs a target torque; and controlling the motor to drive the slewing platform to rotate according to a target speed corresponding to the speed control instruction and the target torque.

6. An electronic device, comprising: A memory and a processor are included, the memory stores a computer program, and the processor calls the computer program in the memory to realize the steps of the slewing control method of the rotary drilling rig according to any one of claims 1 to 4.

7. A storage medium, characterized by The storage medium stores computer executable instructions, and the computer executable instructions are loaded and executed by the processor to realize the steps of the slewing control method of the rotary drilling rig according to any one of claims 1 to 4.

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