A method and system for regulating a rotary drilling mast, and a rotary drilling rig

Abstract

The application discloses a rotary drilling rig mast regulation method and system, and a rotary drilling rig, wherein the method comprises the following steps: obtaining initial front and rear angle values and initial left and right angle values of a drill mast through an inclination sensor; obtaining a projection length of a supporting electric push rod in a left and right direction when the drill mast is in a vertical state according to the position and size relationship of the drill mast, the supporting electric push rod and the luffing electric push rod, and the initial front and rear angle values; obtaining a target length of the supporting electric push rod after regulation according to the projection length of the supporting electric push rod in the left and right direction when the drill mast is in the vertical state and the initial left and right angle values; and obtaining an extension length of the supporting electric push rod according to the target length and an initial length of the supporting electric push rod. The electric push rod can be accurately controlled in extension, thereby improving the regulation accuracy, and the method can accurately obtain the extension length required by the regulation electric push rod, so that the adjustment efficiency and accuracy can be improved without repeated adjustment during regulation.

Description

TECHNICAL FIELD

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

[0002] The existing rotary drilling rig mainly uses a hydraulic cylinder to realize the verticality adjustment function. Since the extension length of the hydraulic cylinder is usually difficult to control accurately, manual adjustment is still needed after automatic verticality adjustment.

[0003] The commonly used verticality adjustment method is as follows: the inclination sensor is used to calculate the X and Y plane coordinates on the display screen. The action valve block of the support hydraulic cylinder is controlled by manually operating the handle, and the verticality adjustment work is completed by adjusting the X and Y coordinates on the display screen through the action of the left and right support hydraulic cylinders. Alternatively, the automatic verticality adjustment method is used. When the mast is erected to the angle range (generally within 5°) that satisfies the automatic mast erection, the automatic mast erection button is started. Through real-time signal feedback, the action of the support hydraulic cylinder is controlled by the electric proportional valve to complete the automatic verticality adjustment work. Due to the factors such as the flow-pressure coupling effect of the hydraulic cylinder, the valve port flow saturation phenomenon, and the viscosity and inertia of the liquid, the extension length accuracy of the hydraulic cylinder is low, which leads to the fact that the currently used automatic verticality adjustment function considers that the X and Y angle values are less than 0.2° when it is regarded as vertical, but the actual accuracy is not high.

[0004] Therefore, how to improve the rotary drilling rig mast control accuracy is a technical problem to be solved by those skilled in the art. SUMMARY

[0005] An object of the present application is to provide a rotary drilling rig mast control method that can effectively improve the control accuracy of the rotary drilling rig mast by replacing the hydraulic cylinder with an electric push rod. Another object is to provide a rotary drilling rig mast control system, and another object is to provide a rotary drilling rig.

[0006] To achieve the above objects, the present application provides the following technical solutions.

[0007] A rotary drilling rig mast control system, comprising: an inclination sensor and a data processor, the data processor being electrically connected with the inclination sensor, a support electric push rod and a luffing electric push rod, the inclination sensor being used to obtain an initial front-rear angle value of a mast in the front-rear direction and an initial left-right angle value in the left-right direction; the data processor comprising a verticality adjustment control unit, the verticality adjustment control unit being used to obtain the extension length required for the support electric push rod to vertically adjust the mast according to the position and size relationship of the mast, the support electric push rod and the luffing electric push rod, and control the action of the support electric push rod.

[0008] In some embodiments, the data processor further comprises a luffing control unit for controlling the height position of the drill mast by the luffing electric push rod.

[0009] A rotary drilling mast control method applied to the rotary drilling mast control system, the rotary drilling mast control method comprising:

[0010] Step 1: obtaining an initial fore-aft angle value of the drill mast in the fore-aft direction and an initial left-right angle value in the left-right direction by the inclination sensor;

[0011] Step 2: obtaining a projection length of the support electric push rod in the left-right direction when the drill mast is in the vertical state according to the position and size relationship of the drill mast, the support electric push rod for vertical adjustment and the luffing electric push rod for amplitude adjustment, and the initial fore-aft angle value;

[0012] Step 3: obtaining a target length of the support electric push rod after vertical adjustment according to the projection length of the support electric push rod in the left-right direction when the drill mast is in the vertical state and the initial left-right angle value;

[0013] Step 4: obtaining an extension length required by the support electric push rod to vertically adjust the drill mast according to the target length and the initial length of the support electric push rod;

[0014] Step 5: according to the working principle of the support electric push rod, the motor-driven piston rod of the support electric push rod is spirally pushed out at a preset speed to realize controllability of the action of the support electric push rod from the initial length state to the required length state.

[0015] In some embodiments, in the step 2, the projection length of the support electric push rod in the left-right direction when the drill mast is in the vertical state is obtained by the following formula:

[0016] ;

[0017] ;

[0018] ;

[0019] ;

[0020] wherein, is the initial fore-aft angle value of the inclination sensor in the fore-aft direction;

[0021] is the distance from the hinge point of the support electric push rod and the drill mast to the hinge point of the luffing electric push rod and the drill mast;

[0022] the distance from the hinge point of the amplitude motor push rod and the drill mast to the fuselage;

[0023] the initial length of the support motor push rod in the left-right projection direction;

[0024] the length of the support motor push rod in the left-right projection direction after the plumb adjustment is completed.

[0025] In some embodiments, in the step 3, the target length of the support motor push rod after the plumb adjustment is obtained by the following formula:

[0026]

[0027]

[0028]

[0029] wherein, is the angle reading of the tilt angle sensor in the left-right direction;

[0030] is the length of the support motor push rod when the drill mast is in the vertical state;

[0031] is the length of the support motor push rod in the initial state;

[0032] is the width from the installation position of the support motor push rod on the fuselage to the center of the fuselage.

[0033] In some embodiments, in the step 4, the required telescopic length of the support motor push rod for plumb adjustment of the drill mast is obtained by the following formula:

[0034]

[0035]

[0036] wherein is the length change value of the support motor push rod from the initial state to the vertical state of the drill mast.

[0037] In some embodiments, further comprising adjusting the height position of the drill mast by the amplitude motor push rod.

[0038] In some embodiments, the height position of the drill mast is adjusted by the following formula:

[0039]

[0040] ​​​​​​ ;

[0041] ;

[0042] ;

[0043] ;

[0044] ;

[0045] ;

[0046] wherein, is the initial length of the luffing electric push rod;

[0047] is the adjusted length of the luffing electric push rod;

[0048] is the length of the triangular support;

[0049] is the length of the luffing electric push rod from the luffing mounting hinge to the luffing electric push rod hinge;

[0050] is the moving distance in the vertical direction of the luffing action required;

[0051] is the moving distance in the horizontal direction of the luffing action required;

[0052] is the projected length of the luffing electric push rod after the action is completed;

[0053] is the projected length of the luffing electric push rod in the initial state;

[0054] is the horizontal distance from the triangular support to the drill mast;

[0055] is the projected length of the luffing electric push rod to the drill mast;

[0056] is the angle of the luffing electric push rod with the horizontal plane in the initial state;

[0057] .

[0058] In some embodiments, when the drill mast is leveled by the support electric push rod, the drill mast is luffed by the luffing electric push rod, the length of the support electric push rod changes, and is obtained by the following formula:

[0059] ;

[0060] ;

[0061] ;

[0062] ;

[0063] wherein, is the angle between the machine body and the horizontal plane;

[0064] is the height of the drill mast lowering;

[0065] is the length change of the support electric push rod;

[0066] is the length of the support electric push rod after the action is completed;

[0067] is the length of the support electric push rod in the initial state.

[0068] A rotary drilling rig comprises the rotary drilling mast control system, and further comprises a machine body, a drill mast, an inclination sensor, a support electric push rod and a luffing electric push rod, the inclination sensor is arranged on the drill mast, both ends of the support electric push rod are hinged to the drill mast and the machine body, and both ends of the luffing electric push rod are hinged to the drill mast and the machine body.

[0069] Compared with the prior art, the technical scheme has the following advantages:

[0070] The rotary drilling mast control method and system and the rotary drilling rig provided by the application adopt an electric push rod instead of a hydraulic cylinder in the prior art, the electric push rod can accurately control the extension amount, thereby greatly increasing the verticality control precision. In the automatic verticality control process, the accurate action control can make the actual state after the automatic verticality control be completely satisfied with the verticality requirement, thereby solving the problem of low practicability of the automatic verticality control under the action of traditional hydraulic oil. Moreover, the control method provided by the application can accurately obtain the extension length of the verticality control electric push rod through the detection of the drill mast angle by the inclination sensor and the corresponding calculation, so that the target verticality control requirement can be achieved without repeated adjustment during the verticality control, and therefore the adjustment efficiency and the adjustment precision are high. BRIEF DESCRIPTION OF DRAWINGS

[0071] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only aim to explain part of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative work fall within the protection scope of the present application.

[0072] Figure 1 A structural schematic diagram of the support electric push rod and the amplitude-variable electric push rod provided by one specific embodiment of the present application;

[0073] Figure 2 A projection of the drill mast, the support electric push rod and the amplitude-variable electric push rod in the left-right direction used in a drill mast control method provided by one specific embodiment of the present application.

[0074] Figure 3 A state diagram when the support electric push rod is adjusted vertically;

[0075] Figure 4 A comparison diagram before and after the drill mast is adjusted in amplitude;

[0076] Figure 5 An angle diagram between the machine body and the horizontal plane;

[0077] Figure 6 A size and position relationship diagram of each component when the drill mast is adjusted in amplitude.

[0078] The reference signs are as follows:

[0079] 1-motor, 2-transmission mechanism, 3-piston rod, 4-cylinder. EMBODIMENT

[0080] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative work fall within the protection scope of the present application.

[0081] Please refer to Figures 1 to 6 .

[0082] The embodiment of the present application also provides a rotary drilling mast regulating system, comprising: an inclination sensor and a data processor, the data processor being electrically connected with the inclination sensor, a support electric push rod and a luffing electric push rod, the inclination sensor being used to acquire an initial fore-aft angle value of the drilling mast in a fore-aft direction and an initial left-right angle value of the drilling mast in a left-right direction; the data processor comprising a plumb control unit, the plumb control unit being used to acquire the telescopic length required by the support electric push rod for plumb adjustment of the drilling mast according to the positional and dimensional relationship of the drilling mast, the support electric push rod and the luffing electric push rod, and control the action of the support electric push rod, and the plumb control unit can be calculated by using the corresponding formula in the above method embodiment to acquire the telescopic length required by the support electric push rod for plumb adjustment.

[0083] In some embodiments, the data processor further comprises a luffing control unit, the luffing control unit being used to control the height position of the drilling mast by the luffing electric push rod, and the luffing control unit can be calculated by using the corresponding formula in the above method embodiment to acquire the telescopic length required by the luffing electric push rod for luffing adjustment, and then control the luffing electric push rod to perform the action of the corresponding length. The support electric push rod and the luffing electric push rod can work cooperatively, thereby improving the adjustment efficiency of the drilling mast.

[0084] The embodiment of the present application provides a rotary drilling mast regulating method, which is applied to the rotary drilling mast regulating system, and comprises the following steps.

[0085] Step 1: acquiring, by an inclination sensor, an initial fore-aft angle value of the drilling mast in a fore-aft direction and an initial left-right angle value of the drilling mast in a left-right direction, wherein the inclination sensor is installed on the drilling mast, preferably at a lower position of the drilling mast, and the fore-aft direction refers to the fore-aft direction of the vehicle body and the left-right direction refers to the fore-aft direction of the vehicle body.

[0086] Step 2: acquiring, according to the positional and dimensional relationship of the drilling mast, a support electric push rod used for plumb adjustment of the drilling mast and a luffing electric push rod used for luffing adjustment of the drilling mast, and the initial fore-aft angle value, the projection length of the support electric push rod in the left-right direction when the drilling mast is in a vertical state. The two ends of the support electric push rod are hingedly connected to the vehicle body and the drilling mast, respectively, and the plumb adjustment of the drilling mast can be controlled by two support electric push rods, for example, the upper ends of the two support electric push rods are hingedly connected to the drilling mast, the lower ends are hingedly connected to the vehicle body, and there is an included angle between the two support electric push rods; the two ends of the luffing electric push rod are hingedly connected to the drilling mast and the vehicle body, respectively. The electric push rod is used to replace the hydraulic cylinder in the prior art, thereby improving the plumb adjustment accuracy. Figure 1As shown, the support electric push rod and the amplitude electric push rod each include a motor 1, a transmission mechanism 2, a piston rod 3, and a cylinder 4. The motor 1 drives the bottom of the piston rod 3 to rotate through the transmission mechanism 2. Since the piston rod 3 and the cylinder 4 are in a threaded connection, when the piston rod 3 rotates, the cylinder 4 and the piston rod 3 will move axially relative to each other, thereby realizing the extension and retraction of the electric push rod, and further realizing the function of rotating the drill mast relative to the vehicle body.

[0087] Step 3: According to the projection length of the support electric push rod in the left-right direction when the drill mast is in the vertical state, and the initial left-right angle value, the target length of the support electric push rod after leveling is obtained.

[0088] Step 4: According to the target length and the initial length of the support electric push rod, the required extension and retraction length of the support electric push rod for leveling the drill mast is obtained. After obtaining the required extension and retraction length, the support electric push rod can be controlled to extend or retract by the corresponding length;

[0089] Step 5: According to the working principle of the support electric push rod, for example, the working principle of the support electric push rod provided in step 2, the motor of the support electric push rod drives the piston rod to screw out at a preset speed, so as to realize the controllability of the movement of the support electric push rod from the initial length state to the required length state.

[0090] For the use of multiple support electric push rods to control the drill mast, in a multi-stage combined action, different support electric push rods can adjust the motor frequency according to the required state, and the support electric push rods of different extension and retraction lengths can be combined at the same speed, so that the multi-stage combined action can be completed at the same time, and the automatic synchronization of the multi-stage combined action is realized.

[0091] In the above embodiment, the electric push rod is used instead of the hydraulic cylinder in the prior art. The electric push rod can accurately control its extension amount, thereby greatly increasing the leveling accuracy. In the automatic leveling process, the accurate control of the action can make the actual state after the automatic leveling completely meet the vertical requirement, thereby solving the problem of low practicality of the automatic leveling under the action of the traditional hydraulic oil. Moreover, in the specific use process, the required extension and retraction length of the leveling electric push rod can be accurately obtained through the detection of the angle of the drill mast by the inclination sensor and the corresponding calculation, so that the target leveling requirement can be met without repeated adjustment during leveling, and therefore the adjustment efficiency and accuracy are high.

[0092] In some embodiments, the two states of the drill mast leveling process include an initial state and a vertical state, as shown in Figure 2 The solid line part is the vertical state, and the dashed line part is the initial state. In step 2, the projection length of the support electric push rod in the left-right direction when the drill mast is in the vertical state is obtained by the following formula:

[0093] ;

[0094] ;

[0095] ;

[0096] ;

[0097] wherein, is the initial fore-aft angle value of the fore-aft direction of the tilt sensor;

[0098] is the distance from the hinge point of the support electric push rod and the drill mast to the hinge point of the luffing electric push rod and the drill mast;

[0099] is the distance from the hinge point of the luffing electric push rod and the drill mast to the fuselage;

[0100] is the initial state length of the support electric push rod in the left-right projection direction;

[0101] is the length of the support electric push rod in the left-right projection direction after completing the plumb.

[0102] As shown in Figure 3 , the solid line part is the vertical state, and the dashed line part is the initial state. In step 3, the target length of the support electric push rod after plumb is obtained by the following formula:

[0103] ;

[0104] ;

[0105] ;

[0106] wherein, is the angle reading of the tilt sensor in the left-right direction;

[0107] is the length of the support electric push rod when the drill mast is in the vertical state;

[0108] is the length of the support electric push rod when in the initial state;

[0109] is the width of the installation position of the support electric push rod on the fuselage to the center of the fuselage.

[0110] In step 4, the extension length required by the support electric push rod to plumb the drill mast is obtained by the following formula:

[0111] ;

[0112] ;

[0113] wherein is the length change value of the supporting electric push rod when stretching from the initial state to the vertical state of the drill mast. When is the adjustable accuracy of the supporting electric push rod, the value range of X and Y can be obtained, and the relationship formula is brought into the size of the machine body of the rotary drilling rig. The calculation shows that the vertical adjustment accuracy of the supporting electric push rod is much higher than that of the hydraulic cylinder. When the automatic vertical adjustment is used, the vertical adjustment state can be well realized, and manual vertical adjustment is no longer needed.

[0114] In some embodiments, as shown in Figures 4 to 6 , wherein the dashed line is the initial state and the solid line is the state after amplitude adjustment, the rotary drilling mast control method further comprises adjusting the height position of the drill mast through the amplitude electric push rod. The height position of the drill mast is adjusted through the following formula;

[0115] ;

[0116] ;

[0117] ;

[0118] ;

[0119] ;

[0120] ;

[0121] ;

[0122] wherein, is the initial length of the amplitude electric push rod;

[0123] is the adjusted length of the amplitude electric push rod;

[0124] is the length of the triangular support;

[0125] is the length from the amplitude installation hinge of the amplitude electric push rod to the hinge of the amplitude electric push rod;

[0126] is the moving distance in the vertical direction of the amplitude action required;

[0127] is the moving distance in the horizontal direction of the amplitude action required;

[0128] the projection length of the amplitude-variable electric push rod after the action is completed;

[0129] the projection length of the amplitude-variable electric push rod in the initial state;

[0130] the horizontal distance from the triangular support to the drill mast;

[0131] the projection length of the amplitude-variable electric push rod to the drill mast;

[0132] the angle of the amplitude-variable electric push rod to the horizontal plane in the initial state;

[0133] According to the above formula, the following formula can be obtained:

[0134] .

[0135] The above formula is the relationship between the distance that the drill mast needs to move and the length change of the amplitude-variable electric push rod , so that when the amplitude action needs to be performed, the distance that needs to be moved can be known, and then it can be concluded how much the amplitude-variable electric push rod needs to be extended, so as to achieve one-key control of the amplitude-variable electric push rod.

[0136] In some embodiments, when the drill mast is leveled by the support electric push rod, the amplitude of the drill mast is adjusted by the amplitude-variable electric push rod, and the length change of the support electric push rod is obtained by the following formula:

[0137] ;

[0138] ;

[0139] ;

[0140] ;

[0141] wherein, is the angle between the fuselage and the horizontal plane;

[0142] is the height of the drill mast descending;

[0143] is the length change of the support electric push rod;

[0144] is the length of the support electric push rod after the action is completed;

[0145] For the initial state, the length of the support electric push rod is supported.

[0146] The above relationship can be finally converted to The relationship of also satisfies the one-key control of the support electric push rod. Therefore, when the rotary drilling rig adjusts the amplitude, lowers or raises the amplitude for work, the one-key control combination of the support electric push rod and the amplitude electric push rod can satisfy the one-key synchronous automatic completion of the whole action.

[0147] The embodiment of the present application also provides a rotary drilling rig, which comprises the rotary drilling mast control system provided by the above embodiment, and further comprises a machine body, a drilling mast, an inclination sensor, a support electric push rod and an amplitude electric push rod. Figure 4 As shown in the left side of the figure, the drilling mast of the rotary drilling rig is in the state before amplitude adjustment, and the distance between the lowermost end of the drilling mast and the ground is h1. As shown in the right side of the figure, the drilling mast of the rotary drilling rig is in the state after amplitude adjustment, and the distance between the lowermost end of the drilling mast and the ground is h2. The electric push rod is used to replace the hydraulic cylinder in the prior art, and the electric push rod can accurately control the extension amount, thereby greatly increasing the adjustment accuracy.

[0148] It should be noted that in the present specification, the relationship terms such as first and second are only used to distinguish one entity from another entity, and do not necessarily require or imply any such actual relationship or order between the entities.

[0149] The embodiments in the present specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0150] The rotary drilling mast control method, system and rotary drilling rig provided by the present application are described in detail above. The principles and implementation manners of the present application are described by applying specific examples in the present document, and the above embodiment description is only used to help understand the core idea of the present application. It should be pointed out that for ordinary skilled persons in the technical field, some improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A method for regulating a rotary drilling mast, applied to a rotary drilling mast regulating system, characterized in that, The rig drill mast control system comprises: an inclination sensor and a data processor, the data processor is electrically connected with the inclination sensor, a support electric push rod and a luffing electric push rod, the inclination sensor is used to obtain an initial front-rear angle value of the drill mast in the front-rear direction and an initial left-right angle value in the left-right direction; the data processor comprises a plumb control unit, the plumb control unit is used to obtain the telescopic length required by the support electric push rod to plumb the drill mast according to the position and size relationship of the drill mast, the support electric push rod and the luffing electric push rod, and control the action of the support electric push rod; The rig drill mast control method comprises: Step 1: obtaining an initial front-rear angle value of the drill mast in the front-rear direction and an initial left-right angle value in the left-right direction through an inclination sensor; Step 2: obtaining the projection length of the support electric push rod in the left-right direction when the drill mast is in the vertical state according to the position and size relationship of the drill mast, the support electric push rod used for plumb and the luffing electric push rod used for luffing, and the initial front-rear angle value; Step 3: obtaining the target length of the support electric push rod after plumb according to the projection length of the support electric push rod in the left-right direction when the drill mast is in the vertical state and the initial left-right angle value; Step 4: obtaining the telescopic length required by the support electric push rod to plumb the drill mast according to the target length and the initial length of the support electric push rod; Step 5: according to the working principle of the support electric push rod, the motor-driven piston rod of the support electric push rod is spirally pushed out at a preset speed to realize the controllability of the action of the support electric push rod from the initial length state to the required length state; In the step 2, the projection length of the support electric push rod in the left-right direction when the drill mast is in the vertical state is obtained through the following formula: ； ； ； ； wherein, is an initial front-rear angle value in the front-rear direction of the tilt sensor; To support the distance between the hinge point of the electric push rod and the drill mast to the hinge point of the variable amplitude electric push rod and the drill mast; L is the distance from the hinge point of the variable amplitude electric push rod and the drill mast to the fuselage; initial state length of the support motor-driven push rod in the left and right projection direction; The length of the support motor-driven push rod in the left and right projection directions after the completion of the vertical adjustment; In the step 3, the target length of the support electric push rod after plumb is obtained through the following formula: ； ； ； wherein, is the angle reading of the tilt sensor in the left-right direction; To support the length of the electric push rod when the drill mast is in a vertical state. is the initial state, the length of the support motor-driven push rod; To support the width of the motorized pushrod mounting location on the fuselage to the center of the fuselage; In the step 4, the telescopic length required by the support electric push rod to plumb the drill mast is obtained through the following formula: ； ； wherein is the length change value of the support motor-driven push rod from the initial state to the vertical state of the drill mast.

2. The method of claim 1, wherein, The data processor further comprises a luffing control unit, the luffing control unit is used to control the height position of the drill mast through the luffing electric push rod.

3. The method of claim 1, wherein, Further comprising adjusting the height position of the drill mast through the luffing electric push rod.

4. The method of claim 3, wherein, The height position of the drill mast is adjusted through the following formula: ； ； ； ； ； ； ； wherein, is the initial length of the variable amplitude electric push rod; L is the adjusted length of the variable amplitude electric push rod; is the length of the triangular support; To the length of the luffing motor push rod, a luffing mounting hinge is installed to the luffing motor push rod hinge; is the required movement distance in the vertical direction for the variable amplitude action; is the required amplitude of the movement in the horizontal direction; Lp is the projected length of the actuation of the variable amplitude electric pushrod; L0 is the initial length of the electric push rod; is the horizontal distance from the triangle support to the drill mast; Lp = projection length of the variable amplitude electric push rod to the drill mast; Angle of the amplitude motorized pushrod with the horizontal plane for the initial state; 。 5. The method of claim 4, wherein, When the drill mast is plumbed through the support electric push rod, the drill mast is luffed through the luffing electric push rod, and the length change of the support electric push rod is obtained through the following formula: ； ； ； ； wherein is the angle between the fuselage and the horizontal plane; height of the derrick lowering; to support the length variation of the electric push rod; To complete the action, the length of the support motor-driven push rod; For the initial state, the length of the support motor push rod is supported.

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