Winding control method, system and equipment of electric rotary drilling rig and medium

Abstract

The invention discloses a winch control method, system and equipment of an electric rotary drilling rig and a medium, and belongs to the technical field of engineering machinery control technologies. The winch control method of the electric rotary drilling rig comprises the steps that if a winch starting signal is received, a winch motor is controlled to enter a zero-speed pre-twisting state; judging whether a brake device of the hoisting mechanism is in a release state or not; if yes, the winch motor is controlled to rotate, and the actual motor rotating speed of the winch motor is detected; determining a target motor rotating speed corresponding to the winch starting signal, and calculating a rotating speed difference value between the actual motor rotating speed and the target motor rotating speed; and determining a speed adjusting strategy of the winch motor according to the rotating speed difference value, and adjusting the actual motor rotating speed of the winch motor according to the speed adjusting strategy. The motor rotating speed of the winch motor can be reasonably controlled, and the safety of the electric rotary drilling rig is improved.

Description

TECHNICAL FIELD

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

[0002] With the trend of engineering machinery gradually moving towards electrification and intelligence, electric rotary drilling rigs are widely used in various construction scenes. However, after receiving the control signal of the handle, the corresponding rotating speed of the winch motor in the electric rotary drilling rig will reach the target value from zero in a short time, and the acceleration in this process is too large, which leads to large starting inertia of the winch and may cause a series of safety problems such as gear breakage of the speed reducer and wire rope rupture.

[0003] Therefore, how to reasonably control the motor rotating speed of the winch motor and improve the safety of the electric rotary drilling rig is a technical problem to be solved by the person skilled in the art at present. SUMMARY

[0004] The purpose of the application is to provide a winch control method, system, device and medium of an electric rotary drilling rig, which can reasonably control the motor rotating speed of the winch motor and improve the safety of the electric rotary drilling rig.

[0005] To solve the above technical problems, the application provides a winch control method of an electric rotary drilling rig, which comprises the following steps:

[0006] If a winch starting signal is received, the winch motor is controlled to enter a zero-speed pre-torque state; wherein the zero-speed pre-torque state is a state with a rotating speed of 0 and an output torque greater than 0.

[0007] It is judged whether the brake device of the winch mechanism is in a released state.

[0008] If yes, the winch motor is controlled to rotate and the actual motor rotating speed of the winch motor is detected.

[0009] The target motor rotating speed corresponding to the winch starting signal is determined, and the rotating speed difference value between the actual motor rotating speed and the target motor rotating speed is calculated.

[0010] According to the rotating speed difference value, the speed adjustment strategy of the winch motor is determined, and the actual motor rotating speed of the winch motor is adjusted according to the speed adjustment strategy.

[0011] Optionally, in the process of controlling the winch motor to enter the zero-speed pre-torque state, the following steps are further included:

[0012] The winch load of the winch mechanism is determined, and the output torque of the winch motor is controlled according to the winch load, so that the output torque of the winch motor is equal in value and opposite in direction to the torque generated by the winch load.

[0013] Optionally, the speed adjustment strategy of the hoist motor is determined according to the speed difference value, comprising:

[0014] determining whether the actual motor speed is greater than or equal to the target motor speed;

[0015] if yes, determining a deceleration strategy of the hoist motor according to the speed difference value; wherein the deceleration strategy is used to control the hoist motor to rotate at the target motor speed;

[0016] if no, determining an acceleration strategy of the hoist motor according to the speed difference value; wherein the acceleration strategy is a strategy used to control the speed variation of the hoist motor within a preset time period to be less than a threshold value.

[0017] Optionally, the acceleration strategy of the hoist motor is determined according to the speed difference value, comprising:

[0018] setting the absolute value of the speed difference value as a reference value;

[0019] if the absolute value of the speed difference value is greater than or equal to a first threshold value, setting a first strategy as the acceleration strategy of the hoist motor; wherein the first strategy is a strategy of increasing the actual motor speed by a fixed step value;

[0020] if the absolute value of the speed difference value is less than the first threshold value, setting a second strategy as the acceleration strategy of the hoist motor; wherein the second strategy is a strategy of increasing the actual motor speed by a fixed slope.

[0021] Optionally, further comprising:

[0022] if the absolute value of the speed difference value is greater than or equal to a second threshold value, setting a first speed step value as the fixed step value; wherein the second threshold value is greater than the first threshold value;

[0023] if the absolute value of the speed difference value is less than the second threshold value and greater than or equal to the first threshold value, setting a second speed step value as the fixed step value; wherein the first speed step value is less than the second speed step value.

[0024] Optionally, further comprising:

[0025] if the absolute value of the speed difference value is less than the first threshold value and greater than or equal to a third threshold value, setting a first slope as the fixed slope; wherein the third threshold value is less than the first threshold value;

[0026] if the absolute value of the speed difference value is less than the third threshold value, setting a second slope as the fixed slope; wherein the first slope is less than the second slope.

[0027] Optional, also includes:

[0028] If a hoist start signal is received, determine whether there is an abnormality in the power battery connected to the hoist motor;

[0029] If so, then control the braking device to remain locked;

[0030] If not, the braking device is controlled to switch from the locked state to the released state.

[0031] This application also provides a winch control system for an electric rotary drilling rig, the system comprising:

[0032] The pre-torque module is used to control the hoist motor to enter a zero-speed pre-torque state if a hoist start signal is received; wherein, the zero-speed pre-torque state is a state in which the rotational speed is 0 and the output torque is greater than 0.

[0033] The judgment module is used to determine whether the braking device of the hoisting mechanism is in the released state;

[0034] The speed detection module is used to control the hoist motor to rotate and detect the actual motor speed of the hoist motor if the braking device is in the released state.

[0035] The speed comparison module is used to determine the target motor speed corresponding to the hoist start signal and calculate the speed difference between the actual motor speed and the target motor speed.

[0036] The speed regulation module is used to determine the speed regulation strategy of the hoisting motor based on the speed difference, and to adjust the actual motor speed of the hoisting motor according to the speed regulation strategy.

[0037] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the winch control method for the electric rotary drilling rig described above.

[0038] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the winch control method for the electric rotary drilling rig described above.

[0039] This application discloses a winch control method for an electric rotary drilling rig. Upon receiving a winch start signal, this method first controls the winch motor to enter a zero-speed pre-torsion state to avoid current surges during motor startup, reduce mechanical vibration, and ensure a smooth start. After the braking device is released, the actual motor speed of the winch motor is compared with the target motor speed. Based on the speed difference, a corresponding speed adjustment strategy is selected, and the speed of the winch motor is controlled according to the speed adjustment strategy. This process, by dynamically adjusting the speed based on the speed difference, ensures that the winch motor maintains a stable operating state after startup, avoiding excessive speed fluctuations. Therefore, this application can reasonably control the motor speed of the winch motor, improving the safety of the electric rotary drilling rig. This application also provides a winch control system for an electric rotary drilling rig, a storage medium, and an electronic device, all with the above-mentioned beneficial effects, which will not be elaborated further here. Attached Figure Description

[0040] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating a winch control method for an electric rotary drilling rig provided in an embodiment of this application;

[0042] Figure 2 A schematic flowchart illustrating a hoisting process provided in an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of the signal transmission circuit of a rotary drilling rig provided in an embodiment of this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] Please see below. Figure 1 , Figure 1 A flowchart illustrating a winch control method for an electric rotary drilling rig provided in an embodiment of this application.

[0046] Specific steps may include:

[0047] S101: If a hoist start signal is received, control the hoist motor to enter the zero-speed pre-torsion state.

[0048] This embodiment can be applied to the controller of an electric rotary drilling rig, which may include an operating handle, a winch mechanism, a power head, and other devices. The aforementioned winch start signal can be a signal sent by the user through the operating handle to cause the winch mechanism to raise or lower the load. The winch mechanism includes components such as a motor, a drum, and a braking device.

[0049] Prior to this step, the winch mechanism's braking device is locked. When the electric rotary drilling rig receives the winch start signal, this embodiment can control the winch motor to enter a zero-speed pre-torque state. The zero-speed pre-torque state is a state where the rotational speed is 0 and the output torque is greater than 0.

[0050] In zero-speed pre-torque mode, the winch motor rotates at 0 speed and outputs torque greater than 0. This method allows the rotary drilling rig to pre-load a certain torque onto the winch motor before starting, ensuring a smoother start-up and reducing current surges and mechanical vibrations. This process improves the equipment's starting performance and enhances the safety and reliability of the electric rotary drilling rig, effectively preventing equipment malfunctions and operational errors caused by sudden starts.

[0051] As a feasible implementation, during the process of controlling the winch motor to enter the zero-speed pre-torque state, the winch load of the winch mechanism can be determined, and the output torque of the winch motor can be controlled according to the winch load, so that the output torque of the winch motor is equal in value and opposite in direction to the torque generated by the winch load. The winch load refers to the torque generated by the actual weight and resistance borne by the winch mechanism during lifting or lowering. In this embodiment, the specific value of the winch load can be obtained through devices such as sensors, and then the output torque of the winch motor can be controlled according to the winch load. In the zero-speed pre-torque state, the output torque of the winch motor is equal in value and opposite in direction to the torque generated by the winch load. This setting ensures that the winch system operates smoothly and efficiently during operation, avoiding equipment failure or operational errors caused by insufficient or excessive torque.

[0052] S102: Determine whether the braking device of the hoisting mechanism is in the released state.

[0053] After the winch motor enters the zero-speed pre-torque state, it can be determined whether the winch mechanism's braking device has been released. If it has not been released, the winch motor is prohibited from rotating to prevent mechanical failure and safety accidents, ensuring the safe operation of the equipment. The aforementioned braking device can be a brake, and its state can be switched via a control circuit.

[0054] Specifically, if the braking device of the hoisting mechanism is in the released state, the operation step S103 can be entered; if the braking device of the hoisting mechanism is in the locked state, the operation step S102 will be entered again after a certain delay.

[0055] As a feasible implementation method, this embodiment can control the working state of the braking device in the following manner: if a hoist start signal is received, it is determined whether there is an abnormality in the power battery connected to the hoist motor; if so, the braking device is controlled to remain in the locked state; if not, the braking device is controlled to switch from the locked state to the released state.

[0056] S103: Control the rotation of the hoist motor and detect the actual motor speed of the hoist motor.

[0057] In this embodiment, after the winch motor enters a zero-speed pre-torque state and the braking device is released, the winch motor can be controlled to rotate according to a preset current, and the actual motor speed of the winch motor can be detected. The actual motor speed is the rotational speed of the winch motor at the current moment.

[0058] S104: Determine the target motor speed corresponding to the hoist start signal, and calculate the speed difference between the actual motor speed and the target motor speed.

[0059] This step involves analyzing the hoist start signal to obtain the target motor speed, which is the required rotational speed of the hoist motor. After obtaining the target motor speed and the actual motor speed, the two can be compared to obtain the speed difference between the actual and target motor speeds.

[0060] S105: Determine the speed adjustment strategy of the hoisting motor based on the speed difference, and adjust the actual motor speed of the hoisting motor according to the speed adjustment strategy.

[0061] If the actual motor speed is lower than the target motor speed, this step can generate a speed adjustment strategy that gradually increases the motor speed; if the actual motor speed is higher than the target motor speed, this step can generate a speed adjustment strategy that decreases the motor speed. Through this method, the actual speed of the hoist motor can be precisely adjusted to ensure stable operation near the target speed, thereby improving the equipment's operating efficiency and safety, and avoiding mechanical failures or operational errors caused by speed fluctuations.

[0062] In this embodiment, upon receiving the winch start signal, the winch motor is first controlled to enter a zero-speed pre-torsion state to avoid current surges during motor startup, reduce mechanical vibration, and ensure a smooth start. After the braking device is released, the actual motor speed of the winch motor is compared with the target motor speed. Based on the speed difference, an appropriate speed adjustment strategy is selected, and the winch motor speed is controlled according to the speed adjustment strategy. This process, by dynamically adjusting the speed based on the speed difference, ensures that the winch motor maintains a stable operating state after startup, avoiding excessive speed fluctuations. Therefore, this embodiment can reasonably control the motor speed of the winch motor, improving the safety of the electric rotary drilling rig.

[0063] As for Figure 1 A further description of the corresponding embodiment: the process of determining the speed adjustment strategy of the hoisting motor based on the speed difference includes:

[0064] Determine whether the actual motor speed is greater than or equal to the target motor speed; if yes, determine the deceleration strategy of the hoisting motor based on the speed difference; if no, determine the acceleration strategy of the hoisting motor based on the speed difference.

[0065] The aforementioned deceleration strategy controls the winch motor to rotate at the target motor speed; the aforementioned acceleration strategy controls the winch motor to accelerate, ensuring that the speed change of the winch motor within a preset time period is less than a critical value. By setting a critical value, the above process effectively avoids mechanical shock caused by excessive speed changes, improving the reliability and safety of the equipment.

[0066] Specifically, the process of determining the acceleration strategy of the hoisting motor based on the speed difference includes: setting the absolute value of the speed difference as a reference value; if the absolute value of the speed difference is greater than or equal to a first threshold, setting the first strategy as the acceleration strategy of the hoisting motor; if the absolute value of the speed difference is less than the first threshold, setting the second strategy as the acceleration strategy of the hoisting motor.

[0067] The first strategy increases the actual motor speed by a fixed step value, while the second strategy increases the actual motor speed by a fixed slope. Therefore, in this embodiment, when the difference between the actual motor speed and the target motor speed is large, the actual motor speed of the hoisting motor is increased by a fixed step value, that is, the actual motor speed of the hoisting motor increases by a fixed step value at preset time intervals to avoid excessive speed fluctuations. In this embodiment, when the difference between the actual motor speed and the target motor speed is small, the actual motor speed of the hoisting motor is increased in real time by a fixed slope to quickly reach the target motor speed. In this text, the slope refers to the ratio of the change in motor speed to the change in time, i.e., acceleration.

[0068] The process of setting the first strategy as the acceleration strategy of the hoisting motor and controlling the hoisting motor to accelerate according to the first strategy can be divided into multiple stages. Different stages correspond to different fixed step values. The operation of setting the above fixed step values ​​is as follows:

[0069] If the absolute value of the speed difference is greater than or equal to the second threshold, then the first speed step value is set to the fixed step value; wherein the second threshold is greater than the first threshold. If the absolute value of the speed difference is less than the second threshold but greater than or equal to the first threshold, then the second speed step value is set to the fixed step value; wherein the first speed step value is less than the second speed step value. This method enables acceleration control with a smaller first speed step value when the actual motor speed is low, and with a larger second speed step value when the actual motor speed is high.

[0070] The process of setting the second strategy as the acceleration strategy for the hoisting motor and controlling its acceleration according to the second strategy can be divided into multiple stages, each corresponding to a different fixed slope. The operation of setting the fixed slope is as follows: if the absolute value of the speed difference is less than the first threshold and greater than or equal to the third threshold, then the first slope is set as the fixed slope; wherein the third threshold is less than the first threshold. If the absolute value of the speed difference is less than the third threshold, then the second slope is set as the fixed slope; wherein the first slope is less than the second slope. This method allows for acceleration control with a smaller first slope when the actual motor speed is low, and with a larger second slope when the actual motor speed is high.

[0071] To illustrate the acceleration control process described above: the actual motor speed is V1, the target motor speed is V0, and V1 is less than V0; V1 is the first threshold. V2 is the second threshold. V3 is the third threshold. V1 is less than V2, V3 is less than V1; if V0-V1≥ V2, then the hoist motor is accelerated according to the first speed step value; if V1≤V0-V1< V2, then the hoist motor is accelerated according to the second speed step value; if V3≤V0-V1< If V1, then the hoist motor is accelerated according to the first slope; if V0-V1 < V3 then controls the hoist motor to accelerate according to the second slope.

[0072] During the acceleration and deceleration of a hoist motor, a fixed slope is insufficient to adapt to different operating conditions, easily leading to mechanical shock, increased energy consumption, or accelerated equipment wear. To address this issue, this embodiment offers an improvement as follows: The slope (i.e., acceleration) of the rotational speed change is automatically adjusted based on actual operating condition information (such as load size, ambient temperature, motor temperature, and battery status). For example, different weights are assigned to load size, ambient temperature, motor temperature, and remaining battery power. The weight is set according to the magnitude of change of each parameter (load size, ambient temperature, motor temperature, and battery status), with larger magnitudes of change resulting in larger weights. A weighted calculation is performed on the load size, ambient temperature, motor temperature, and remaining battery power to obtain the slope of the rotational speed change. Specifically, this embodiment normalizes the load size, ambient temperature, motor temperature, and remaining battery power, and then performs a weighted calculation on the normalized results of each parameter to obtain a comprehensive weighted value. This comprehensive weighted value is mapped to a preset slope range, and the slope corresponding to the currently calculated comprehensive weighted value is determined based on the above mapping relationship. The above process can be fine-tuned according to actual working conditions to ensure the smooth and efficient operation of the rotary drilling rig.

[0073] The process described in the above embodiments is illustrated below through examples in practical applications.

[0074] Electric rotary drilling rigs are environmentally friendly pile foundation construction equipment that plays an increasingly important role in bored pile foundation construction. In traditional fuel-powered hydraulic rotary drilling rigs, the winch speed during main winch startup is primarily determined by the handle opening. The handle opening feeds back to the pilot hydraulic circuit, generating pilot pressure, which is then transmitted to the actuator motor to determine the start-stop acceleration. This process is a pressure-progressive one; even if the initial handle opening is too large, there won't be a sudden acceleration from zero to the speed corresponding to the handle opening. However, in electric rotary drilling rigs, the current value corresponding to the main winch handle opening can instantly reach the target value, synchronously driving the winch motor to reach the speed corresponding to the handle opening. This means the motor's starting speed can rapidly reach the target value from zero. Excessive acceleration in this process leads to high winch starting inertia, potentially causing a series of safety problems such as broken gears in the reducer and wire rope breakage.

[0075] To address the technical problems existing in the aforementioned related technologies, this embodiment provides a new winch start-up control scheme for electric rotary drilling rigs, which can solve the problem of excessively large handle opening leading to excessively rapid winch start-up acceleration in the prior art, and achieve uniform and stable start-up of the winch motor without affecting construction efficiency.

[0076] The electric winch start-up acceleration control system provided in this embodiment includes: a power battery, a battery management system (BMS), an electric winch unit, and a CAN (Controller Area Network) bus control circuit.

[0077] After the electric winch receives the start signal from the control handle, the battery management system first checks whether there is an alarm in the power battery. If there is an alarm, it will display an alarm message. If there is no alarm, the VCU (Vehicle Control Unit) receives the enable signal from the winch handle, and the winch drive motor enters the zero-speed pre-torque state. In the zero-speed pre-torque state, the speed of the winch drive motor is zero, and the output torque is equal to and opposite to the torque generated by the winch load.

[0078] After the winch brake is released, the VCU performs the following control based on the winch handle opening signal (assuming it's for lifting): It converts the target motor speed n0 linearly according to the winch handle opening signal. If the actual motor speed n1 ≥ n0, the winch motor operates at n0. If n0 < n1, the acceleration logic is as follows: If n1 < n2, the winch motor enters a micro-acceleration process. The motor controller receives a fixed speed-up signal of n1 + n4 from the VCU, and the motor accelerates with n4 as the step value. If n2 ≤ n1 < n3, the motor enters a low-speed acceleration process. The motor controller receives a fixed speed-up signal of n1 + n5 from the VCU, and accelerates with n5 as the step value. If n3 ≤ n1 < n0, the motor enters a rapid response phase. The motor controller accelerates at a fixed slope until n0 is reached. At this point, the acceleration process ends, the winch drive motor enters a uniform rotation state, and the electric winch achieves smooth lifting.

[0079] In the above process, n1 represents the actual motor speed, n0 represents the target motor speed, and n2, n3, n4 and n5 represent the set speeds, with n2 < n3 < n0 and n4 < n5.

[0080] The lowering process is similar to the lifting process. The VCU receives the opening signal of the winch handle and converts it into a linearly changing target speed command for the winch motor, -n0. If the current speed of the winch motor, n1 ≤ -n0, the winch motor runs at -n0. If n1 > -n0, the acceleration logic is as follows: if n1 > -n2, the winch motor enters a micro-acceleration process. The motor controller receives a fixed speed-up signal from the VCU, n1-n4, and the motor accelerates in steps of -n4. If -n2 ≥ n1 > -n3, the motor enters a low-speed acceleration process. The motor controller receives a fixed speed-up signal from the VCU, n1-n5, and accelerates in steps of -n5. If n1 ≤ -n3, the motor enters a rapid response phase. The motor controller responds with a fixed acceleration / deceleration rate until -n0 is reached. At this point, the acceleration process ends, the winch drive motor enters a uniform rotation state, and the electric winch achieves smooth lowering.

[0081] Excessive acceleration can cause safety problems, while excessively slow acceleration can reduce construction efficiency. Therefore, this embodiment finds an acceleration balance point, that is, sets reasonable values ​​for the rotational speed acceleration in the three stages of micro-motion, low speed, and fast response during the acceleration process of the hoist drive motor.

[0082] Please see Figure 2 ,like Figure 2 The following is a flowchart illustrating a hoisting process provided in an embodiment of this application.

[0083] Step 1: The VCU receives the hoist handle lifting opening signal value and converts it into the target motor speed n0.

[0084] Step 2: Is the current speed n1 of the hoist motor less than n0? If yes, proceed to Step 3; if no, proceed to Step 8.

[0085] Step 3: Determine if n1 is less than n2; if yes, proceed to step 4; if no, proceed to step 5.

[0086] Step 4: The motor controller receives the fixed acceleration speed command n1+n4 sent by the VCU, and the hoist motor accelerates in steps of n4.

[0087] Step 5: Determine if n1 is less than n3 and greater than or equal to n2; if yes, proceed to step 6; if no, proceed to step 7.

[0088] Step 6: The motor controller receives the fixed acceleration speed command n1+n5 sent by the VCU, and the hoist motor accelerates in steps of n5.

[0089] Step 7: Determine if n1 is greater than or equal to n3; if yes, proceed to step 8; if no, proceed to step 6.

[0090] Step 8: The VCU sends the target speed command n0, and the motor controller drives the motor to accelerate or decelerate at a preset slope.

[0091] Please see Figure 3 , Figure 3 This is a schematic diagram of the signal transmission circuit of a rotary drilling rig provided in an embodiment of this application. The diagram shows a power battery, a battery management system, a motor controller, a winch motor, an operating handle, and a vehicle controller. The motor controller and the operating handle are connected via a CAN bus signal, and the battery management system and the vehicle controller are connected via a CAN bus signal. The energy transmission route is as follows: power battery, battery management system, motor controller, winch motor.

[0092] This embodiment addresses the problem of excessively rapid winch acceleration caused by excessively large handle opening in the prior art by modifying the components of the winch control system of the electric rotary drilling rig and designing and calculating related operating logic. This improves operational safety, reduces equipment failure rate, ensures the instantaneous peak current of the motor during winch start-up, and improves construction efficiency. It also recovers the backflow energy generated when the motor stops during winch braking, thus improving energy utilization.

[0093] The winch control system for an electric rotary drilling rig provided in this application includes:

[0094] The pre-torque module is used to control the hoist motor to enter a zero-speed pre-torque state if a hoist start signal is received; wherein, the zero-speed pre-torque state is a state in which the rotational speed is 0 and the output torque is greater than 0.

[0095] The judgment module is used to determine whether the braking device of the hoisting mechanism is in the released state;

[0096] The speed detection module is used to control the hoist motor to rotate and detect the actual motor speed of the hoist motor if the braking device is in the released state.

[0097] The speed comparison module is used to determine the target motor speed corresponding to the hoist start signal and calculate the speed difference between the actual motor speed and the target motor speed.

[0098] The speed regulation module is used to determine the speed regulation strategy of the hoisting motor based on the speed difference, and to adjust the actual motor speed of the hoisting motor according to the speed regulation strategy.

[0099] In this embodiment, upon receiving the winch start signal, the winch motor is first controlled to enter a zero-speed pre-torsion state to avoid current surges during motor startup, reduce mechanical vibration, and ensure a smooth start. After the braking device is released, the actual motor speed of the winch motor is compared with the target motor speed. Based on the speed difference, an appropriate speed adjustment strategy is selected, and the winch motor speed is controlled according to the speed adjustment strategy. This process, by dynamically adjusting the speed based on the speed difference, ensures that the winch motor maintains a stable operating state after startup, avoiding excessive speed fluctuations. Therefore, this embodiment can reasonably control the motor speed of the winch motor, improving the safety of the electric rotary drilling rig.

[0100] Furthermore, it also includes:

[0101] The torque setting module is used to determine the hoisting load of the hoisting mechanism during the process of controlling the hoisting motor to enter the zero-speed pre-torque state, and to control the output torque of the hoisting motor according to the hoisting load so that the output torque of the hoisting motor is equal in value and opposite in direction to the torque generated by the hoisting load.

[0102] Furthermore, the process by which the speed regulation module determines the speed regulation strategy of the hoisting motor based on the speed difference includes: determining whether the actual motor speed is greater than or equal to the target motor speed; if so, determining a deceleration strategy for the hoisting motor based on the speed difference; wherein the deceleration strategy is used to control the hoisting motor to rotate at the target motor speed; if not, determining an acceleration strategy for the hoisting motor based on the speed difference; wherein the acceleration strategy is a strategy used to control the speed change of the hoisting motor within a preset time period to be less than a critical value.

[0103] Furthermore, the process by which the speed regulation module determines the acceleration strategy of the hoisting motor based on the speed difference includes: setting the absolute value of the speed difference as a reference value; if the absolute value of the speed difference is greater than or equal to a first threshold, setting a first strategy as the acceleration strategy of the hoisting motor; wherein, the first strategy is a strategy of increasing the actual motor speed by a fixed step value; if the absolute value of the speed difference is less than the first threshold, setting a second strategy as the acceleration strategy of the hoisting motor; wherein, the second strategy is a strategy of increasing the actual motor speed by a fixed slope.

[0104] Furthermore, it also includes:

[0105] The step value setting module is configured to set a first speed step value to the fixed step value if the absolute value of the speed difference is greater than or equal to a second threshold, wherein the second threshold is greater than the first threshold; and is further configured to set a second speed step value to the fixed step value if the absolute value of the speed difference is less than the second threshold and greater than or equal to the first threshold, wherein the first speed step value is less than the second speed step value.

[0106] Furthermore, it also includes:

[0107] The slope setting module is configured to set a first slope to the fixed slope if the absolute value of the speed difference is less than the first threshold and greater than or equal to a third threshold, wherein the third threshold is less than the first threshold; and to set a second slope to the fixed slope if the absolute value of the speed difference is less than the third threshold, wherein the first slope is less than the second slope.

[0108] Furthermore, it also includes:

[0109] An anomaly detection module is used to determine whether there is an anomaly in the power battery connected to the hoist motor if a hoist start signal is received; if so, it controls the braking device to remain in a locked state; if not, it controls the braking device to switch from a locked state to a released state.

[0110] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0111] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0112] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0113] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0114] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A winch control method for an electric rotary drilling rig, characterized in that, include: If a hoist start signal is received, the hoist motor is controlled to enter a zero-speed pre-torque state; wherein, the zero-speed pre-torque state is a state in which the speed is 0 and the output torque is greater than 0. Determine whether the braking device of the hoisting mechanism is in the released state; If so, control the hoist motor to rotate and detect the actual motor speed of the hoist motor; Determine the target motor speed corresponding to the hoist start signal, and calculate the speed difference between the actual motor speed and the target motor speed; The speed adjustment strategy of the hoisting motor is determined based on the speed difference, and the actual motor speed of the hoisting motor is adjusted according to the speed adjustment strategy.

2. The winch control method for the electric rotary drilling rig according to claim 1, characterized in that, The process of controlling the hoist motor to enter the zero-speed pre-torque state also includes: The hoisting load of the hoisting mechanism is determined, and the output torque of the hoisting motor is controlled according to the hoisting load so that the output torque of the hoisting motor is equal in value and opposite in direction to the torque generated by the hoisting load.

3. The winch control method for the electric rotary drilling rig according to claim 1, characterized in that, Determining the speed adjustment strategy of the hoisting motor based on the speed difference includes: Determine whether the actual motor speed is greater than or equal to the target motor speed; If so, the deceleration strategy of the hoisting motor is determined based on the speed difference; wherein the deceleration strategy is used to control the hoisting motor to rotate at the target motor speed; If not, then the acceleration strategy of the hoisting motor is determined based on the speed difference; wherein the acceleration strategy is a strategy used to control the speed change of the hoisting motor within a preset time period to be less than a critical value.

4. The winch control method for the electric rotary drilling rig according to claim 3, characterized in that, Determining the acceleration strategy of the hoisting motor based on the speed difference includes: Set the absolute value of the speed difference as the reference value; If the absolute value of the speed difference is greater than or equal to the first threshold, the first strategy is set as the acceleration strategy of the hoisting motor; wherein, the first strategy is a strategy of increasing the actual motor speed by a fixed step value; If the absolute value of the speed difference is less than the first threshold, the second strategy is set as the acceleration strategy of the hoist motor; wherein, the second strategy is a strategy of increasing the actual motor speed by a fixed slope.

5. The winch control method for the electric rotary drilling rig according to claim 4, characterized in that, Also includes: If the absolute value of the speed difference is greater than or equal to the second threshold, then the first speed step value is set to the fixed step value; wherein the second threshold is greater than the first threshold; If the absolute value of the speed difference is less than the second threshold and greater than or equal to the first threshold, then the second speed step value is set to the fixed step value; wherein the first speed step value is less than the second speed step value.

6. The winch control method for the electric rotary drilling rig according to claim 4, characterized in that, Also includes: If the absolute value of the speed difference is less than the first threshold and greater than or equal to the third threshold, then the first slope is set to the fixed slope; wherein the third threshold is less than the first threshold; If the absolute value of the speed difference is less than the third threshold, then the second slope is set to the fixed slope; wherein the first slope is less than the second slope.

7. The winch control method for the electric rotary drilling rig according to claim 1, characterized in that, Also includes: If a hoist start signal is received, determine whether there is an abnormality in the power battery connected to the hoist motor; If so, then control the braking device to remain locked; If not, the braking device is controlled to switch from the locked state to the released state.

8. A winch control system for an electric rotary drilling rig, characterized in that, include: The pre-torque module is used to control the hoist motor to enter a zero-speed pre-torque state if a hoist start signal is received; wherein, the zero-speed pre-torque state is a state in which the rotational speed is 0 and the output torque is greater than 0. The judgment module is used to determine whether the braking device of the hoisting mechanism is in the released state; The speed detection module is used to control the hoist motor to rotate and detect the actual motor speed of the hoist motor if the braking device is in the released state. The speed comparison module is used to determine the target motor speed corresponding to the hoist start signal and calculate the speed difference between the actual motor speed and the target motor speed. The speed regulation module is used to determine the speed regulation strategy of the hoisting motor based on the speed difference, and to adjust the actual motor speed of the hoisting motor according to the speed regulation strategy.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the winch control method for the electric rotary drilling rig as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the winch control method for the electric rotary drilling rig as described in any one of claims 1 to 7.

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