Drilling machine control box adaptive control method and system based on working condition perception, and medium

Abstract

The present application relates to a kind of based on working condition perception's drilling machine control box adaptive control method, system and medium, method includes the original signal of real-time acquisition key operating state in the process of drilling machine operation, and the original signal is preprocessed to obtain corresponding signal data;Based on the coupling relationship between signal data, signal data are processed to obtain the working condition characteristic parameter of drilling machine operating state;The working condition characteristic parameter of drilling machine operating state is processed to obtain characteristic change rate;According to the working condition characteristic parameter, the type of working condition that current drilling machine is identified, and according to characteristic change rate, the working condition development trend of current drilling machine is judged;According to preset working condition information, corresponding control strategy is generated, and the actuator of drilling machine control box is adaptively controlled according to control strategy;Preset working condition information includes the type of working condition, or, preset working condition information includes the type of working condition and working condition development trend.The present application improves the degree of automation of drilling machine control box by dynamic control method.

Description

Technical Field

[0001] This invention relates to an adaptive control method, system, and medium for a drilling rig control box based on working condition perception. Background Technology

[0002] As a key piece of equipment integrating tunneling and anchoring in coal mines, the roadheader's drilling system undertakes the important task of breaking rocks and forming holes. Its operational performance directly affects tunneling efficiency and operational safety. In practical applications, the drilling process typically faces complex geological conditions, frequent changes in lithology, and alternating distributions of soft and hard rock, resulting in significant nonlinearity, strong disturbance, and uncertainty in the drilling process. Under these complex conditions, the loads borne by the drilling system (such as propulsion resistance, rotational torque, and impact loads) fluctuate rapidly with changes in the geological formation, accompanied by increased vibration and a higher risk of stuck drill bits.

[0003] Existing roadheader drilling rig control systems primarily employ a fixed-parameter constant-control scheme. This is currently the most widely used basic control method in mines. Its system structure is typically simple, with operators relying on experience to pre-set parameters for constant output. The system lacks the ability to dynamically adjust based on geological or load changes. When encountering abrupt changes in formation, sudden increases in load, or stuck drill bits during drilling, this type of system cannot automatically identify these changes. It relies solely on manual observation for judgment and emergency handling through manual shutdown, reverse drilling, or repeated drill bit advance and retreat. Therefore, it is a typical "human experience-driven" control mode with a low degree of automation. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive control method, system and medium for drilling rig control boxes based on working condition perception, so as to solve the problem of low intelligence caused by the use of fixed parameter constant control in the prior art.

[0005] To address the aforementioned problems, the adaptive control method for drilling rig control boxes based on working condition awareness involved in this invention includes: The raw signals of key operating states during the drilling rig operation are acquired in real time, and the raw signals are preprocessed to obtain the corresponding signal data. Based on the coupling relationship between signal data, the signal data is processed to obtain the operating condition characteristic parameters of the drilling rig; the operating condition characteristic parameters include load characteristic parameters, impact characteristic parameters, drilling efficiency characteristic parameters, and sluggish characteristic parameters. The characteristic change rate is obtained by processing the operating condition characteristic parameters of the drilling rig. The current working condition type of the drilling rig is identified based on the working condition characteristic parameters, and the current working condition development trend of the drilling rig is judged based on the characteristic change rate. A corresponding control strategy is generated based on preset working condition information, and the actuator of the drilling rig control box is adaptively controlled according to the control strategy; the preset working condition information includes the current working condition type, or the preset working condition information includes the current working condition type and the working condition development trend.

[0006] In some embodiments, the preprocessing of the original signal to obtain corresponding signal data includes: the preprocessing of the original signal includes filtering, smoothing and outlier removal; the signal data obtained after preprocessing includes gyratory torque data, propulsion pressure data, acceleration data and propulsion displacement data.

[0007] In some embodiments, processing the signal data to obtain the operating condition characteristic parameters of the drilling rig includes: The load characteristic parameters are obtained by processing the slewing torque data and the propulsion pressure data. The impact characteristic parameters are obtained by processing the acceleration data; The drilling efficiency characteristic parameters are obtained by processing the slewing torque data and the propulsion displacement signal. The slewing torque data, the propulsion pressure data, and the propulsion displacement signal are processed to obtain the sluggish characteristic parameters.

[0008] In some embodiments, the process of processing the slewing torque data and the propulsion displacement signal to obtain the drilling efficiency characteristic parameters includes: The propulsion displacement signal is processed to obtain the propulsion speed signal; The propulsion speed signals within a preset time period are filtered to determine the maximum and minimum propulsion speed signals; The propulsion speed signal at the current moment is processed based on the maximum propulsion speed signal and the minimum propulsion speed signal to obtain the corresponding propulsion speed data; The drilling efficiency characteristic data are obtained by processing the propulsion speed data and the slewing torque data.

[0009] In some embodiments, the process of processing the slewing torque data, the propulsion pressure data, and the propulsion displacement signal to obtain the hysteresis characteristic parameters includes: The propulsion displacement signal is processed to obtain the propulsion speed signal; The propulsion speed signals within a preset time period are filtered to determine the maximum and minimum propulsion speed signals; The propulsion speed signal at the current moment is processed based on the maximum propulsion speed signal and the minimum propulsion speed signal to obtain the corresponding propulsion speed data; The drag characteristic data is obtained by processing the propulsion speed data, the propulsion pressure data, and the slewing torque data.

[0010] In some embodiments, the characteristic rate of change includes load rate of change, impact rate of change, drilling efficiency rate of change, and resistance rate of change.

[0011] In some embodiments, the working conditions of the drilling rig include soft coal seam conditions, hard rock or gangue interbedded conditions, normal drilling rig conditions, and stuck drill conditions. The operating conditions of drilling rigs are trending towards worsening load, increased impact, and stuck drill bit development.

[0012] To address the aforementioned issues, the present invention relates to an adaptive control system for a drilling rig control box based on working condition perception, comprising a signal acquisition module, a first processing module, a second processing module, an identification module, and a control module. The signal acquisition module is used to acquire raw signals of key operating states during the drilling rig operation in real time, and to preprocess the raw signals to obtain corresponding signal data. The first processing module is used to process the signal data based on the coupling relationship between the signal data to obtain the operating condition characteristic parameters of the drilling rig's operating status; the operating condition characteristic parameters include load characteristic parameters, impact characteristic parameters, drilling efficiency characteristic parameters, and sluggish characteristic parameters; The second processing module is used to process the operating condition characteristic parameters of the drilling rig to obtain the characteristic change rate; The identification module is used to identify the current working condition type of the drilling rig based on the working condition feature parameters, and to determine the current working condition development trend of the drilling rig based on the feature change rate. The control module is used to generate a corresponding control strategy based on preset working condition information, and to perform adaptive control of the actuator of the drilling rig control box according to the control strategy; the preset working condition information includes the current working condition type, or the preset working condition information includes the current working condition type and the working condition development trend.

[0013] To address the aforementioned problems, the present invention relates to a terminal device comprising a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the aforementioned adaptive control method for drilling rig control boxes based on working condition awareness.

[0014] To address the aforementioned problems, the present invention relates to a computer-readable storage medium storing a computer program, which, when executed on a processor, implements the aforementioned adaptive control method for drilling rig control boxes based on working condition awareness.

[0015] The beneficial effects of this invention are as follows: The adaptive control method for drilling rig control box based on working condition perception of the present invention obtains working condition characteristic parameters and characteristic change rates by processing the collected raw signals; then, based on the working condition characteristic parameters and characteristic change rates, it identifies the working condition type and judges the working condition development trend, which can realize adaptive control output, ensure dynamic adjustment and active protection control of drilling rig under different coal and rock environments, and realize the safe, efficient and stable operation of drilling rig in complex coal and rock environments. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a flowchart illustrating the adaptive control method for the drilling rig control box based on working condition awareness in an embodiment of the present invention. Detailed Implementation

[0017] To make the technical objectives, technical solutions, and beneficial effects of the present invention clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention; that is, the described embodiments are merely some embodiments of the present invention, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0018] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0019] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0020] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] To overcome the limitations of fixed-parameter control methods, some improved roadheader / anchor drilling rig control systems have introduced single-parameter closed-loop feedback control mechanisms. However, these currently only involve configuring a single pressure or current sensor to collect single operating parameters such as propulsion oil pressure or motor current in real time, using these as indirect indicators of rig load changes. Their control logic typically employs a threshold-triggered strategy. However, under complex geological conditions, relying on a single operating parameter for state judgment makes it difficult to identify abnormal conditions such as stuck drill and increased impact in a timely and accurate manner, easily leading to problems such as loss of control during drilling or damage to the drill string. Furthermore, judgments based on instantaneous parameters or fixed thresholds cannot effectively identify the early development trends of abnormal conditions such as stuck drill and increased impact, resulting in a lag in control response. If the control system cannot sense and adjust operating parameters in a timely manner, it can easily lead to accelerated drill string wear, drill pipe fatigue damage, or even stuck drill accidents. To this end, this invention proposes an adaptive control method, system, and medium for drilling rig control boxes based on working condition perception. Through technologies such as real-time acquisition of multi-source operating parameters, construction of working condition characteristics, identification of working conditions and trend judgment, and adaptive control decision-making, the method enables dynamic adjustment and active protection control of the drilling rig in different coal and rock environments, thereby ensuring the safe, efficient, stable, and intelligent operation of the drilling rig in complex coal and rock environments.

[0022] The adaptive control method for drilling rig control boxes based on working condition awareness, as described in this invention, will be explained in detail below with reference to some specific embodiments. Figure 1 As shown, the adaptive control method for the drilling rig control box based on working condition awareness includes: S100: Real-time acquisition of raw signals of key operating states during drilling rig operation, and preprocessing of the raw signals to obtain corresponding signal data.

[0023] This invention uses a multi-source sensor unit to collect raw signals of key operating states during drilling rig operation in real time. The multi-source sensor unit includes pressure sensors, vibration sensors, torque sensors, and displacement sensors. For example, a pressure sensor is installed in the propulsion hydraulic circuit to detect changes in drilling load, i.e., to collect the propulsion pressure signal of the drilling rig. Vibration sensors are installed at the drill rig's power head or slide to collect vibration acceleration signals. ; Rotational torque signal The propulsion displacement signal is obtained through hydraulic pressure conversion, motor current conversion, or direct acquisition from a torque sensor. Changes in drilling footage are detected using displacement sensors or encoders. As a preferred implementation, the raw signals also include signals such as rotational speed and temperature.

[0024] In this embodiment of the invention, the preprocessing of the original signal includes filtering, smoothing, and outlier removal; the signal data obtained after preprocessing includes gyratory torque data, propulsion pressure data, acceleration data, and propulsion displacement data.

[0025] To improve the reliability and availability of critical status information, the acquired raw signals are preprocessed by filtering, isolation, amplification, and analog-to-digital conversion to reduce the impact of on-site hydraulic shock, electromagnetic interference, and mechanical vibration on signal stability.

[0026] In this embodiment of the invention, the process of preprocessing the original signal to obtain the corresponding signal data includes: 1) Perform sliding window filtering on the original signal; Specifically, a sliding window of length N (preferably N=5~10) is selected for sampling the original signal sequence. After filtering, the filtered output... .

[0027] Outlier removal is performed on the filtered original signal. To eliminate the impact of abnormal and sudden data on system judgment, this invention employs an outlier removal mechanism. Specifically, the mean is calculated within a sliding window. If the absolute value of the standard deviation between a certain value in the original signal sequence and the mean within the window is greater than a preset value (e.g., 3 times the mean), then the effective value from the previous time step or the mean of the window is used as the replacement.

[0028] 3) Smooth the original signal after the removal process; Specifically, based on sliding filtering, a first-order low-pass filter is used to smooth the signal, and its corresponding discrete form is... for: In the formula, These are the filter coefficients used to suppress high-frequency interference signals.

[0029] 4) Normalize the smoothed original signal to obtain the signal data.

[0030] This invention employs normalization processing to eliminate the influence of dimensional differences between physical quantities. Specifically, after filtering and outlier processing to obtain a smoothed signal, the normalization process takes the following form: In the formula, This represents the minimum and maximum values ​​of the filtered signal within the sliding time window ending at time k, and is a very small constant to prevent the denominator from being zero.

[0031] The original signals of the drilling rig's operating status obtained after preprocessing correspond to the propulsion pressure data. Slewing torque data Acceleration data and propulsion displacement data .

[0032] S200, based on the coupling relationship between signal data, the signal data is processed to obtain the working condition characteristic parameters of the drilling rig's operating status.

[0033] To improve the physical interpretability and engineering applicability of the features, the working condition feature parameters of the present invention are constructed based on the coupling relationship between various signal data. The resulting working condition feature parameters include load feature parameters, impact feature parameters, drilling efficiency feature parameters, and sluggish feature parameters.

[0034] In this embodiment of the invention, the slewing torque data and the propulsion pressure data are processed to obtain the load characteristic parameters, which are used to characterize the comprehensive stress state during drilling. The load characteristic parameters are: In the formula, Let k be the load characteristic parameter at time k. , This is a weighting coefficient used to adjust the degree of influence of torque and pressure on the load.

[0035] In this embodiment of the invention, the acceleration data is processed to obtain the impact characteristic parameters, which reflect the impact load intensity of the drill bit. Within a sliding window of length N, the root mean square (RMS) value reflects the vibration energy level; therefore, the RMS value is used as the impact characteristic parameter, specifically: In the formula, Let be the impact characteristic parameters at time k.

[0036] In this embodiment of the invention, the slewing torque data and the propulsion displacement signal are processed to obtain the drilling efficiency characteristic parameters, which are used to reflect the footage efficiency under unit load.

[0037] In some embodiments, the process of processing the slewing torque data and the propulsion displacement signal to obtain the drilling efficiency characteristic parameters includes: (1) The propulsion displacement signal is processed to obtain the propulsion speed signal; In some embodiments, the propulsion speed signal is determined based on the propulsion displacement signal at previous and subsequent times, and the propulsion speed signal is: In the formula, To advance the speed signal, for The displacement signal at any given moment, for The displacement signal at any given moment; This represents the sampling time interval.

[0038] (2) The propulsion speed signal of the preset time period is filtered to determine the maximum propulsion speed signal and the minimum propulsion speed signal, and the propulsion speed signal at the current moment is processed according to the maximum propulsion speed signal and the minimum propulsion speed signal to obtain the corresponding propulsion speed data; In some embodiments, the propulsion speed data is: In the formula, To advance speed data, This is the signal for maximum propulsion speed. This is the minimum propulsion speed signal.

[0039] (3) The drilling efficiency characteristic parameters are obtained by processing the propulsion speed data and the slewing torque data.

[0040] In some embodiments, the drilling efficiency characteristic parameter is: In the formula, Let be the drilling efficiency characteristic parameter at time k. It is a very small constant used to ensure that the denominator is not zero.

[0041] When drilling is in normal condition and slag removal is smooth, the propulsion speed is relatively high and the load is low. Larger torque; when drilling stalls, stuck drill bits, or abnormally high loads occur, the feed rate decreases while the torque increases, leading to... The decrease is significant, reflecting a decline in drilling efficiency.

[0042] In this embodiment of the invention, the slewing torque data, the propulsion pressure data, and the propulsion displacement signal are processed to obtain the stagnation characteristic parameters, which are used to reflect the degree of resistance of the drill bit.

[0043] In some embodiments, the process of processing the slewing torque data, the propulsion pressure data, and the propulsion displacement signal to obtain the hysteresis characteristic parameters includes: (1) The propulsion displacement signal is processed to obtain the propulsion speed signal; In some embodiments, the propulsion speed signal is determined based on the propulsion displacement signal at previous and subsequent times, and the propulsion speed signal is: In the formula, To advance the speed signal, for The displacement signal at any given moment, for The displacement signal at any given moment; This represents the sampling time interval.

[0044] (2) The propulsion speed signal of the preset time period is filtered to determine the maximum propulsion speed signal and the minimum propulsion speed signal, and the propulsion speed signal at the current moment is processed according to the maximum propulsion speed signal and the minimum propulsion speed signal to obtain the corresponding propulsion speed data; In some embodiments, the propulsion speed data is: In the formula, To advance speed data, This is the signal for maximum propulsion speed. This is the minimum propulsion speed signal.

[0045] (3) The propulsion speed data, the propulsion pressure data, and the slewing torque data are processed to obtain the stagnation characteristic parameters; In some embodiments, the retardation characteristic parameters are: In the formula, Let be the hindrance characteristic parameter at time k.

[0046] When the drilling process encounters an increase in torque, an increase in propulsion pressure, and a decrease in propulsion speed, this invention... Significantly increased.

[0047] S300, the operating condition characteristic parameters of the drilling rig are processed to obtain the characteristic change rate.

[0048] In this embodiment of the invention, in order to determine the trend of working condition evolution, the characteristic parameters of the working condition are discretely changed to obtain the corresponding characteristic change rate, which includes the load change rate, impact change rate, drilling efficiency change rate and stagnation change rate.

[0049] Load change rate The calculation is as follows: Impact change rate The calculation is as follows: Drilling efficiency change rate The calculation is as follows: rate of change of stagnation The calculation is as follows: The characteristic rate of change of this invention can be used to determine the changing trend of operating conditions, serving as a basis for early intervention and control.

[0050] S400, identify the current working condition type of the drilling rig based on the working condition characteristic parameters, and determine the current working condition development trend of the drilling rig based on the characteristic change rate.

[0051] In this embodiment of the invention, the process of identifying the current working condition type of the drilling rig based on the working condition characteristic parameters includes: When the load characteristic parameter is less than or equal to the second load threshold, the impact characteristic parameter is less than or equal to the second impact threshold, and the drilling efficiency characteristic parameter is greater than or equal to the first efficiency threshold, the current working condition is identified as a soft coal seam working condition. When the load characteristic parameter is greater than the second load threshold and less than or equal to the first load threshold, the impact characteristic parameter is less than or equal to the first impact threshold, and the drilling rig efficiency parameter is greater than the second efficiency threshold and less than the first efficiency threshold, the current working condition is identified as normal drilling working condition. When the load characteristic parameter is greater than the first load threshold, the impact characteristic parameter is greater than the first impact threshold, and the drilling rig efficiency parameter is less than or equal to the second efficiency threshold, the current working condition is identified as hard rock or interbedded rock working condition. When the load characteristic parameter is greater than the first load threshold, the drilling rig efficiency parameter is less than or equal to the second efficiency threshold, and the stagnation characteristic parameter is greater than the stagnation threshold, the current working condition is identified as a stuck drill condition. Among them, the first load threshold is greater than the second load threshold, the first impact threshold is greater than the second impact threshold, and the first efficiency threshold is greater than the second efficiency threshold.

[0052] To more clearly understand the current drilling status and identify the working conditions, different identifiers are used to represent the working condition characteristic parameters and different thresholds are defined.

[0053] For example, the identifier for the operating condition characteristic parameter is represented as: the load characteristic parameter is The impact characteristic parameters are The drilling rig efficiency parameters are: The lag characteristic parameters are .

[0054] For example, the different thresholds are defined as follows: the high load threshold is specifically defined as the first load threshold. The low load threshold is specifically defined as the second load threshold. It is used to distinguish between soft coal seams, normal drilling, and high-load conditions in hard rock; the high impact threshold is specifically defined as the first impact threshold. The low impact threshold is specifically defined as the second impact threshold. It is used to determine the vibration and impact intensity during the drilling process; the high-efficiency threshold is specifically defined as the first efficiency threshold. The low efficiency threshold is specifically defined as the second efficiency threshold. Used to characterize the drilling rig's advance capability under unit load; retardation threshold This is used to characterize the resistance during the drilling process. When the resistance exceeds this threshold, it indicates that the resistance to the drill bit's advance has increased significantly, and the drill rig is at risk of getting stuck.

[0055] Specifically, when , and When the cutting resistance of the drill bit is low, the vibration and impact are weak, and the drilling efficiency is high, that is, the cutting resistance is low and the advance is smooth, the current working condition is determined to be a soft coal seam working condition.

[0056] Specifically, when , and When the drilling process is stable, the impact is small, and the propulsion status is normal, it indicates that the operation is stable and the status is good. Therefore, the current working condition is determined to be a normal drilling condition.

[0057] Specifically, when , and When the temperature rises, it indicates that the cutting resistance of the drill bit has increased significantly and is accompanied by enhanced impact vibration, that is, the rock breaking resistance is large and the load is increased. Therefore, it is determined that the current working condition is hard rock or interbedded rock.

[0058] Specifically, when , and This indicates that the drill bit is obstructed, the drilling speed is reduced, and the drilling resistance is significantly increased. In other words, the drill bit is obstructed and there is a risk of stuck drill bit. Therefore, the current working condition is determined to be a stuck drill bit condition.

[0059] This invention classifies and identifies the current drilling state based on the combination of characteristic parameters. It comprehensively judges the current drilling condition according to different value ranges of load characteristics, impact characteristics, and drilling efficiency characteristics.

[0060] In this embodiment of the invention, determining the development trend of the working condition based on the characteristic change rate includes: When the load change rate is greater than the first trend threshold, it is determined that there is a trend of load deterioration in drilling. When the rate of change of impact is greater than the second trend threshold, it is determined that the drilling rig has an increasing trend of impact. When the rate of change of resistance is greater than the third trend threshold and the rate of change of drilling efficiency is less than the fourth trend threshold, it is determined that there is a trend of stuck drill in the drilling process.

[0061] For example, when the load change rate Greater than the first trend threshold When the impact rate changes, it indicates that the drilling load is continuously increasing, and the system determines that the drilling rig is experiencing a deteriorating load trend; Greater than the second trend threshold When this occurs, it indicates that the impact load on the drilling rig is continuously increasing, and the system determines that the drilling rig has an increasing impact trend; when the rate of change of resistance... Greater than the third trend threshold And the rate of change in drilling efficiency Less than the fourth trend threshold When this occurs, it indicates that the drill bit is experiencing further obstruction. The system determines that the drilling rig is trending towards stuck drill bit and proactively activates active unloading, load reduction protection, and low-speed drill retraction control. The first trend threshold is... The first threshold is the critical threshold for the rate of change of load, used to characterize whether the drilling load experiences an abnormally rapid increase or a sudden increase in load; the second trend threshold is... The third trend threshold is the critical threshold for the rate of change of impact, used to characterize whether the impact load on the drilling rig experiences a rapid increase or abrupt change in impact; The critical threshold for the rate of change of resistance is used to characterize whether the degree of resistance to the drill bit has significantly worsened or whether the resistance has rapidly intensified; the fourth trend threshold. It is the critical threshold for the rate of change of drilling efficiency, used to characterize whether drilling efficiency has decreased significantly or experienced a sudden drop in efficiency.

[0062] S500, generate a corresponding control strategy based on preset working condition information, and perform adaptive control on the actuator of the drilling rig control box according to the control strategy; the preset working condition information includes the current working condition type, or the preset working condition information includes the current working condition type and the working condition development trend.

[0063] In this embodiment of the invention, the control strategy includes propulsion speed, rotation speed, and output torque. The actuators include a propulsion proportional valve, a rotation proportional valve, and a pressure control proportional valve, as well as alarm lights, horns, etc.

[0064] In some embodiments, after identifying the operating condition type of the drilling rig, the control system automatically generates a control strategy based on the identified operating condition type. That is, for normal drilling conditions, the system maintains the drilling rig operating within the rated working range; for soft coal seam conditions, the system increases the advance speed and rotation speed to improve drilling efficiency; for hard rock or interbedded rock conditions, the system reduces the advance speed and increases the output torque, so that the drilling rig operates in a low-speed, high-torque state.

[0065] Specifically, when the drilling rig is in normal drilling condition, the generated control strategy is "stabilize the drilling rig, prioritize efficiency" to maintain the drilling rig operating within its rated operating range. For example, if the drilling rig is in normal drilling condition, it means the load is normal, the impact is low, and the efficiency is normal, i.e., the operation is stable and the drilling rig is in good condition; then the control strategy is as follows: the feed speed is controlled at 0.8 to 1 times the preset speed, the slewing speed is controlled at 0.9 to 1 times the preset speed, and the output torque is controlled at 0.7 to 0.9 times the preset torque.

[0066] Specifically, when the drilling rig is operating in a soft coal seam condition, the generated control strategy is "rapid advancement and smooth slag removal" to improve drilling efficiency. For example, a soft coal seam condition indicates low load, low impact, and high efficiency, meaning low cutting resistance and smooth advancement; therefore, the control strategy is as follows: the advancement speed is controlled at 0.9 to 1.2 times the preset speed, the slewing speed is controlled at 1 to 1.2 times the preset speed, and the output torque is controlled at 0.5 to 0.7 times the preset torque.

[0067] Specifically, when the drilling rig is operating in hard rock or interbedded rock conditions, the generated control strategy is "speed reduction and torque increase, vibration reduction and buffering" to keep the drilling rig in a low-speed, high-torque operating state. For example, operating in hard rock or interbedded rock conditions indicates high load, high impact, and low efficiency, meaning high rock-breaking resistance and increased load. The control strategy is as follows: the feed speed is controlled at 0.3 to 0.5 times the preset speed, the slewing speed is controlled at 0.6 to 0.8 times the preset speed, and the output torque is controlled at 0.9 to 1.1 times the preset torque. The system achieves low-speed, high-torque rock-breaking control by reducing the feed and slewing speeds and increasing the hydraulic motor output pressure.

[0068] Specifically, when the drilling rig is in a stuck drill condition, the generated control strategy is "active unloading and reverse unloading" to loosen the drill string and release the obstruction. For example, a stuck drill condition indicates strong obstruction and extremely low efficiency, meaning the drilling is hindered and there is a risk of stuck drill bit. The control strategy is as follows: the feed speed is controlled at -0.2 to -0.1 times the preset speed, the slewing speed is controlled at 0.5 to 0.7 times the preset speed, and the output torque is controlled at 0.6 to 0.8 times the preset torque. By reducing the feed pressure and implementing low-speed reverse unloading control, the drill string is loosened and the obstruction is released.

[0069] In some preferred embodiments, after identifying the type of working condition, the control system further generates an adaptive control strategy based on the trend of the working condition. Based on the current working condition of the drilling rig, for trends such as worsening load, increased impact, and stuck drill bit development, the system proactively implements load reduction, vibration damping, or active unloading control to prevent further deterioration of the working condition.

[0070] Specifically, when the drilling rig is operating in hard rock or interbedded rock conditions (high load, high impact), the control strategy is determined based on the trend of the operating conditions. If the trend is towards worsening load, the generated control strategy is "pre-load reduction and smooth drilling" to prevent further deterioration of the drilling load. For example, the feed rate is controlled at 0.5 to 0.8 times the preset speed, the slewing speed at 0.8 to 1 times the preset speed, and the output torque at 0.8 to 1 times the preset torque. That is, by appropriately reducing the feed rate, the rate of increase in the drill bit cutting load is slowed, preventing further deterioration of the drilling load.

[0071] Specifically, when the drilling rig is operating in hard rock or interbedded rock conditions (high load, high impact), the control strategy is determined based on the trend of the operating conditions. If the trend is towards increased impact, the generated control strategy is "vibration damping and shock suppression" to reduce the impact of vibration and impact on the drill bit and hydraulic system. For example, the feed rate is controlled at 0.4 to 0.7 times the preset speed, the slewing speed at 0.6 to 0.8 times the preset speed, and the output torque at 0.8 to 1 times the preset torque. By reducing the feed rate and slewing speed, the impact intensity between the drill bit and the rock formation is reduced, thus minimizing the impact of vibration and impact on the drill bit and hydraulic system.

[0072] Specifically, when the drilling rig is in a stuck drill condition, the system further assesses the situation based on the trend of the stuck drill condition. If the trend is towards a stuck drill condition, the generated control strategy is "active unloading and anti-sticking protection" to prevent actual stuck drill failure. For example, the feed speed is controlled at 0.1 to 0.3 times the preset speed, the slewing speed at 0.3 to 0.5 times the preset speed, and the output torque at 0.6 to 0.8 times the preset torque. By rapidly reducing the feed load and slewing load, the stress on the drill bit is released in advance. When the resistance characteristics continue to worsen, the system automatically initiates low-speed drill retraction control to prevent actual stuck drill failure.

[0073] In this embodiment, the control strategy generated by working condition identification (static state) and trend discrimination (dynamic trend) can realize dynamic and continuous adjustment of propulsion speed, slewing speed and output torque.

[0074] The control strategy of the control system of this invention generates corresponding propulsion control commands, rotation control commands, and torque control commands, and further converts them into corresponding PWM output signals to control the hydraulic proportional valves, hydraulic motors, and other actuators controlled by the drilling rig. Specifically, for different PWM output ranges corresponding to the same control strategy, the control system dynamically adjusts the PWM duty cycle according to the current working condition, thereby controlling the opening of the hydraulic proportional valve, the input flow of the hydraulic motor, and the system working pressure, achieving adaptive adjustment of propulsion speed, rotation speed, and output torque. When the control strategy requires increasing the propulsion speed or rotation speed, the system correspondingly increases the PWM output; when the control strategy requires decreasing the propulsion speed, limiting impact, or reducing the load, the corresponding PWM output decreases. For hard rock, high load, and other working conditions, the control system increases the pressure control PWM output to increase the hydraulic system working pressure, thereby increasing the drilling rig output torque; for conditions with increased impact or stuck drill, the PWM is limited from further increasing, and the PWM output is reduced when necessary to achieve load reduction protection. At the same time, to improve control stability, the PWM output adopts a continuous gradual adjustment mode to avoid hydraulic shock, pressure fluctuations, and mechanical vibration caused by sudden PWM changes.

[0075] This invention achieves real-time adjustment of propulsion speed, rotational speed, and output torque by dynamically regulating the proportional valve opening, hydraulic flow, and system pressure. To improve control stability, the PWM output adopts a continuous gradual adjustment method and is equipped with minimum effective drive compensation to prevent the proportional valve from failing to operate due to excessively low duty cycle, while also reducing hydraulic shocks and mechanical vibrations caused by sudden PWM changes. Furthermore, during control execution, the operating status of the hydraulic actuator is continuously fed back to the control system, forming a closed-loop control. When the system detects conditions such as excessive pressure, abnormally increased vibration, abnormal motor current, or excessively high temperature, it automatically activates a safety protection mechanism, including limiting PWM output, reducing propulsion speed, stopping propulsion, automatic drill retraction, or fault alarms, thereby ensuring safe equipment operation.

[0076] The adaptive control method for drilling rig control boxes based on working condition awareness, as described in this invention, has the following advantages: 1) By constructing characteristic parameters of working conditions such as load, impact, drilling efficiency and resistance, a comprehensive characterization of drilling status can be achieved. Compared with the traditional single-parameter detection method, it can more accurately identify drilling conditions under complex formation conditions. 2) Based on the characteristic change rate, the working condition trend discrimination mechanism can identify the development trend of stuck drill and the trend of increased impact in advance, realize early warning of abnormal working conditions, and implement active unloading, shock absorption and reverse de-resistance control mechanisms for different abnormal working conditions, thereby improving the safety of drilling rig operation.

[0077] 3) Dynamically adjust propulsion speed, slewing speed and output torque according to different working conditions to achieve multi-parameter collaborative adaptive control. Compared with fixed parameter control, it has better working condition adaptability and control stability.

[0078] This invention achieves intelligent dynamic adjustment of drilling rigs in complex coal and rock environments through multi-source working condition perception, working condition trend recognition, and multi-parameter collaborative adaptive control, thereby improving drilling stability, equipment safety, and the service life of drilling tools.

[0079] The present invention also provides an adaptive control system for a drilling rig control box based on working condition perception, characterized in that it includes a signal acquisition module, a first processing module, a second processing module, an identification module and a control module; The signal acquisition module is used to acquire raw signals of key operating states during the drilling rig operation in real time, and to preprocess the raw signals to obtain corresponding signal data. The first processing module is used to process the signal data based on the coupling relationship between the signal data to obtain the operating condition characteristic parameters of the drilling rig's operating status; the operating condition characteristic parameters include load characteristic parameters, impact characteristic parameters, drilling efficiency characteristic parameters, and sluggish characteristic parameters; The second processing module is used to process the operating condition characteristic parameters of the drilling rig to obtain the characteristic change rate; The identification module is used to identify the current working condition type of the drilling rig based on the working condition feature parameters, and to determine the current working condition development trend of the drilling rig based on the feature change rate. The control module is used to generate a corresponding control strategy based on preset working condition information, and to perform adaptive control of the actuator of the drilling rig control box according to the control strategy; the preset working condition information includes the current working condition type, or the preset working condition information includes the current working condition type and the working condition development trend.

[0080] It is understood that the system in this embodiment corresponds to the adaptive control method of the drilling rig control box based on working condition perception in the above embodiment. The options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0081] The adaptive control system of the drilling rig control box based on working condition perception adopts a closed-loop control structure of "perception-analysis-decision-execution-feedback". Through real-time acquisition of multi-source operating parameters, construction of working condition characteristics, identification of working conditions and trend judgment, and adaptive control output, the drilling rig can achieve dynamic adjustment and active protection control in different coal and rock environments.

[0082] This application also provides a terminal device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the terminal device to perform the above-described adaptive control method for the drilling rig control box based on working condition awareness.

[0083] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0084] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). The memory stores computer programs, and the processor, upon receiving execution instructions, can execute the computer programs accordingly.

[0085] This application also provides a computer-readable storage medium for storing the computer program used in the aforementioned terminal device. For example, the computer-readable storage medium may include, but is not limited to, 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.

[0086] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0087] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0088] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0089] Finally, it should be noted that the above embodiments are only for illustration and not for limiting the technical solutions of the present invention. Any equivalent substitutions, modifications or partial substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An adaptive control method for a drilling rig control box based on working condition awareness, characterized in that, include: The raw signals of key operating states during the drilling rig operation are acquired in real time, and the raw signals are preprocessed to obtain the corresponding signal data. Based on the coupling relationship between signal data, the signal data is processed to obtain the operating condition characteristic parameters of the drilling rig; the operating condition characteristic parameters include load characteristic parameters, impact characteristic parameters, drilling efficiency characteristic parameters, and sluggish characteristic parameters. The characteristic change rate is obtained by processing the operating condition characteristic parameters of the drilling rig. The current working condition type of the drilling rig is identified based on the working condition characteristic parameters, and the current working condition development trend of the drilling rig is judged based on the characteristic change rate. A corresponding control strategy is generated based on preset working condition information, and the actuator of the drilling rig control box is adaptively controlled according to the control strategy. The preset working condition information includes the current working condition type, or the preset working condition information includes the current working condition type and the working condition development trend.

2. The adaptive control method for drilling rig control box based on working condition awareness according to claim 1, characterized in that, The preprocessing of the original signal to obtain the corresponding signal data includes: filtering, smoothing and outlier removal; the preprocessed signal data includes gyratory torque data, propulsion pressure data, acceleration data and propulsion displacement data.

3. The adaptive control method for drilling rig control box based on working condition awareness according to claim 2, characterized in that, The process of processing the signal data to obtain the operating condition characteristic parameters of the drilling rig includes: The load characteristic parameters are obtained by processing the slewing torque data and the propulsion pressure data. The impact characteristic parameters are obtained by processing the acceleration data; The drilling efficiency characteristic parameters are obtained by processing the slewing torque data and the propulsion displacement signal. The slewing torque data, the propulsion pressure data, and the propulsion displacement signal are processed to obtain the sluggish characteristic parameters.

4. The adaptive control method for drilling rig control box based on working condition awareness according to claim 3, characterized in that, The process of processing the slewing torque data and propulsion displacement signal to obtain the drilling efficiency characteristic parameters includes: The propulsion displacement signal is processed to obtain the propulsion speed signal; The propulsion speed signals within a preset time period are filtered to determine the maximum and minimum propulsion speed signals; The propulsion speed signal at the current moment is processed based on the maximum propulsion speed signal and the minimum propulsion speed signal to obtain the corresponding propulsion speed data; The drilling efficiency characteristic data are obtained by processing the propulsion speed data and the slewing torque data.

5. The adaptive control method for drilling rig control box based on working condition awareness according to claim 3, characterized in that, The process of processing the slewing torque data, the propulsion pressure data, and the propulsion displacement signal to obtain the hysteresis characteristic parameters includes: The propulsion displacement signal is processed to obtain the propulsion speed signal; The propulsion speed signals within a preset time period are filtered to determine the maximum and minimum propulsion speed signals; The propulsion speed signal at the current moment is processed based on the maximum propulsion speed signal and the minimum propulsion speed signal to obtain the corresponding propulsion speed data; The drag characteristic data is obtained by processing the propulsion speed data, the propulsion pressure data, and the slewing torque data.

6. The adaptive control method for drilling rig control box based on working condition awareness according to claim 1, characterized in that, The characteristic change rates include load change rate, impact change rate, drilling efficiency change rate, and resistance change rate.

7. The adaptive control method for drilling rig control box based on working condition awareness according to claim 1, characterized in that, The types of working conditions of drilling rigs include soft coal seam conditions, hard rock or gangue interbedded conditions, normal drilling rig conditions, and stuck drill conditions. The operating conditions of drilling rigs are trending towards worsening load, increased impact, and stuck drill bit development.

8. An adaptive control system for a drilling rig control box based on working condition perception, characterized in that, It includes a signal acquisition module, a first processing module, a second processing module, an identification module, and a control module; The signal acquisition module is used to acquire raw signals of key operating states during the drilling rig operation in real time, and to preprocess the raw signals to obtain corresponding signal data. The first processing module is used to process the signal data based on the coupling relationship between the signal data to obtain the operating condition characteristic parameters of the drilling rig's operating status; the operating condition characteristic parameters include load characteristic parameters, impact characteristic parameters, drilling efficiency characteristic parameters, and sluggish characteristic parameters; The second processing module is used to process the operating condition characteristic parameters of the drilling rig to obtain the characteristic change rate; The identification module is used to identify the current working condition type of the drilling rig based on the working condition feature parameters, and to determine the current working condition development trend of the drilling rig based on the feature change rate. The control module is used to generate a corresponding control strategy based on preset working condition information, and to perform adaptive control of the actuator of the drilling rig control box according to the control strategy. The preset working condition information includes the current working condition type, or the preset working condition information includes the current working condition type and the working condition development trend.

9. A terminal device, characterized in that, The terminal device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the adaptive control method for the drilling rig control box based on working condition awareness as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed on a processor, implements the adaptive control method for the drilling rig control box based on working condition awareness according to any one of claims 1-7.

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