JDD-100型城市地质调查钻机电液比例自动钻进系统研究
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摘要
自动化、智能化、信息化是未来钻机的发展方向。具有自动钻进功能的钻机可控性好,负载适应能力强,钻进效率高,钻进事故少。
对JDD-100型城市地质调查钻机液压回路与液压元件选型进行了深入地分析。在此基础上,为了实现钻机自动钻进功能,设计了钻机电液比例控制液压系统。为实现钻机的自动钻进打下良好的基础。
自动钻进系统对钻压、转速、泵压、孔深、钻速、孔底钻进力等钻进规程参数实时检测,使操作人员随时掌握钻机运行情况。同时对钻压、转速进行闭环反馈控制,达到使用最佳钻进规程参数钻进的目的。
钻机自动识别地层是自动钻进的重要环节,如何准确地识别地层尤为关键。通过分析钻进规程参数之间的内在关系,建立了自动识别地层模型。以该模型为标准,在不同的地层中,自动钻进控制系统可自动调整钻进规程参数,与该地层钻探负载相适应,实现最优化钻进。
钻机工作环境恶劣,采用工业计算机、可编程控制器等元件设计了钻机自动钻进控制系统。增强了自动钻进系统抗冲击振动能力与工作可靠性。采用组态软件设计了钻机自动钻进控制界面,操作简便。
对钻机自动钻进闭环控制系统进行仿真分析,研究了控制系统的动态特性。最后通过试验验证了钻机钻进参数检测系统与钻进参数闭环反馈控制系统,为JDD-100型城市地质调查钻机自动钻进系统提供了充分的理论支持与良好的技术保障。
Information technology, automation, intelligent is the direction of development of drilling rig. At present, most of the geological drilling rig used in our country are the traditional vertical-type drilling rig, the small part are the full-hydraulic drilling rigs, although some drilling rigs have been drilling parameter monitoring implementation of the function, but the overall level of automation is still relatively backward.
The proportion of electro-hydraulic technology is put into drilling rig design, so that drilling rigs automatically become possible. Electric-hydraulic proportional control technology is a new type of electro-hydraulic control technology based on the switch control and electro-hydraulic servo control. As the connection of modern microelectronic technology and power engineering control equipment, electric -hydraulic proportional control technology has become one of the basic technical components of the modern control engineering.
with the traditional electro-hydraulic servo technology it has the obvious advantages of reliable, energy-efficient and cheap. It need not clean the oil strictly and maintenants conveniencely.
Electro-hydraulic proportional technology can significantly streamline the rig hydraulic system and control the complexity of program implementation. Input signal rig control body changes in the law as scheduled, through the multi-channel parallel control rigs drilling parameters for drilling rigs in proportion to adjust the speed of rotation system and give the power into system. Simultaneously the drilling parameters as detect speed, penetration rate, giving force, torque and pump pressure. This feature greatly improved performance and rig control interoperability, simplified the rig hydraulic system, improve the reliability of the hydraulic system. Electro-hydraulic proportional control system can not only achieve long-distance on the drilling rig but also be wired to control implementation of wireless remote control, which the operators do not work in dangerous areas, improve the safety performance of the rig. Through the electro-hydraulic proportional control, hydraulic valves can be arranged at the most suitable location which is very beneficial to reduce the hydraulic losses and improve pipeline and improve the flexibility of the rig design. Through closed-loop feedback control, it can improve control accuracy or achieve specific control objectives using feedback. Acquisition of drilling rig in accordance with the parameters automatically determine the formation changes in power the first motor and give into the fuel tank, such as executing agency output speed, give into force and the formation drilling parameter to determine the default value the same or similar. Electric-hydraulic proportional control technology improves the control accuracy of the drilling rig order parameters to precise the implementation of the drilling rig and drilling optimization.
The paper introduces hydraulic regulator and speed control by the main executing agency as drilling and rotary. In response to these characteristics of an analysis of hydraulic circuit, the selection of suitable electro-hydraulic proportional control of the rig to power into the voltage regulator circuit and the first governor loop. Electro-hydraulic proportional variable pump pressure regulator and long stroke double-acting hydraulic cylinder regulator agencies rig components, pressure can be adjusted automatically in accordance with procedures and at the same time to flow into the load changes in accordance with adjustments to the implementation of the stress into the automatic control, high-performance energy.Through the simulation analysis, the stress to the EC regulation into line, the system smaller overshoot, shorter response time, system stability. Electro-hydraulic proportional variable displacement pump controls head power hydraulic motor rotating speed component agencies. Variable displacement pump with the automatic adjustment procedures to control the pump output flow of power to control the speed of hydraulic motor head, power the first implementation of automatic control speed. At the same time can also be dual-hydraulic motor in series, parallel connection speed the first power conditioning. Drilling load hours, the first required power high-speed, low torque, through the dual-hydraulic motor in series to obtain the first high-speed power. Into the load when the required low-speed power heads, high-torque, hydraulic motors through the parallel to obtain large torque. Load through the simulation analysis, parameters such as moment of inertia of a mutation, the job rotation system stability, anti-interference ability. Back to convert to the system the impact of small, quick to respond.
Hydraulic system is the most critical part in the all hydraulic rig. Through these analysis, in order to achieve the automatic drilling rig features we designed JDD-100 hydraulic drilling MWD hydraulic proportional control system. The rig has these drilling functions such as rotary, impact, static pressure and vibration. In addition to the boring routine tasks it can also be used to cone penetration power, formation density, resistivity and other geophysical parameters of the mission MWD. The rig has many executing agencies, the agencies act complexly and frequently.The Multi-function rigs request the better hydraulic system. The use of electro-hydraulic proportional control technology, electric-hydraulic proportional pressure regulator pump, electro-hydraulic proportional displacement pump adjustment and accurate control of the rig into rotary motion of the key institutions can achieve the goal of the best drilling and automatic drilling.Not only through the variable pump to change the speed of drilling, but also we can achieve the first rapid advance and retreat with the rapid turn motion, fully improve the utilization rate of each pump to increase the drilling efficiency through the merging of pump power. It cost savings and simplifies the system architecture by adopting gear pump-driven to other implementing agencies.
The core of automatic drilling is the ability to automatically identify formation in rigs, how to identify formation is the key point. Through the analysis of the intrinsic relationship in drilling parameters, we establish the automatic identify formation model and the automatic identify formation model method. In the drilling process, drilling rigs automatic control system collects and analysis the drilling parameters to automatically identify the stratigraphic model for the standard to determine whether a change in strata. If the strata didn’t change, continued using the current drilling parameters. If the strata changed, the rig's automatic control system would adjust the drilling parameters according to Lithology so adapt the lithology and optimize drilling. Through the identification of existing formation models, a specific work-Logistic regression model is seted up. The formation will be divided into soil formation, loose layer and rock calculate, these three stratigraphic range by formula. Through the power which calculated by the drilling parameters automatic control system collected, we determine the current formation in the range of reactive power.Also the formation will be divided into soil formation, loose layer and rock by Logistic regression model.Through the acquisition of the drilling parameter calculate the probability belong to the current lithology.Make sure the largest provisions of the probability of the formation for the current drilling. But sometimes the probability calculated is relatively small, it is difficult to judge and identify the lithology. Therefore make the following provisions, when the probability is more than or equal to 0.8, we can determine the probability of the current lithology for the biggest lithology.If the probability of three types of lithology are less than 0.8, the system automatically switches to the model than reactive, in accordance with calculated values to determine rock than reactive, that is, than the reactive-Logistic regression model.
The control system and the mathematical model are built.Through the simulation software, simulation analysis is made, add PID control algorithm into control system simulation model.Rig control systems for drilling are testing the parameters of PID control algorithms to provide a reference setting.
In establishing a stratigraphic model of automatic identification, we design a rig control system for automatic control of drilling programs.Pressure sensors, Hall-speed sensors, rotary encoder sensor to capture nine give into pressure from the import and export power the first hydraulic motor bad stress, speed, penetration rate and pump pressure signal, passed to the PLC of the AD converter module with signal processing. Through the configuration software, the drilling parameters in real-time industrial computer screen shows up. In order to keep abreast of the situation and determine, used to detect the import and export of the stress to the fuel tank into the first hydraulic motor and the power to calculate the import and export pressure into force and power to the first torque, with the penetration rate, rotational speed is calculated with the adoption of PLC to identify the size of numerical stratigraphic model to determine Change formation. And adjust pressure and speed of drilling, to enable them to determine the stratigraphy and to adapt to achieve optimum drilling.PLC through WOB PID algorithm with closed-loop feedback control of speed, so that pressure and speed of drilling and consistent default to the purpose of precision drilling.Rig has manual control and automatic switching function.When we do not need drill automatically or the automatic control system into a temporary failure, we can be manually operated drilling rigs, improve the reliability of the rig.While Drilling, we will face the collapse of holes, such as sticking with unexpected incidents, in order to protect against damage, the control system has automatic alarm device. Torque as a reference to the volume, when the detection system to detect the torque of the drilling rig is greater than the maximum torque set value, issued a warning alarm, automatic control system at the same time cut the proportion of electro-hydraulic variable displacement pump and adjust the ratio of electro-hydraulic pressure variable pump power adjustment so that the output variable pump flow and pressure to zero, the executing agency for the protection of rig.
Finally, the drilling parameters detection system and drilling parameters closed-loop feedback control system were built. The experiments were done for automatic drilling syetem of the JDD-100 MWD rig. These supplied for theoretical basis and technical support for the study of automatic drilling control system.
对JDD-100型城市地质调查钻机液压回路与液压元件选型进行了深入地分析。在此基础上,为了实现钻机自动钻进功能,设计了钻机电液比例控制液压系统。为实现钻机的自动钻进打下良好的基础。
自动钻进系统对钻压、转速、泵压、孔深、钻速、孔底钻进力等钻进规程参数实时检测,使操作人员随时掌握钻机运行情况。同时对钻压、转速进行闭环反馈控制,达到使用最佳钻进规程参数钻进的目的。
钻机自动识别地层是自动钻进的重要环节,如何准确地识别地层尤为关键。通过分析钻进规程参数之间的内在关系,建立了自动识别地层模型。以该模型为标准,在不同的地层中,自动钻进控制系统可自动调整钻进规程参数,与该地层钻探负载相适应,实现最优化钻进。
钻机工作环境恶劣,采用工业计算机、可编程控制器等元件设计了钻机自动钻进控制系统。增强了自动钻进系统抗冲击振动能力与工作可靠性。采用组态软件设计了钻机自动钻进控制界面,操作简便。
对钻机自动钻进闭环控制系统进行仿真分析,研究了控制系统的动态特性。最后通过试验验证了钻机钻进参数检测系统与钻进参数闭环反馈控制系统,为JDD-100型城市地质调查钻机自动钻进系统提供了充分的理论支持与良好的技术保障。
Information technology, automation, intelligent is the direction of development of drilling rig. At present, most of the geological drilling rig used in our country are the traditional vertical-type drilling rig, the small part are the full-hydraulic drilling rigs, although some drilling rigs have been drilling parameter monitoring implementation of the function, but the overall level of automation is still relatively backward.
The proportion of electro-hydraulic technology is put into drilling rig design, so that drilling rigs automatically become possible. Electric-hydraulic proportional control technology is a new type of electro-hydraulic control technology based on the switch control and electro-hydraulic servo control. As the connection of modern microelectronic technology and power engineering control equipment, electric -hydraulic proportional control technology has become one of the basic technical components of the modern control engineering.
with the traditional electro-hydraulic servo technology it has the obvious advantages of reliable, energy-efficient and cheap. It need not clean the oil strictly and maintenants conveniencely.
Electro-hydraulic proportional technology can significantly streamline the rig hydraulic system and control the complexity of program implementation. Input signal rig control body changes in the law as scheduled, through the multi-channel parallel control rigs drilling parameters for drilling rigs in proportion to adjust the speed of rotation system and give the power into system. Simultaneously the drilling parameters as detect speed, penetration rate, giving force, torque and pump pressure. This feature greatly improved performance and rig control interoperability, simplified the rig hydraulic system, improve the reliability of the hydraulic system. Electro-hydraulic proportional control system can not only achieve long-distance on the drilling rig but also be wired to control implementation of wireless remote control, which the operators do not work in dangerous areas, improve the safety performance of the rig. Through the electro-hydraulic proportional control, hydraulic valves can be arranged at the most suitable location which is very beneficial to reduce the hydraulic losses and improve pipeline and improve the flexibility of the rig design. Through closed-loop feedback control, it can improve control accuracy or achieve specific control objectives using feedback. Acquisition of drilling rig in accordance with the parameters automatically determine the formation changes in power the first motor and give into the fuel tank, such as executing agency output speed, give into force and the formation drilling parameter to determine the default value the same or similar. Electric-hydraulic proportional control technology improves the control accuracy of the drilling rig order parameters to precise the implementation of the drilling rig and drilling optimization.
The paper introduces hydraulic regulator and speed control by the main executing agency as drilling and rotary. In response to these characteristics of an analysis of hydraulic circuit, the selection of suitable electro-hydraulic proportional control of the rig to power into the voltage regulator circuit and the first governor loop. Electro-hydraulic proportional variable pump pressure regulator and long stroke double-acting hydraulic cylinder regulator agencies rig components, pressure can be adjusted automatically in accordance with procedures and at the same time to flow into the load changes in accordance with adjustments to the implementation of the stress into the automatic control, high-performance energy.Through the simulation analysis, the stress to the EC regulation into line, the system smaller overshoot, shorter response time, system stability. Electro-hydraulic proportional variable displacement pump controls head power hydraulic motor rotating speed component agencies. Variable displacement pump with the automatic adjustment procedures to control the pump output flow of power to control the speed of hydraulic motor head, power the first implementation of automatic control speed. At the same time can also be dual-hydraulic motor in series, parallel connection speed the first power conditioning. Drilling load hours, the first required power high-speed, low torque, through the dual-hydraulic motor in series to obtain the first high-speed power. Into the load when the required low-speed power heads, high-torque, hydraulic motors through the parallel to obtain large torque. Load through the simulation analysis, parameters such as moment of inertia of a mutation, the job rotation system stability, anti-interference ability. Back to convert to the system the impact of small, quick to respond.
Hydraulic system is the most critical part in the all hydraulic rig. Through these analysis, in order to achieve the automatic drilling rig features we designed JDD-100 hydraulic drilling MWD hydraulic proportional control system. The rig has these drilling functions such as rotary, impact, static pressure and vibration. In addition to the boring routine tasks it can also be used to cone penetration power, formation density, resistivity and other geophysical parameters of the mission MWD. The rig has many executing agencies, the agencies act complexly and frequently.The Multi-function rigs request the better hydraulic system. The use of electro-hydraulic proportional control technology, electric-hydraulic proportional pressure regulator pump, electro-hydraulic proportional displacement pump adjustment and accurate control of the rig into rotary motion of the key institutions can achieve the goal of the best drilling and automatic drilling.Not only through the variable pump to change the speed of drilling, but also we can achieve the first rapid advance and retreat with the rapid turn motion, fully improve the utilization rate of each pump to increase the drilling efficiency through the merging of pump power. It cost savings and simplifies the system architecture by adopting gear pump-driven to other implementing agencies.
The core of automatic drilling is the ability to automatically identify formation in rigs, how to identify formation is the key point. Through the analysis of the intrinsic relationship in drilling parameters, we establish the automatic identify formation model and the automatic identify formation model method. In the drilling process, drilling rigs automatic control system collects and analysis the drilling parameters to automatically identify the stratigraphic model for the standard to determine whether a change in strata. If the strata didn’t change, continued using the current drilling parameters. If the strata changed, the rig's automatic control system would adjust the drilling parameters according to Lithology so adapt the lithology and optimize drilling. Through the identification of existing formation models, a specific work-Logistic regression model is seted up. The formation will be divided into soil formation, loose layer and rock calculate, these three stratigraphic range by formula. Through the power which calculated by the drilling parameters automatic control system collected, we determine the current formation in the range of reactive power.Also the formation will be divided into soil formation, loose layer and rock by Logistic regression model.Through the acquisition of the drilling parameter calculate the probability belong to the current lithology.Make sure the largest provisions of the probability of the formation for the current drilling. But sometimes the probability calculated is relatively small, it is difficult to judge and identify the lithology. Therefore make the following provisions, when the probability is more than or equal to 0.8, we can determine the probability of the current lithology for the biggest lithology.If the probability of three types of lithology are less than 0.8, the system automatically switches to the model than reactive, in accordance with calculated values to determine rock than reactive, that is, than the reactive-Logistic regression model.
The control system and the mathematical model are built.Through the simulation software, simulation analysis is made, add PID control algorithm into control system simulation model.Rig control systems for drilling are testing the parameters of PID control algorithms to provide a reference setting.
In establishing a stratigraphic model of automatic identification, we design a rig control system for automatic control of drilling programs.Pressure sensors, Hall-speed sensors, rotary encoder sensor to capture nine give into pressure from the import and export power the first hydraulic motor bad stress, speed, penetration rate and pump pressure signal, passed to the PLC of the AD converter module with signal processing. Through the configuration software, the drilling parameters in real-time industrial computer screen shows up. In order to keep abreast of the situation and determine, used to detect the import and export of the stress to the fuel tank into the first hydraulic motor and the power to calculate the import and export pressure into force and power to the first torque, with the penetration rate, rotational speed is calculated with the adoption of PLC to identify the size of numerical stratigraphic model to determine Change formation. And adjust pressure and speed of drilling, to enable them to determine the stratigraphy and to adapt to achieve optimum drilling.PLC through WOB PID algorithm with closed-loop feedback control of speed, so that pressure and speed of drilling and consistent default to the purpose of precision drilling.Rig has manual control and automatic switching function.When we do not need drill automatically or the automatic control system into a temporary failure, we can be manually operated drilling rigs, improve the reliability of the rig.While Drilling, we will face the collapse of holes, such as sticking with unexpected incidents, in order to protect against damage, the control system has automatic alarm device. Torque as a reference to the volume, when the detection system to detect the torque of the drilling rig is greater than the maximum torque set value, issued a warning alarm, automatic control system at the same time cut the proportion of electro-hydraulic variable displacement pump and adjust the ratio of electro-hydraulic pressure variable pump power adjustment so that the output variable pump flow and pressure to zero, the executing agency for the protection of rig.
Finally, the drilling parameters detection system and drilling parameters closed-loop feedback control system were built. The experiments were done for automatic drilling syetem of the JDD-100 MWD rig. These supplied for theoretical basis and technical support for the study of automatic drilling control system.
引文
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