【作者】 李文庭；

【导师】 凌振宝；

【作者基本信息】 吉林大学 ， 检测技术与自动化装置， 2008， 硕士

【摘要】 本课题为中国地质调查局项目《地球物理参数随钻测量系统研制》的一部分,主要实现钻机在钻进过程中参数的检测以及对回转速度和钻进压力的闭环控制。钻机测控系统由PCI7483数据采集卡,传感器,外围电路,电液比例放大器,液压换向阀和液压溢流阀组成,本系统实现对钻机钻进过程中的多项参数进行检测,采集到的数据输入PC机中保存和进行数据处理,然后通过PCI7483数据采集卡输出电压,驱动电液比例放大器控制钻机液压系统,从而实现对钻机的闭环控制。该测控系统可以检测的参数有:钻进深度、钻进速度、回转速度、回转压力、钻进压力。可以达到的指标:钻进深度检测精度0.1毫米、转速检测范围0～160r/min、压力0～20MPa。本系统检测到的钻机参数类型多、精度高、实时性好,并且针对随钻测量系统要求振动小、钻进平稳可靠、钻孔垂直等复杂的工作特性,设计了改进的增量型PID控制算法和Fuzzy-PID复合控制算法,再通过理论分析和试验研究,优化了控制参数,实现了钻压与转速的闭环反馈控制。更多还原

【Abstract】 At present, majority of entire hydraulic drill used the simple switch control hydraulic system consist of manual control valve and pump home and abroad, which not only result in the bad drilling control ability , but also the low drilling efficiency and energy efficiency.In order to overcome the performance deficiencies of the hydraulic system applied in old drilling machine, and satisfy the need of high power drilling and the complex drilling control, in this paper, introduces a new scheme of drilling hydraulic system by combining sensor technology and computer-control technology with hydraulic control system of drilling rig, and a lot of analysis and the research have been done such as the system structure, the control principle and the function characteristic etc. At last, by making use of electro-hydraulic proportional technology, the testing drill system was built up, which has the ability of monitoring, recording and controlling the drilling parameters in real-time.The results of dynamic testing of control system showed that both response rate of pressure and rotary speed were fast, and the response time of pressure was about 0.2s, and the that of rotary speed was about 0.5s, which can meet the requirement of the real-time control.There were much disturbing factors, both accuracy and stability of the open-loop control system were not so well. For enhancing the anti-jamming ability of system, the ameliorate PID algorithm which structure and parameters were optimized by theoretical analysis and experimental investigation, was applied to realizing the feedback control of feed force and rotary speed. The testing results show that when proportional coefficient KP is 0.5, integral time coefficient TI is 10, and differential time coefficient TD is zero, the performance of closed-loop control system is outstanding. The pressure error is less than 50N, and rotary speed error is less than 7.5r/min.So the PID algorithm improved the accuracy and stability of control system. For improving the stability and adaptability to the complex environmental change of control algorithm further, fuzzy algorithm was brought forward. Then by combining the advantages of fuzzy algorithm and PID algorithm, compound fuzzy-PID control algorithm was devised. The actual result showed that rotary speed became more stable, and the penetration rate was limited in a small setting range and the error was only about 10%. So Fuzzy-PID algorithm has outstanding control features such as stronger adaptability and higher precision. Both the stability and reliability of electro-hydraulic control system are enhanced. The design of closed-Loop survey and control system of drill rig is so successful that establish the foundation of the higher drilling efficiency, the automation and the intellectualization of drilling equipment.更多还原