地质钻机永磁电动机直驱自动送钻控制系统设计

发布时间：2018-03-19 04:36

本文选题：地质钻机　切入点：低速大转矩直驱　出处：《沈阳工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：地质钻机应用于地质勘探，驱动钻具向地下钻进以获取实物地质资料，钻机由顶驱、绞车和泥浆泵三大系统组成。绞车在整个钻井周期中绞车完成起下钻具、下套管，送钻等工作，是钻机起升系统中的核心设备。恒压自动送钻技术是衡量一部钻机先进与否的重要指标，由于地质钻机需采集各种复杂地层矿样，自动送钻主要是按照钻头反馈的实时压力调整绞车的运行速度，恒定钻压的条件下适时向井底送进钻头，因此本文的研究重点是关于绞车的精确控制。传统的盘式刹车通过控制绞车刹车力矩进而达到控制钻井压力。异步变频绞车系统需单独设立一部小功率送钻电机外加减速机。以上方法使得绞车结构变得繁琐，而且异步电机低速发电制动状态运行时会有明显的转矩脉动，严重影响了地质钻机自动送钻效果。为了解决传统绞车驱动系统的种种问题，改善绞车性能，优化传动结构和提高自动送钻质量，设计了低速大转矩永磁电机直驱变频调速钻机系统。本文结合永磁电机结构特性以及变频调速控制方法对此驱动系统进行了论述，介绍了双永磁电机同轴绞车结构，并对永磁直驱绞车单电机和双电机同轴带载实验结果进行分析，然后对永磁电机地质钻机自动送钻技术进行了阐述，针对地质钻机自动送钻系统大时滞、非线性、建模困难的特点采用了模糊控制方法，并设计了适合S7-300PLC的查表法程序。最后介绍了该钻机控制系统的硬件和软件组成。本套驱动系统在绞车电机本体和变频调速控制方面优化了地质钻机绞车系统。永磁电机直驱绞车系统带载能力、强控制精度高，满足了类似于起重机的起动能力和自动送钻过程中的动态响应跟随能力。模糊控制自动送钻可低成本提高地质钻机的送钻质量和钻井效率。
[Abstract]:The drilling rig is used in geological exploration, driving the drilling tool to the ground to obtain the actual geological data. The drill rig consists of three systems: top drive, winch and mud pump. The work of drilling feed is the core equipment in the hoisting system of drilling rig. The constant pressure automatic drilling feeding technology is an important index to measure the advanced or not of a drilling rig, because the geological rig needs to collect all kinds of mineral samples of complex strata. The main purpose of automatic drilling is to adjust the running speed of the winch according to the real-time pressure of bit feedback and to feed the drill into the bottom of the hole at the same time under the condition of constant drilling pressure. Therefore, the research emphasis of this paper is on the precise control of the winch. The traditional disc brake can control the drilling pressure by controlling the brake torque of the winch. The asynchronous frequency conversion winch system needs to set up a small power feed motor and a reducer separately. In addition, the torque ripple will be obvious when the asynchronous motor is running in the low speed power generation braking state, which seriously affects the automatic drilling performance of the geological drilling rig. In order to solve the problems of the traditional winch drive system and improve the winch performance, The drive structure is optimized and the quality of automatic drilling is improved. The drive system of low speed and large torque permanent magnet motor is designed, which is based on the structure characteristics of permanent magnet motor and the control method of variable frequency speed regulation. This paper introduces the structure of double permanent magnet motor coaxial winch, analyzes the experimental results of single motor and double motor coaxial load of permanent magnet direct drive winch, and then expounds the automatic drilling technology of permanent magnet motor geological drill. In view of the characteristics of large delay, nonlinear and difficult modeling in automatic drilling system of geological drilling rig, the fuzzy control method is adopted, and the program of look-up table method suitable for S7-300 PLC is designed. Finally, the hardware and software composition of the control system of the drilling rig is introduced. This set of drive system optimizes the winch system of geological drilling rig in the aspect of winch motor body and frequency conversion speed regulation control. The permanent magnet motor direct-drive winch system has the ability of carrying load and the strong control precision is high. The fuzzy control automatic drilling feed can improve the drilling quality and drilling efficiency of geological drilling rig at low cost.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：P634.31;TM351

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