自动化钻机管柱输送控制系统的研制

为确保自动化钻机管柱输送系统的稳定性与安全性,提高管柱输送的效率与定位精度,达到管柱无人自动化高效输送的目的,研制了自动化钻机管柱输送控制系统。该系统通过DP数据交互实现动力猫道控制主站与输送机械手控制从站的融合;软件程序采用模块化的设计方法,各模块相互独立;输送机械手主臂采用主臂粗调与主臂精调联动互补方法进行速度控制,实现二者输出特性的互补。现场应用结果表明:自动化钻机管柱输送控制系统硬件运行稳定,有效避免了外部电气故障对控制部分的干扰与破坏;软件各模块间的抗干扰能力强、程序运行良好;管柱输送用时45 s,定位精度高于0.2°,一次输送交接成功率大于95%,实现了管柱无人化高效自动输送。该控制系统各项技术指标均满足现场作业要求,具有广阔的应用前景。

Development of the Pipe Conveying Control System for Automatic Drilling Rig

In this paper,a pipe conveying control system for automatic drilling rig was developed to guarantee the stability and safety of the pipe conveying system for automatic drilling rig,improve conveying efficiency and positional accuracy and realize unmanned automatic efficient pipe conveying.In this control system,the power catwalk and the transporting manipulator are integrated through DP data interaction.The software program is designed in the modular pattern,which are independent of each other.The main arm of the transporting manipulator adopts the complementary linkage method of rough adjustment and fine adjustment for speed control,so as to realize the complementation of their output characteristics by making full use of the high rate and low accuracy of rough-adjustment electromagnetic valve and the low rate and high accuracy of fine-adjustment electromagnetic valve.Field application results indicate that the hardware of the pipe conveying control system operates stably,and the interference and damage to the control part from the external electrical fault are avoided effectively.The modules of the software have strong anti-interference ability from each other and the program runs well.The pipe conveying time is 45 s,the positional accuracy is less than 0.2°,the one-trip conveying success rate is more than 95%,and the goal of unmanned efficient automatic pipe conveying is achieved.The technical indicators of the control system satisfy the requirements of field operation,and it is promising in popularization and application.