Rotary Drilling Rig To Drill The Mast Vertical Control System

Rotary drilling rig is a construction equipment of integration of mechanics, electric and hydraulic in the construction machinery which is used to drill deep hole. It is the key to control the drilling mast's verticality for guaranteeing the quality and efficiency of drilling.This paper takes the SWDM-20 multi-function rotary drilling rig as the research object, in order to optimize the performance of the control system for adjusting verticality of the Drilling Mast, carries on the theoretic and experimental research. The main research works are as follows:1,The working conditions of the control system are analyzed, then the influencing factors to the performance of control are found out, whereafter the methods are analyzed which is to improve the performance of control by using of load-sensing technology, pressure compensation technology and electro-hydraulic proportional control technology, all these works are the base for further system optimized;2,the mathematics model of the hole load-sensing control system isestablished using the bond graph method;3,Parameters are optimized by means of simulation using the Matlab-Simulink software, then, the result of simulation prove that the application of load-sensing technology and pressure compensation technology can realize the pressure and flux matching of pump-load, also can realize the independent control of two cylinders at the condition of load deflection, finally, prove that the system can improve the performance of control;4,In order to optimize the performance of the control system, fuzzy self-adaptive PID control is used base on the mathematics model of electro-hydraulic proportional closed-loop automatic control system by using of the transfer function method, then Fuzzy-PID controller was designed using the Matlab-Fuzzy toolbox;5,Focused on the automatic system for controlling the verticality in which Fuzzy-PID is used, a simulation research is processed, the result prove that Fuzzy-PID can improve dynamic response performance of system and the control precision, thereby, can prove the rationality of the Fuzzy-PID to optimize the system;6,Taking the SWDM-20 rotary drilling rig as the experimental platform, a test is finished for the analysis of system to control the verticality, the result prove that the application of load-sensing technology and pressure compensation technology to improve the performance of control is valid and the control algorithms to optimize system is reasonable.