Performance Analysis On Rotary Drilling Rig In Drilling System Based On Co-simulation

Rotary Drilling Rig (RDR), a sort of construction machinery with multi-functionand high efficiency, has been widely applied in so many operations of the buildingfoundation constructions. However,although applications areextensively existed inengineering practices, current studies have not been given sufficient attentions to theperformance characteristics. Takexx220Rotary Drilling Rig as the main subject forstudy, the operating characteristics of the mechanical systemand the hydraulic systemin certain typical operating conditions are investigated, and the influences of somekey parameters on the performances of the whole machineare further studied andanalyzed, in order to have much deeper understandings of electro-hydraulic hybridsystems of typical RDRs in industry and academia fields. The method of hydraulicsystem analysis arebased on AMESim software and the mechanical dynamics analysisare based on ADAMS. Furthermore, mechanical system and hydraulic system aremodeledfor the performance analysis. In order to investigate the comprehensiveeffects of the mechanical and hydraulic systems, AMESim and ADAMS arecombined for the co-simulation,responses of hydraulic systems for different workingconditions aredetailed.The main research work of this thesis can be summarized asfollows:1. AnAMESim model for constant power variable pump, balance valveand motorload is developed to describe the usage and the function ofeach model unit. Ahydraulic test system is developed for the constant power pump, and the testesof thehydraulic system are carried out to verify the correctness ofthe modeled structures ofthe constant power variable pump by means of step loads testing.Based on theAMESim model of thebalance valve, the influences of the valve parameters on theirwork performancesare estimated by means of numerical simulations.The effects ofbalance valve throttle aperture, spring stiffness and the flow area oncertain keyperformance parameters of the hydraulic system are investigated, proposing the relatively optimal parameters of the valve structure. The models ofthe RDR hydraulicsystem with certain typical working conditions are further developedin the AMESimenvironment.The performance characteristics of the rotary system withdifferentradiiof gyration are analyzed, thus, the reasonable value ranges of radius of gyrationcan be determined.2. To improve the positioning performances of the rotation system by employingthe fractional order PID controller. The step response of the system is conducted toidentify the dynamics model of the system. Fractional order PID controller isemployed to enhance the positioning accuracy and the robustness of the system.Aiming at the parameters tuning problem, an improved chaotic differential evolutionalgorithm with adaptive property is developed. In view of the time domain, the ITSEcriterion is used for the choosing of the optimal parameters of the controller. Underthe circum of SMEsim, numerical simulations are conducted to compare theperformances of the conventional PID and the proposed fractional order PID controlsystem. The simulation results demonstrate that the fractional PID controller possesshigher robustness and fast response rate comparing with conventional PID controlsystem.3. Commercial CAD software CATIA employed to build the3D entity model ofthe Rotary Drilling Rig. Byimporting the developed entity model to the ADAMS withthe aid of the standard data format file, the relevant kinetic and dynamics model of theRDR are constructed. Takeadvantageof the combination of the AMESim software andthe typical CAE software ADAMS, the co-simulation of the hydraulic and mechanicalsystem are realized. To improve the working performances of the primary windingsystem, the drilling system, the forcing and rotation system, fractional PID controllersare also implemented on these systems. A series of co-simulations are conducted.Under typical working conditions, the working performances of different soil typesand loading signals are studied and analyzed. The results well demonstrate theefficiency and the validation of the fractional order PID controlled Rotary Drilling Rig system.