1.山东科技大学;2.枣庄职业学院
国家自然科学基金项目（面上项目，重点项目，重大项目）
1.Shandong University Of Science And Technology;2.Zaozhuang Technician college
The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)
由于松软煤层地质条件复杂多变，钻机在钻孔施工时，经常发生卡钻事故，这极大降低了工作效率，并严重威胁到工人人身安全。为解决以上问题，分析了引起卡钻的各影响因素，采用钻机回转压力表示卡钻状态，并设置回转压力卡钻阈值。根据钻机工作原理与卡钻机理，建立基于负载流量独立分配系统（LUDV）的防卡钻液压回路；采用PID与信号选择器建立自动防卡钻控制器，并采用人群搜索算法(SOA)整定PID参数。采用AMESim进行系统仿真试验，结果表明：回转压力达到200bar时，钻机自动回退；达到220bar时，钻机回转压力维持稳定，保持较大的回转动力克服外负载阻力，避免发生卡钻事故，验证了自动防卡钻电液控制系统的有效性。
Due to the complex and changeable geological conditions of the soft coal seam, sticking accidents often occur during the drilling construction of the drilling rig, which greatly reduces the work efficiency and seriously threatens the personal safety of workers. In order to solve the above problems, the influencing factors of sticking are analyzed, the rotary pressure of drilling rig is used to describe the state of sticking, and the threshold of slewing pressure sticking is set. According to the working principle of drilling rig and sticking mechanism, the anti-sticking hydraulic circuit based on the Load Independent Flow Distribution System(LUDV) is established, the automatic anti-sticking controller is established by PID and signal selector, and the Seeker Optimization Algorithm(SOA) is used to adjust PID parameters. The system simulation test is carried out by using AMESim, and the results show that when the rotary pressure reaches 200bar, the drilling rig automatically pulls back; when the rotary pressure reaches 220bar, the drilling rig slewing pressure remains stable and a large slewing power is maintained to overcome the external load resistance and avoid sticking accidents, which verifies the effectiveness of the automatic anti-drilling electro-hydraulic control system.
