The Controlling System Research Of Seabed Core Drilling Rig Based On Independent Modal Space Control

Along with the exhausting of global mineral resources,many countries have to invest in the target area of ocean.Vast reserves of mineral resources of oceans is likely to break the industry structure,and even triggers a energy revolution.Core sampling drill for deep seabed shallow strata is necessary equipment in exploration of deep seabed mineral resources.The potential of ocean resources is very big in China,but there are only very low proven degree.The ocean exploration in china is still in the primary stage.The existing prospecting equipment and technical relatively easy,The ability of deep drilling deep seabed is insufficient and inferior in quality in the quality of samples.The core recovery is extremely low especially under complicated seabed formation conditions.Therefore,in order to improve the ability of Marine resources development and maintain oceanic rights,it is imminent to develop seafloor sampling drilling equipment with stable and reliable performance.Seabed type coring drill process cannot artificial intervention,the drilling operations are controlled by the remote control system,so the fit and unfit quality directly determines the performance of the control system of the seabed coring drilling efficiency and operation safety.This paper surrounding seabed coring drilling machine vibration control this goal,launched a seabed coring drilling experimental modal analysis and calculation of modal analysis,the establishment of control model,the construction of the measurement and control system and PC software writing,etc.(1)A large number of literatures are reviewed,and the existing research status of seawater-type core drilling rigs at home and abroad is summarized,including its performance parameters,control side and application scope.The control methods and control strategies of existing ordinary drilling rigs are analyzed,Analyzes the functional characteristics and control requirements of the seabed core drilling rig system,and puts forward the control strategy and method.(2)This paper introduces the general structure of the model of the seabed core drilling rig model,and introduces the drilling drilling system and the drilling tool system system in detail,including the drilling system power head rotation system,the cylinder chain doubling feeding mechanism,drilling Rod library program and robot system.A modal test was carried out in the free state by elastic rope suspension method.Free mode analysis of the rig model was carried out by finite element analysis software.The results were analyzed and analyzed by means of finite element analysis software.Modal results are compared and verified.After applying the constraint to the drilling rig,the finite element method is used to analyze the inherent modal characteristics of the structure under the confined state.(3)The independent modal space control method based on modal filter is established for the model of seabed core drilling rig model.Independent modal control method The main body can be divided into two parts: offline data preparation and online control.Offline data preparation requires the use of experimental modal techniques to modulate the structure of the control to obtain its inherent modal parameters,including the natural frequency,damping ratio.At the same time,the frequency response function at each measurement point is obtained to solve the modal filter.The online control part needs to arrange several acceleration sensors at the position of the structural measuring points,collect the acceleration signals in real time,convert the physical acceleration and modal acceleration according to the modal filter,and calculate the modal control force and physical control force.Real control of structural modal vibration is achieved by controlling the actuator.(4)According to the design strategy of controlling the modal vibration of the rig structure by changing the drilling pressure,the finite element analysis software is used to analyze the rig of the drilling rig,and the load in the range of the power head is applied,The Influence of Natural Modes of Tower Structures.The transient dynamics of the rig is analyzed,and the influence of the additional force on the structural response is analyzed.(5)Based on the PXI platform to build seabed core drilling rig measurement and control system,design and control system overall program.The design of the monitoring system is carried out,and the software of the measurement and control system of the host computer is prepared based on LabVIEW software.The control system and the control system are designed in detail.This article innovation:(1)In this paper,the modal experiment of the drilling rig of the seabed core drilling rig is carried out by combining the experimental modal analysis technique with the finite element modal analysis technique,and the inherent modal characteristics of the drilling rig are analyzed.State to improve the actual working conditions of the drill vibration.(2)Aiming at the seabed core drilling rig,an independent modal space control method based on modal filter is established,which changes the natural mode of the structure by changing the bit pressure in a certain range and suppresses the resonance of the rig.