Design And Research Of Iron Roughneck Clamp Control System

Iron roughneck is a device for loading/unloading drilling tools on drilling platform.Increasing its level of automation is very important for the study of automatic drilling rig.The development of iron roughneck in China started late,and there is a big gap between the control accuracy of hydraulic system and foreign advanced level.Aiming at the safe and stable operation,simple operation and high degree of automation of iron roughneck,this paper establishes a mathematical simulation model for hydraulic control components on the basis of fully understanding the structure,working principle,process of iron roughneck clamp,and analyzes the simulation results.Finally,the electrical control system of iron roughneck clamp is designed with PLC as the controller.Firstly,based on the analysis of the hydraulic principle of the iron roughneck clamp,the electro-hydraulic servo system of the clamp clamping circuit is designed.Secondly,based on the mathematical model of each component,the mathematical model of electro-hydraulic servo system is established.The transfer function of electro-hydraulic servo system is obtained by selecting and setting the system parameters.In electro-hydraulic servo system,the corresponding fuzzy PID controller is designed,based on the system mathematical model is set up respectively under PID control and fuzzy PID control in the simulation model of electro-hydraulic servo system,and has carried on the simulation experiment,made comparison and analysis of simulation results.Finally,PLC is used as the controller to realize the logical control of the hydraulic system of iron roughneck clamp.According to the specific control requirements of iron roughneck clamp,the electric-hydraulic servo electrical control system is designed.Including PLC selection,I/O address allocation,PLC external wiring diagram and other hardware design;The system flow chart and ladder diagram are compiled,and the program is compiled and debugged.