| Scientific drilling is the most direct and effective way to understand geological structure and resource exploration.Different from conventional drilling operations,scientific drilling requires frequent loading and unloading of drilling tools to achieve continuous coring,which requires higher degree of automation and reliability of supporting drilling equipment.The drilling tool conveying mechanism is one of the main parts of scientific drilling equipment,which is responsible for conveying the drilling tool up and down the drilling platform.Lifting drilling tool conveying mechanism is widely used in scientific drilling engineering because of its large conveying range.Lifting drilling tool conveying mechanism is mainly composed of slender rods.When carrying out long-distance and heavy-duty conveying tasks,the stability of the whole machine is often reduced due to the deflection of the slender rods,which affects the safety and efficiency of the work.However,the dynamic optimization of large engineering equipment is always a difficult problem in the industry.Based on this,this paper takes the lifting drilling tool conveying mechanism as the research object,simplifies it to a two-degree-of-freedom double-slider mechanism based on rigid-flexible coupling through system hypothesis,and analyzes and optimizes the kinematics and dynamics of this configuration.Firstly,the structure composition and working principle of the lifting drilling tool conveying mechanism are introduced,and based on this,the system hypothesis is put forward,which is simplified into a two-degree-of-freedom double-slider mechanism.The kinematics equation of the mechanism was derived by establishing the closed-loop vector equation,and the relationship between the position of the hinge points and the pose of the whole machine was solved.The singular configuration of the mechanism was analyzed by Jacobian matrix.Based on the principle of conservation of function and the hypothetical mode method,the rigid-flexible coupling dynamics model of the mechanism was derived by using the Lagrange equation.Based on the kinematics and dynamics model of the mechanism,the simulation was carried out.For common driving schemes,trajectory planning is carried out by using continuous high-order derivable function,trapezoidal function and S-shape function respectively,and the S-shape programming algorithm is the best by simulation.Then,a BP-PID position tracking control algorithm is proposed based on S-shape programming algorithm.The simulation results show that the dynamic response quality of the whole machine is improved.Secondly,in view of the shortcomings of the common drive schemes,an improved drive scheme was proposed,and the kinematics modeling,singularity analysis,dynamics modeling and corresponding simulation of the mechanism were completed.The simulation results show that the improved scheme only has poor dynamic response at the initial moment,and is superior to the common schemes at other stages.Algorithm based on improved scheme,s-shaped planning respectively studied the lifting Angle and planning algorithm parameters on the influence of the dynamic response of institution of time,and puts forward the fuzzy RBF neural network optimization algorithm,the time parameters of the planning algorithm is optimized,the simulation results show that the lifting Angle,the greater the organization the better dynamic response,Different time parameters in the planning algorithm also have a significant effect on the dynamic response quality,and the dynamic response quality is significantly improved after optimization.Finally,an experimental prototype of the drilling tool conveying mechanism was built to verify the effects of different time parameters of the lifting angle,trajectory planning algorithm,and planning algorithm on the dynamic response of the improved drive scheme.The experimental results verify the truth of the aforementioned theoretical simulation research. |
PDF Full Text Request