矿用智能化千米定向钻机电控系统开发.pdf

学校代码10112密级 硕 士 学 位 论 文 （（学学 术术 学学 位）位） 论文题目矿用智能化千米定向钻机电控系统开发 英文题目 作者姓名张宇翔 学号2017510197 学科电气工程 研究方向电机与电器 指导教师田慕琴教授 合作导师 论文提交日期2020 年4 月 Development of Intelligent Electrical Control System of Mining Directional Kilometer Drill 学位论文答辩信息表 论文题目矿用智能化千米定向钻机电控系统开发 课题来源*企事业单位委托项目 论文答辩日期2020.5.17答辩秘书梁定康 学位论文答辩委员会成员 姓名职称博导/硕导工作单位 答辩委员 会主席 李保来高高工 山西汾西重工有限 责任公司 答辩委员 1韩肖清教授博导 太原理工大学电气 与动力工程学院 答辩委员 2陶晋宜副教授硕导 太原理工大学电气 与动力工程学院 *课题来源可填国家重点研发计划项目、国家自然科学基金项目、国 家社科基金项目、教育部人文社科项目、国家其他部委项目、省科技厅项 目、省教育厅项目、企事业单位委托项目、其他 摘要 I 摘要 本课题是山西金鼎高宝钻探有限责任公司委托项目“矿用智能化千米 定向钻机电控系统开发”的主体内容，它是针对目前国内高档千米定向钻 机依靠进口，其技术封锁，价格昂贵，配件更新不及时等严重制约煤层气 开发的问题而提出的。众所周知，瓦斯抽采是减少煤与瓦斯突出现象的重 要技术，是预防煤矿瓦斯灾害发生的根本措施，同时也是保证煤矿生产安 全的重要手段之一。井下坑道水平千米定向钻机（简称千米定向钻机）， 是瓦斯抽采、井下探放水、地质构造和煤层厚度探测、煤层注水、顶底板 注浆等各种定向钻孔施工作业过程中必备的工具，其可靠性和安全性直接 影煤矿生产安全及作业效率。作为千米定向钻机的动力单元的重要组成部 分驱动电动机和液压油箱，其工作性能和运行状态直接关系着钻进进 度和钻进效率。因此，开发具有自主知识产权的动力单元控制与监测系统 （电控系统）具有重要的现实意义和实用价值。 通过对国内外千米定向钻机电控系统的调查研究发现，目前应用中的 千米定向钻机大多仍然使用传统的点动控制型电控系统，即通过各种继电 器节点的串并联完成整个系统的控制，其在系统设计的灵活性、安全闭锁 及电气保护算法的可靠性、功能的多样性等方面存在不足。针对上述问题， 本文以智能化千米定向钻机电控系统为研究目标，采用仿真与试验相结合 的研究方法，对电控系统的总体方案、故障机理、保护方法、软硬件电路 进行了深入研究，具体研究内容如下 首先根据智能化千米定向钻机的技术要求，在分析钻机系统组成、系 统控制及保护功能的基础上，确定了影响千米定向钻机工作稳定性的状态 参数和控制参数，基于先进的计算机控制技术，设计了基于多控制器的智 能化千米定向钻机电控系统的总体方案， 采用STM32F407作为中央控制器， 配合搭载嵌入式微控制器的功能模块电路，构成现场分布式、模块化的监 测监控系统，实现了千米定向钻机的信息检测、状态分析、故障诊断和智 能控制。为保证钻定向千米钻机的可靠工作提供的技术保障。 作为机电液一体化大型矿用装备，千米定向钻机的电气故障和单元间 的安全隐患是影响其可靠工作的主要因素。在分析电动机常见故障的基础 上，揭示了其产生机理，确定了其表征参量，设计了故障检测和保护方案。 基于钻场的特殊环境，分析了影响电气系统和非电系统之间存在的安全隐 患，确定了本质安全型电控系统的保安措施，为电控系统安全稳定工作提 太原理工大学硕士学位论文 II 供了技术保障。 电控系统的硬件电路是实现千米定向钻机功能控制、状态监测和安全 闭锁的关键环节，根据总体方案的技术要求、电动机保护及系统安全闭锁 原理，基于模块化和嵌入式设计思想，设计了实现各控制和保护功能的硬 件电路，包括主控制模块、电压电流检测模块、漏电检测模块、漏电闭锁 模块、开关量安全栅模块等，特别是创新设计了热电阻安全栅模块和先导 电路模块，保证在远控电路不论是开路、短路，还是单点接地、多点接地 时，均能保证先导电路不误发信号，而且在故障时，故障电流小于引燃瓦 斯的最小电流，保障了电控系统的本质安全性。 其次，一个优良的控制系统除了具有可靠的硬件电路之外，还必须具 有强大的软件支持。根据项目提出的基本功能和技术指标，基于标准 C 语 言和 Keil5 平台，根据结构化程序设计思想，设计了电控系统的控制程序和 各功能程序，主要包括主控程、系统保护程序、漏电检测模块程序、通讯 程序及其他相关功能程序。通过试验调试，验证了所设计程序的合理性和 正确性。 最后根据智能化千米定向钻机的技术要求和煤矿安全规程，设计了试 验系统，搭建了实验平台，对所设计的软硬件电路进行功能试验和指标测 试。实验结果表明，所设计的各功能模硬件电路性能稳定，工作可靠；所 设计的模块化软件可靠性高，冗余性好，各项技术指标达到了设计要求； 解决了传统系统存在各种问题的同时，满足对千米定向钻机动力系统的基 本控制、实时监测及安全保护要求。 关键词关键词瓦斯抽采，千米定向钻机，电控系统，安全闭锁，微控制器 ABSTRACT III ABSTRACT This topic is the main content of the project “Development of Electrical ControlSystemineIntelligentMillimeterDirectionalDrilling“ commissioned by Shanxi Jinding Gaobao Drilling Co., Ltd. It is aimed at the current domestic high-grade millimeter directional drilling rigs relying on imports, its technology is blocked and the price is expensive The problem is that the update of accessories is not timely, which seriously restricts the development of coal bed methane. As we all know, gas drainage is an important technology to reduce coal and gas outburst phenomena, it is a fundamental measure to prevent the occurrence of coal mine gas disasters, and it is also one of the important means to ensure the safety of coal mine production. Underground tunnel horizontal kilometer directional drilling rig referred to as kilometer directional drilling rig is necessary for various directional drilling construction operations such as gas drainage, underground water drainage, geological structure and coal seam thickness detection, coal seam water injection, roof and floor grouting, etc. The reliability and safety of the tool directly affect the production safety and operating efficiency of the coal mine. As an important part of the power unit of the thousand-meter directional drilling rig-the driving motor and the hydraulic oil tank, its working perance and operating state are directly related to the drilling progress and drilling efficiency. Therefore, the development of a power unit control and monitoring system electronic control system with independent intellectual property rights has important practical significance and practical value. Through the investigation and research on the electrical control system of kilometer directional drilling at home and abroad, it is found that most of the currently used kilometer directional drilling rigs still use the traditional jog control type electronic control system, that is, the entire system is completed through series and parallel connection of various relay nodes Control, it has deficiencies in the flexibility of system design, safety lockout, reliability of electrical protection algorithms, and diversity of functions. In view of the above problems, this paper takes the intelligent kilometer directional drilling electrical control system as the research goal, and uses a combination of simulation and 太原理工大学硕士学位论文 IV experiment to study the overall scheme, failure mechanism, protection , software and hardware circuit of the electronic control system. The specific research content is as follows Firstly, based on the technical requirements of the intelligent kilometer directional drilling rig, on the basis of analyzing the rig system composition, system control and protection functions, the state parameters and control parameters that affect the working stability of the kilometer directional drilling rig are determined, based on advanced computer control technology , Designed the overall scheme of the intelligent kilometer directional drilling electric control system based on multi-controllers, using STM32F407 as the central controller, together with the functional module circuit equipped with embedded micro-controller, to a distributed and modular monitoring and monitoring system on site , Realize the ination detection, status analysis, fault diagnosis and intelligent control of kilometer directional drilling rig. Provide technical guarantee for reliable operation of drilling directional kilometer drilling rig. Asalarge-scaleelectromechanicalandhydraulicintegrationmine equipment, the electrical failure of the 1000-meter directional drilling rig and the safety hazards between the units are the main factors affecting its reliable work. Based on the analysis of common motor faults, the mechanism of its occurrence was revealed, its characterization parameters were determined, and fault detection and protection schemes were designed. Based on the special environment of the drill site, the potential safety hazards between the electrical system and the non-electrical system are analyzed, and the security measures of the intrinsically safe electronic control system are determined to provide technical guarantee for the safe and stable operation of the electronic control system. The hardware circuit of the electronic control system is the key link to realize the functional control, status monitoring and safety blocking of the directional drilling rig. Based on the technical requirements of the overall plan, the motor protection and the principle of system safety blocking, based on the modular and embedded design ideas, the design Hardware circuits that implement various control and protection functions, including the main control module, voltage and current detection module, leakage detection module, leakage blocking module, switching safety barrier module, etc. In particular, ABSTRACT V innovative design of thermal resistance safety barrier module and pilot circuit module, Ensure that the remote control circuit can ensure that the pilot circuit does not erroneously signal whether it is open circuit, short circuit, single-point grounding, or multi-point grounding, and in the event of a fault, the fault current is less than the minimum current of the ignition gas, which ensures the electronic control The intrinsic safety of the system. Secondly, in addition to a reliable hardware circuit, a good control system must also have strong software support. According to the basic functions and technical indicators proposed by the project, based on the standard C language and Keil5 plat, according to the structured program design idea, the control program and various functional programs of the electronic control system are designed, including the main control program, system protection program, and leakage detection Module program, communication program and other related function programs. Through the test and debugging, the rationality and correctness of the designed program are verified. Finally, according to the technical requirements of the intelligent kilometer directional drilling rig and the coal mine safety regulations, the test system is designed, the test plat is built, and the designed software and hardware circuits are tested for functions and indicators. The experimental results show that the hardware circuits of each functional module designed have stable perance and reliable operation; the modular software designed has high reliability and good redundancy, and various technical indicators have met the design requirements; it solves various problems in traditional systems At the same time, it meets the basic control, real-time monitoring and safety protection requirements of the kilometer directional drilling rig power system. Key Words Gas drainage, directional drilling rig, electric control system, safety lockout, microcontroller 太原理工大学硕士学位论文 VI 目录 VII 目录 摘要......................................................................................................................................... I ABSTRACT..............................................................................................................................III 第一章绪论.............................................................................................................................1 1.1 课题研究背景和意义.................................................................................................... 1 1.2 国内外发展现状............................................................................................................ 2 1.3 研究目标和主要研究内容............................................................................................ 4 第二章智能化千米定向钻机电控系统总体设计.................................................................7 2.1 系统控制与保护要求.................................................................................................... 7 2.2 系统功能要求................................................................................................................ 8 2.2.1基本控制功能.........................................................................................................8 2.2.2电动机保护功能.....................................................................................................8 2.2.3安全闭锁功能.........................................................................................................9 2.3 系统总体方案设计...................................................................................................... 10 2.3.1电控系统一次侧系统...........................................................................................11 2.3.2电控系统主控制器...............................................................................................12 2.3.3电控系统检测电路...............................................................................................13 2.3.4电控系统显示单元...............................................................................................14 2.4 本章小结...................................................................................................................... 14 第三章千米定向钻机电动机保护原理及安全闭锁...........................................................15 3.1 异步电动机工作原理.................................................................................................. 15 3.2 异步电动机常见故障及故障原因分析...................................................................... 16 3.3 异步电动机保护原理实现及相关算法设计.............................................................. 17 3.3.1异步电动机保护原理...........................................................................................17 3.3.2采样定理...............................................................................................................19 3.3.3离散信号处理算法...............................................................................................20 3.4 异步电动机常见故障分析及判定.............................................................................. 21 3.4.1异步电动机短路故障...........................................................................................22 3.4.2异步电动机过载及堵转故障...............................................................................22 3.4.3异步电动机电压故障...........................................................................................24 3.4.4异步电动机不对称故障.......................................................................................24 太原理工大学硕士学位论文 VIII 3.5 动力单元安全闭锁原理分析...................................................................................... 26 3.5.1温度相关检测.......................................................................................................27 3.5.2相关开关量检测...................................................................................................27 3.5.3远控按钮线路保护...............................................................................................28 3.6 本章小结...................................................................................................................... 29 第四章智能化千米定向钻机电控系统硬件设计...............................................................31 4.1 主控制模块.................................................................................................................. 31 4.1.1开关量接口电路...................................................................................................31 4.1.2模拟量接口电路...................................................................................................32 4.1.3单片机最小系统及通讯接口电路.......................................................................33 4.2 电压电流检测模块...................................................................................................... 34 4.3 漏电检测模块.............................................................................................................. 34 4.4 漏电闭锁模块.............................................................................................................. 35 4.5 先导电路模块.............................................................................................................. 36 4.6 开关量安全栅模块...................................................................................................... 38 4.7 热电阻安全栅模块...................................................................................................... 38 4.7.1热电阻测量电路...................................................................................................39 4.7.2线性光耦隔离电路...............................................................................................41 4.8 本章小结...................................................................................................................... 41 第五章智能化千米定向钻机电控系统软件设计...............................................................43 5.1 系统主控程序.............................................................................................................. 43 5.2 系统保护程序..........................