Intelligent control method of anti-sticking for drilling rod based on double algorithms

Drilling soft coal seam with high gas content easily leads to a sticking of drilling rod.In order to solve the above problem, an intelligent anti-sticking drilling method is put forward based on the theory of slag discharge, hydraulic anti-sticking drilling technology, fuzzy neural network, and particle swarm optimization(PSO).The intelligent anti-sticking controller is designed and applied to a proposed method which gathers the signals of torque, rotary speed, and slag discharge of drilling rod to distinguish drilling status.The generation rate and the discharge rate are controlled by the feeding speed and the rotary speed of drilling rod respectively, so that the production amount of coal particles is less than the maximum discharge amount of coal particles, thus coal particles blockage and sticking of drilling rod can be prevented.Intelligent anti-sticking controller is composed of intelligent decision-maker and executor, and the former is constructed based on fuzzy neural network.Particle swarm optimization is used to solve the model.Torque sensor, rotation speed sensor, and weight sensor are used to detect torque of drilling rod, rotary speed of drilling rod, and slag discharge in real time respectively, and the data are fed into the intelligent decision-maker.Next the control decision is transferred to the executor according to the anti-sticking drilling method.The executor is an optimal PID(Proportion Integration Differentiation) controller based on PSO,which control the hydraulic executors to complete the decision of the intelligent decision-maker.The simulation results show that the double algorithms of fuzzy neural network and PSO have achieved a smaller error and faster solving speed than the classical error feedback propagated fuzzy neural network, and the intelligent anti-sticking controller can predict the sticking of drilling rod and make the corresponding decision automatically.The intelligent control method of anti-sticking for drilling rod provides a theoretical support and a new idea for preventing the sticking of drilling rod.