Method and an arrangement for controlling a rock drill
An arrangement and a method for controlling at least one drill parameter when drilling in rock with a rock drill, comprising an impulse-generating device arranged to induce shock waves in a tool acting against the rock with a percussive force generated via a shock wave-generating pressure. The arrangement and method comprises a control system for determining a first parameter value representing the damping pressure, determining a second parameter value representing the rotation pressure of a drill bit, determining a deviation between the second parameter value and a rotation pressure reference value, determining a parameter reference value depending on the deviation, and regulating the percussion pressure based on a function of the deviation and the parameter reference value.
1. A method for controlling at least one drill parameter when drilling in rock with a rock drill, said rock drill comprising an impulse-generating device arranged to induce shock waves in a tool acting against the rock with a percussive force generated via a percussion pressure, a rotation-generating device arranged to supply a torque to an impact device with a rotation generated via a rotation pressure, and a pressurisable damping chamber arranged to at least partially regulate contact of the rock drill with the rock via a damping pressure in the damping chamber,
wherein said method includes the steps of:
determining a first parameter value (P 1 ) representing the damping pressure (D),
determining a second parameter value (P 2 ) representing the rotation pressure (R) of the drill bit,
determining a deviation (ΔR) between the above second parameter value and a rotation pressure reference value (Rref),
maintaining or changing a damping pressure reference value (Dref, Dref 1 , Dref 2 ) in dependence on said deviation, and
regulating the percussion pressure (S) based on a function of the first parameter value (P 1 ) and the damping pressure reference value.
2. A method in accordance with claim 1 , wherein the rotation pressure (R) is determined continuously and/or at specific intervals via sensing, monitoring, measurement or calculation.
3. A method in accordance with claim 2 , wherein said function consists of one or more of the following: proportional regulation, derivative regulation, integral regulation in relation to the deviation (ΔR) and/or the damping pressure reference value (Dref, Dref 1 , Dref 2 ), or a combination thereof.
4. A method in accordance with claim 2 , in connection with which the regulation is carried out by means of a mathematical relation between the damping pressure, the rotation pressure and the percussion pressure and/or by referring to a predetermined table.
5. A method in accordance with claim 2 , in connection with which the regulation is carried out by means of a mathematical relation between a feed pressure, the rotation pressure and the percussion pressure and/or by referring to a predetermined table.
6. A method in accordance with claim 2 , also including the step of regulating the percussion pressure in relation to the start drilling pressure (S 1 ) when the first parameter value (P 1 ) is less than the damping pressure reference value (Dref).
7. A method in accordance with claim 2 , also including the step of regulating the percussion pressure (S) in relation to a predetermined drilling pressure (S 2 ) when the second parameter value (P 2 ) is greater than the rotation pressure reference value (Rref) and the first parameter value (P 1 ) is greater than the damping pressure reference value (Dref) set to a second damping pressure reference value (Dref 2 ).
8. A method in accordance with claim 1 , wherein said function consists of one or more of the following: proportional regulation, derivative regulation, integral regulation in relation to the deviation (ΔR) and/or the damping pressure reference value (Dref, Dref 1 , Dref 2 ), or a combination thereof.
9. A method in accordance with claim 1 , in connection with which the regulation is carried out by means of a mathematical relation between the damping pressure, the rotation pressure and the percussion pressure and/or by referring to a predetermined table.
10. A method in accordance with claim 1 , in connection with which the regulation is carried out by means of a mathematical relation between a feed pressure, the rotation pressure and the percussion pressure and/or by referring to a predetermined table.
11. A method in accordance with claim 1 , also including the step of regulating the percussion pressure in relation to the start drilling pressure (S 1 ) when the first parameter value (P 1 ) is less than the damping pressure reference value (Dref).
12. A method in accordance with claim 1 , also including the step of regulating the percussion pressure (S) in relation to a predetermined drilling pressure (S 2 ) when the second parameter value (P 2 ) is greater than the rotation pressure reference value (Rref) and the first parameter value (P 1 ) is greater than the damping pressure reference value (Dref) set to a second damping pressure reference value (Dref 2 ).
13. A method in accordance with claim 1 , including the step of regulating an increase of percussion pressure such that the increase of percussion pressure per time unit is kept below a threshold value.
14. A method in accordance with claim 1 , wherein the rotation-generating device comprises a rotation motor and the second parameter value is a rotation mean value based on the rotation of a drill bit of the rock drill during a predetermined interval of time.
15. A method in accordance with claim 1 , including the step of moving the impulse-generating device forwards and backwards along a feeder regulated by a feed pressure (M), and regulating the feed pressure in dependence on the rotation pressure (R).
16. An arrangement for controlling at least one drill parameter when drilling in rock with a rock drill, comprising an impulse-generating device arranged to induce shock waves in a tool acting against the rock with a percussive force generated via a percussion pressure, a rotation-generating device arranged to supply a torque to an impact device with a rotation generated via a rotation pressure, a pressurisable damping chamber arranged to at least partially regulate the contact of the rock drill with the rock via the prevailing pressure in the damping chamber, the percussion pressure being regulated in dependence on the pressure in the damping chamber, and a control system is arranged to control the movement of the rock drill,
wherein the arrangement comprises devices for carrying out the method in accordance with claim 1 .
17. A computerized control system comprising means for carrying out the method of controlling at least one drill parameter when drilling in rock in accordance with claim 1 .
18. A drilling rig, said drilling rig comprising said computerized control system in accordance with claim 17 .
19. A computer program downloadable directly into an internal memory of a computer, said computer program comprising program code for controlling the method in accordance with claim 1 .
20. A computer-readable medium with a computer program loaded onto it, said computer program being designed to operate a computer to carry out steps in accordance with the method of claim 1 .