煤田地质与勘探2026，Vol.54Issue(5)：330-341,12.DOI:10.12363/issn.1001-1986.25.10.0778
ZDY15000LDK大功率自动化定向钻机关键技术与应用
Key techniques and application of the ZDY15000LDK high-power automatic directional drilling rig
摘要
Abstract
[Objective]For deep mining of coal mines,conventional directional drilling rigs face challenges including high labor intensity,limited control accuracy,a low intelligence level,and failure to meet the demand for efficient gas drainage.Meanwhile,high-power automatic drilling rigs encounter technical bottlenecks in automation,control accur-acy,and process intelligence in this context.To address these issues,this study proposed an integrated and systematic solution-the ZDY15000LDK high-power automatic directional drilling rig.[Methods]Using a compact structural lay-out,a drill rod handling system was developed,consisting of a drill rod loading/unloading manipulator with four de-grees of freedom and an automatic drill rod storage and transport system.Accordingly,the continuous automatic load-ing/unloading of heavy directional drill rods,along with the reduction in the number of operators per duty shift,were in-vestigated.Using a modularized hydraulic control system and a proportional valve-based closed-loop electronic control strategy,a model for a precise match between drilling conditions and control parameters was established,followed by the analysis of the response speed and dynamic stability of the drilling rig system.A series of intelligent process al-gorithms based on measurement-while-drilling(MWD)data were developed for automatic toolface angle adjustment,automatic drilling of borehole branches,and closed-loop borehole trajectory control.On this basis,a model for autonom-ous decision-making and real-time deviation correction in the drilling process was established,and the method for high-precision control of directional drilling under complex operating conditions was explored.[Results and Conclusions]In the field tests on crushed soft coal seams in the Luotuoshan Coal Mine in Wuhai City,a directional borehole with a depth of up to 621 m was successfully drilled using the ZDY15000LDK high-power automatic directional drilling rig,with an increase of over 50％in construction efficiency,trajectory deviation errors controlled within 1 m,and tool face angle ac-curacy of±0.5°.These results verify that the drilling rig delivers the technical advantages of efficient,precise,and min-imally manned drilling in complex coal seams.Through structural integration innovation,the collaborative optimization of electro-hydraulic control systems,and the fusion of intelligent process algorithms,the proposed solution effectively addresses the challenges that conventional high-power directional drilling rigs tend to face in deep complex strata,such as a low degree of automation and limited control accuracy.Therefore,the proposed solution provides a key technical pathway for the research and development of equipment for intelligent underground drilling in coal mines.关键词
大功率自动定向钻机/自动加卸杆/电液控制/智能导向/轨迹控制Key words
high-power automatic directional drilling rig/automatic drill rod loading/unloading/electro-hydraulic con-trol/intelligent steering/trajectory control分类
矿业与冶金引用本文复制引用
李泉新,孙涵昱,贾茜,张刚,方鹏,邢望,姚克,张锐,张博洋,赵雪锋,石洋..ZDY15000LDK大功率自动化定向钻机关键技术与应用[J].煤田地质与勘探,2026,54(5):330-341,12.基金项目
国家重点研发计划项目(2023YFB2604004) （2023YFB2604004）
