Abstract: Intelligent drilling rig is the general trend of industrial development,which can effectively reduce labor costs, improve production efficiency and accuracy. In order to improve the real-time and accuracy of lithology identification,an intelligent drilling rig control system for coalbed methane mining based on lithology identification is proposed. Based on the real-time data acquisition of drilling pressure,rotation speed and torque,an intelligent real-time discriminant model for coal lithology is constructed based on K-means++ algorithm,and 28 sets of measured data of CBM development drilling are used to test the model. The results show that the misjudgment rate of the model is zero,and the reliability of the model is high. On this basis, the simulation model of intelligent drilling rig control system is constructed based on fuzzy PID. The simulation results in Matlab environment show that the rise time of the model system is only 2. 5 s,which is 1 / 2 of the traditional PID,and the overshoot is 1 / 8 of the traditional PID,which has a great improvement in response speed and stability. The intelligent drilling rig control system can realize the real-time intelligent identification of coal lithology and the fast and stable response of drilling rig,meet the requirements of real-time control of intelligent drilling of coalbed methane development drilling rig,and provide a theoretical basis for the intelligent transformation of coalbed methane mining. 

Key words: coalbed methane,intelligent drill,lithology identification,K-means++ algorithm,fuzzy PID