machines

Article
Drilling Rig Hoisting Platform Security Monitoring
System Design and Application
Junjiang He 1, * and Min Luo 2
1 School of Mechatronic Engineering, Southwest Petroleum University, Chengdu 610500, China
2 School of Electrical Engineering, Southwest Petroleum University, Chengdu 610500, China;
15108355940@163.com
* Correspondence: 201521000487@stu.swpu.edu.cn; Tel.: +86-151-9813-0461

Received: 1 June 2017; Accepted: 3 August 2017; Published: 22 August 2017

Abstract: Drilling rig hoisting platform security monitoring system has played a very important
role in oil exploration. And drilling parameters and working condition of workers are particularly
important, because these parameters indicate that whether the drilling work is safe and effective
directly. A security monitoring system is established to provide the real-time parameters for drilling
safety is the purpose of this study. The monitoring system includes a top drive, a traveling block hook,
an oil derrick and a driller room, and the controller of the system is programmable logic controller
PLC. The procedure of the system is written by the RSLogix5000 software, the PC configuration is
used force control monitor configuration software. According to the system, top drive, driller room
and environment wind speed parameters in real-time are collected and displayed in the configuration
of upper computer, the collected parameters can be used to determine the working conditions of the
top drive and to send timely warnings for inspection maintenance to avoid drilling safety accidents.
Work fatigue remind of driller and regularly remind of derrick check can be as much as possible to
reduce safety accidents. And automatic operation of traveling block hook reached the default point
faster and more smoothly than manual operation given the other uncontrollable factors in manual
operation. The application of the system is successfully working in the drilling work site.

Keywords: drilling rig hoisting platform; monitoring system; programmable logic controller;
force control monitor configuration; real-time parameters; drilling safety

1. Introduction
A drilling rig hoisting platform is an indispensable piece of equipment in oil exploration.
The entire platform mainly includes a top drive, a traveling block hook, an oil derrick, and a driller
room [1], as shown in Figure 1. The top drive rotates the drilling tool and circulates the mud, shackle,
and pick up pipe [2]. The oil derrick lays the crown block, suspends the traveling block hook and
top drive, and stores the drill pipe [3]. The driller room, which has various electrical, mechanical,
and communication technologies as an organic whole, provides a comfortable working environment
for the driller [4]. The rig hoisting platform is a cornerstone in a drilling operation. It is particularly
important to ensure safety because the complexity of the actual working condition and working
environment is prone to accidents. Addressing the potential safety hazard in the process of drilling
and properly documenting casualties and economic losses caused by accidents are urgently needed.
So establishing the rig hoisting platform’s security monitoring system is necessary.

Machines 2017, 5, 19; doi:10.3390/machines5030019 www.mdpi.com/journal/machines

Machines 2017, 5, 19 2 of 15
Machines 2017, 5, 19 2 of 15

Figure1.1.Drilling
Figure Drillingrig
righoisting
hoistingplatform.
platform.

Many scientific
Many scientific research
research institutions
institutions and and scholars
scholars havehave conducted
conducted studies studies on on thethe security
security
monitoring system of a rig hoisting platform and had significant achievements.
monitoring system of a rig hoisting platform and had significant achievements. Pavel et al. (2004) [5] Pavel et al. (2004) [5]
designed aa system
designed systemfor forthe theremote
remote monitoring
monitoring of a ofdrilling stand stand
a drilling using Internet technologies.
using Internet Franco-
technologies.
Franco-Gasca et al. (2006) [6] described a driver current signal analysis that estimates theusing
Gasca et al. (2006) [6] described a driver current signal analysis that estimates the tool condition tool
the discrete wavelet transform to extract information from the
condition using the discrete wavelet transform to extract information from the original cutting force. original cutting force. Rigserv
Company
Rigserv (Houston,
Company TX, USA)
(Houston, TX,(2008)
USA) [7](2008)
investigated and developed
[7] investigated a rig safety
and developed control
a rig safety system
control by
combining the advanced programmable logic controller PLC
system by combining the advanced programmable logic controller PLC and automation industrial and automation industrial control
hardware
control and software
hardware with modern
and software with modern drillingdrilling
machinery. Datalog
machinery. Company
Datalog (Bologna,
Company Italy) (2008)
(Bologna, Italy)
[8] used the TCP/IP network protocol to conduct communication
(2008) [8] used the TCP/IP network protocol to conduct communication and the friendly icon and the friendly icon interface
interface of
WellWizard to access information accurately and display the drilling
of WellWizard to access information accurately and display the drilling parameters in real time. parameters in real time. Wang
et al. (2008)
Wang [9] introduced
et al. (2008) the principle
[9] introduced of the top
the principle of drive
the topDCdrive
control DCsystem’s
control external
system’sfault alarmfault
external and
recommended check methods to shorten the time of fault diagnosis.
alarm and recommended check methods to shorten the time of fault diagnosis. Zhang et al. (2009) [10] Zhang et al. (2009) [10]
developed aa drilling
developed drilling rigrig remote
remote security
security control
control system
system based
based on on the
the general
general packet
packet radioradio service,
service,
which can remotely monitor the security of the drilling rig. Zhang et
which can remotely monitor the security of the drilling rig. Zhang et al. (2009) [11] proposed general al. (2009) [11] proposed general
diagnosis methods for faults based on the combined information
diagnosis methods for faults based on the combined information fusion of fuzzy reasoning and a neural fusion of fuzzy reasoning and a
neural network,
network, and set andup theset structural
up the structuralmodel model
of faultofdiagnosis.
fault diagnosis.
Wang Wang (2010)(2010)[12] used[12]distributed
used distributed data
data acquisition system, set up an experimental device, and achieved
acquisition system, set up an experimental device, and achieved the detection of the drilling the detection of therigdrilling
working rig
working condition parameters and feedback control. Cheng et al.
condition parameters and feedback control. Cheng et al. (2013) [13] used the fiber Bragg grating (FBG) (2013) [13] used the fiber Bragg
grating
strain (FBG)
sensor strain
in oil and sensor in oilforand
gas derricks gasmonitoring
health derricks for and health
foundmonitoring and found
that the monitoring systemthathad the
monitoring system had the advantages of high accuracy, good repeatability,
the advantages of high accuracy, good repeatability, large capacity, and real-time monitoring ability. large capacity, and real-
time monitoring
Deng and Chang (2013) ability.[14]
Deng and Chang
analyzed (2013) [14] analyzed
the anti-jamming performance the anti-jamming
of the top drive performance
control system of the
top drive control system and gave the
and gave the corresponding solution to the interference. corresponding solution to the interference.
Aboveall,
Above all,there
therearearemany
manyresearches
researcheson onthethedrilling
drillingsafety,
safety,using
usingthe theinternet
internetremote
remotemonitoring
monitoring
technology, drilling
technology, drilling safe
safe monitoring
monitoringbased basedonon programmable
programmable logic controller
logic controller (PLC) technology,
(PLC) technology, real-
time display technology by IP network protocol distribute technology,
real-time display technology by IP network protocol distribute technology, distribute data acquisition distribute data acquisition
systemtechnology
system technologyand andso soon.on. In
Inthese
thesestudies,
studies,theretherearearefew
fewresearches
researcheson onthethesafety
safetymonitoring
monitoringof of
thewhole
the wholedrilling
drillingplatform.
platform. In Inthis
thispaper
paperused usedthe theRockwell
RockwellPLC PLCsystem
systemand andProfibus
Profibustechnique
techniqueto to
design a set of relatively complete drilling rig hoisting security monitoring
design a set of relatively complete drilling rig hoisting security monitoring system. The parameters system. The parameters
ofthe
of thedrilling
drillingoperation
operationwere werecollected
collectedin inreal
realtime,
time,andandthetheworking
workingcondition
conditionof ofthe
thetoptopdrive
driveand and
the general condition of the drilling formation were analyzed through
the general condition of the drilling formation were analyzed through the collected data. Especially, the collected data. Especially,
thetraveling
the travelingblockblockhookhookwas wasautomatically
automaticallycontrolledcontrolled and and moved
moved to tothe
thedefault
defaultlocation,
location, so sothat
thatitit
willimprove
will improvework workefficiency
efficiencyand andsafety.
safety.And Andaawork workfatigue
fatiguereminder
reminderfor forthe
thedriller
drillerand andaaregular
regular
reminder for derrick check were designed, it will reduce man-made
reminder for derrick check were designed, it will reduce man-made safety hazards. The whole system safety hazards. The whole system
can provide drilling safety and work efficiency.And the entire system
can provide drilling safety and work efficiency. And the entire system was applied to the field test was applied to the field test
andoperation.
and operation.
Machines 2017, 5, 19 3 of 15
Machines 2017, 5, 19 3 of 15
2. Composition of the Drilling Rig Hoisting Security Monitoring System
The rig hoisting
2. Composition of theplatform
Drillingmonitoring
Rig Hoisting system comprises
Security threeSystem
Monitoring parts: the upper machine, the
controller programmable logic controller PLC, and the device layer. The network diagram of the
entireThe
systemrig ishoisting
shown in platform
Figure 2.monitoring system comprises three parts: the upper machine,
the controller
As shown in Figure 2, thelogic
programmable controller
control layer is PLC, and the
the middle device
layer layer.
of the The Itnetwork
system. diagram
is the hinge of
of the
the entire
system in system
which isallshown
typesinofFigure
data 2.are transmitted. The controller property is important. The
programmable logic controller PLC layer
As shown in Figure 2, the control has is
sothe middle
many layer of thethat
advantages system. It isfields
other the hinge of the
aside fromsystem
the
in which all types of data are transmitted. The controller property is important.
petrochemical industry field use it. The main advantages of the programmable logic controller PLC The programmable
logic
[15] controller
are as follows: PLC has so many advantages that other fields aside from the petrochemical industry
field use it. The main advantages of the programmable logic controller PLC [15] are as follows:
(1) High reliability and strong anti-jamming capability;
(1) Complete
(2) High reliability and strong
supporting anti-jamming
facilities, capability;
fully functional, and high applicability;
(2) Rich
(3) Complete supporting
I/O interface facilities, fully functional, and high applicability;
module;
(3) Small
(4) Rich I/O interface
volume, light module;
weight, low energy consumption;
(5)
(4) Strong
Small commonality, variablelow
volume, light weight, control program,
energy and easy to use.
consumption;
(5) Aside
Strong commonality,
from the controlvariable control
layer, the program,
information andand
layer easydevice
to use.layer have their own functions.
The information
Aside from layer displays
the control data
layer, thetoinformation
users, thuslayer
enabling users tolayer
and device be intuitive,
have theirunderstand the
own functions.
scene, and send the
The information command
layer displays control
data to field
users,device throughusers
thus enabling this layer. The device
to be intuitive, layer is analogous
understand the scene,
to
and send the command control field device through this layer. The device layer is analogousortocurrent
human skin tissue, and it can turn the scene situation into the corresponding voltage human
signal.
skin tissue, and it can turn the scene situation into the corresponding voltage or current signal.
The
Theworking
workingprocess
processofofthe
theentire
entiresystem
systemisisthe
thedevice
devicelayer,
layer,which
whichturns
turnsthe
thescene
scenesituation
situationinto
into
the
the corresponding voltage or current signal. Then, the control layer collects the voltageor
corresponding voltage or current signal. Then, the control layer collects the voltage orcurrent
current
signal
signalusing
usingfieldbus
fieldbustechnology.
technology.As Asthethelast
laststep,
step,the
theinformation
informationlayer
layeranalyzes
analyzesdatadatausing
usingspecial
special
processing
processing software and displays the working condition of the scene on the screen, in thispaper
software and displays the working condition of the scene on the screen, in this paperused
used
RSLogix5000
RSLogix5000 to to analyze
analyzedatadataandand force
force control
control monitor
monitor configuration
configuration to display
to display the condition.
the working working
condition. The information
The information layer can
layer can transmit thetransmit
control the control
signal to thesignal
devicetolayer
the device layertoaccording
according the controltolayer.
the
control layer. Therefore, the system realizes the functions of
Therefore, the system realizes the functions of monitoring and control. monitoring and control.

Computer

Information layer (EtherNet/IP)

PLC

Control layer (ControlNet)

Sensor

Device layer (DeviceNet)

Traveling
Top Oil Driller
block
drive derrick room
hook

Figure
Figure2.2.Netwok
Netwokdiagram
diagramof
ofwhole
wholesystem.
system.

3.3.Design
DesignScheme
Schemeof
ofthe
theDrilling
DrillingRig
RigHoisting
HoistingSecurity
SecurityMonitoring
MonitoringSystem
System
To
To guarantee
guarantee the
the safety
safety of
of drilling
drilling operations,
operations, monitoring
monitoringand
and mastering
masteringthe
the drilling
drillingworking
working
conditions are necessary.
conditions are necessary.

3.1. Top Drive Monitoring Scheme Design

Machines 2017, 5, 19 4 of 15

Machines
3.1. Top 2017,
Drive5, Monitoring
19 Scheme Design 4 of 15

With the
With the development
development of of drilling
drilling technology,
technology, the the top
top drive
drive drilling
drilling system
system gradually
gradually replaced
replaced
the rotary drilling rig [16]. In the process of drilling, the top drive drilling systems provides
the rotary drilling rig [16]. In the process of drilling, the top drive drilling systems provides the the
drilling motive,
drilling motive, circulates
circulates drilling
drilling fluids,
fluids, and and reduces
reduces the the number
number of of connecting
connecting singlesingle pipes.
pipes. It plays
It plays
an important
an important role role in
in the entire process
the entire process of of drilling. Real-time mastery
drilling. Real-time mastery of of the
the working
working conditions
conditions of the
of the
top drive drilling system is necessary. The top drive drilling system mainly
top drive drilling system is necessary. The top drive drilling system mainly consists of a top-drilling consists of a top-drilling
motor assemble,
motor assemble, motor
motor bracket/guide
bracket/guide block block assemble,
assemble, make-up
make-up or or break-out
break-out devicedevice of of the
the drill
drill pipe
pipe
assemble, and other auxiliary
assemble, and other auxiliary systems. systems.
The top-drilling
The top-drilling motor motor assemble
assemble provides
provides the the drilling
drilling motive
motive [16][16] and
and enables
enables the the motor
motor speed
speed
and the motor temperature to indicate if the motor is running normally. As wind pressure of the
and the motor temperature to indicate if the motor is running normally. As wind pressure of the
cooling fan
cooling fan also
also affects
affects the
the motor
motor temperature,
temperature, it it needs
needs to to bebe monitored.
monitored. The The reduction
reduction gearbox,
gearbox,
which
which isisresponsible
responsibleforfor thethetemperature
temperature and andoil pressure, is indispensable
oil pressure, as it determines
is indispensable the working
as it determines the
condition. In the drilling process, if sticking or other accidents that require
working condition. In the drilling process, if sticking or other accidents that require the motor to be the motor to be stopped
occur, the
stopped pressure
occur, of the brake
the pressure of thecylinder should be
brake cylinder controlled.
should Changing
be controlled. the pressure
Changing of the of
the pressure brake
the
cylinder
brake can realize
cylinder the automatic
can realize start–stop
the automatic motor motor
start–stop controlcontrol
of this of
control system.system.
this control
The make-up
The make-up or or break-out
break-outdevicedeviceofofthe thedrill
drillpipe
pipeassemble
assembleprovides
provides service
service forfor
thethe trip
trip [16].
[16]. It
It possesses the greatest advantages of the top drive drilling equipment,
possesses the greatest advantages of the top drive drilling equipment, and it can save drilling time and it can save drilling time
and reduce
and reduce the labor intensity
the labor intensity of workers. Therefore,
of workers. Therefore, monitoring
monitoring this this part
part is important for
is important the drilling
for the drilling
operation. Controlling the turret head motor can master the location
operation. Controlling the turret head motor can master the location of the turret head in real time. of the turret head in real time.
Controlling the
Controlling thecylinder
cylinderoiloil pressure
pressure of the
of inclined
the inclinedstructure can determine
structure can determinethe location of the inclined
the location of the
structure. More importantly, pressure in the well should be monitored
inclined structure. More importantly, pressure in the well should be monitored and alarm should be and alarm should be given in
a timely manner.
given in a timely manner.
The monitoring
The monitoring parameters
parameters of of the
the top
top drive
drive drilling
drilling system
system is is shown
shown in in Figure
Figure 3. 3.
In the current paper, the monitoring system of the DQ-90 top
In the current paper, the monitoring system of the DQ-90 top drive type is investigated.drive type is investigated. The design
The
parameters
design parametersof the DQ-90
of the top
DQ-90drivetop[17] are[17]
drive presented in Tablein
are presented 1.Table 1.

Figure 3. Parameters of top drive system.

Table 1. Design parameters of DQ-90 top drive.

Type DQ-90
Type DQ-90
The drilling depth 9000 m
The drilling depth 9000 m
Load rating 6750 KN
Load rating 6750 KN
Power
Power supply
supply 600VAC/50
600 VAC/50Hz Hz
Mainmotor
Main motorrated
rated power
power (continuous)
(continuous) 368KW
368 KW × ×2/500
2/500HP
HP× ×2 2
Rang
Rangofofmotor speed
motor speed 0~200
0~200r/min
r/min
Hydraulic system working pressure 16 MPa
Hydraulic system working pressure 16 MPa
Center pipe hole pressure rating 52 MPa
Center pipe hole pressure rating
Highest working temperature of main motor 135 MPa
52 ◦C
Highest working temperature of main motor 135 °C

3.2. Traveling Block Hook Monitoring Scheme Design

The traveling block can relieve winch work load in the process of drilling or well repairing, and
it is indispensable in connecting a single root, drilling, and tripping [1].
In connecting a single pipe in the process of normal drilling, the borehole continuously
excavated and the pipe column should always be connected. The driller adjusts the traveling block
Machines 2017, 5, 19 5 of 15

3.2. Traveling Block Hook Monitoring Scheme Design

The traveling block can relieve winch work load in the process of drilling or well repairing, and it
is indispensable in connecting a single root, drilling, and tripping [1].
In connecting a single pipe in the process of normal drilling, the borehole continuously excavated
and the pipe column should always be connected. The driller adjusts the traveling block hook height
to fit the operation to connect the single pipe. As the driller’s perspective is limited, monitoring and
controlling the height of the traveling block hook is necessary. Aside from increasing the crown block
Machines 2017, 5, 19 5 of 15
protector, a special hook stay location is added to the automatic push-button control. A transmitter
is installedhook
on the
heightdefault location
to fit the operation oftoderrick, photosensitive
connect the single pipe. Assensor installed
the driller’s on the
perspective traveling block,
is limited,
monitoringsensor
the photosensitive and controlling
signal the
thatheight of thethe
reaches traveling block
default hook is necessary.
location is tested, Aside
andfromtheincreasing
system will judge
the crown block protector, a special hook stay location is added to the automatic push-button control.
is to stop or continue movement. When the button is pressed, the hook automatically moves to the
A transmitter is installed on the default location of derrick, photosensitive sensor installed on the
default height. This
traveling mechanism
block, is used sensor
the photosensitive during special
signal emergency
that reaches situations
the default locationinstead
is tested,ofand
manual
the control.
This control method
system will can
judgealso bestop
is to applied to the operation.
or continue movement. When the button is pressed, the hook
automatically
Different drillingmoves to the are
pressures default height.in
needed This mechanism
a drilling is used during
operation. Thespecial
heightemergency
of the traveling
situations instead of manual control. This control method can also be applied to the operation.
block hook is adjusted to meet the process of the downhole operation. Grasping the work situation
Different drilling pressures are needed in a drilling operation. The height of the traveling block
underground hook isis difficult
adjusted to because
meet theofprocess
the limits of downhole
of the technology. An emergency
operation. Grasping thedevice is added to send
work situation
out an alarmunderground is difficult because of the limits of technology. An emergency device is added to send stop the
when sticking or other emergencies occur in the drilling process to immediately
out an alarm when sticking or other emergencies occur in the drilling process to immediately stop
entire system.
the entire system.
The monitoring parameters of the traveling block hook are shown in Figure 4. There is no direct
The monitoring parameters of the traveling block hook are shown in Figure 4. There is no direct
relationship betweenbetween
relationship severalseveral
parameters.
parameters. Emergency device
Emergency device provides
provides a waya to
waydealto deal
with with emergencies
emergencies
for workers,for and alarm
workers, and device is a reminder
alarm device is a reminder for
forstaff thatthe
staff that the system
system reaches
reaches a safe a safe
limit limit position.
position.

Figure
Figure 4. Parameters of
4. Parameters of traveling
traveling block hook.
block hook.
3.3. Oil Derrick and Driller Control Room Monitoring Scheme Design
3.3. Oil Derrick and Driller Control Room Monitoring Scheme Design
The oil derrick and driller control room are essential parts of drilling equipment. The normal
The oil derrick
work safetyand driller
of the control
oil derrick androom are essential
the comfortable parts
working of drillingfor
environment equipment.
the driller are The normal work
major
concerns.
safety of the oil derrick and the comfortable working environment for the driller are major concerns.
The oil derrick supports the entire lifting equipment, and it is where various drilling tools can
The oil derrick supports the entire lifting equipment, and it is where various drilling tools can
be conveniently tripped or hung. However, oil drilling is conducted in difficult conditions, and thus
be conveniently
mastering tripped or hung.
the working However,
condition of the oiloil drilling
derrick is conducted
is important. in difficult
In field work, conditions,
regular checks on the and thus
mastering the working condition of the oil derrick is important. In field work, regular checks
derrick condition are usually overlooked. A regular reminder device is necessary for the on the
programmable logic controller PLC to provide a time delay control program
derrick condition are usually overlooked. A regular reminder device is necessary for the programmablewhile the system emits
warning instructions at regular intervals. Just like other systems, monitoring the environment wind
logic controller PLC to provide a time delay control program while the system emits warning instructions
is also essential. When the wind reaches the preset alarm value, an alarm will be set off.
at regular intervals. Just control
The driller like other
room systems, monitoring
is the brain the environment
of the platform. It is where thewind is isalso
driller essential.
located, many When the
wind reaches the preset
instruments alarm value,
are displayed, an alarmdrilling
and important will beoperations
set off. are conducted. Therefore, the work
environment
The driller of theroom
control driller is
is important.
the brain Monitoring
of the the temperature
platform. andwhere
It is humidity of the
the drilleris located,
driller
control room is necessary. A driller work fatigue reminding system is set to consider the driller’s fatigue.
many instruments are displayed, and important drilling operations are conducted. Therefore,
The monitoring parameters of the oil derrick and driller control room are presented in Figure 5.
the work environment of the
In this paper, the driller is important.
monitoring Monitoring
system of a type “A” derricktheistemperature and humidity
examined, as shown in Figure 1of
is the driller
a type “A” derrick. The parameters of the type “A” derrick [18] are listed in Table 2.
control room is necessary. A driller work fatigue reminding system is set to consider the driller’s fatigue.
Wind load is an important parameter in the process of drilling for the derrick. Reference [19]
The monitoring parameters of the oil derrick and driller control room are presented in Figure 5.
introduces the maximum wind speed of a derrick in different working states, as shown in Table 3.
In this paper, the monitoring system of a type “A” derrick is examined, as shown in Figure 1 is
a type “A” derrick. The parameters of the type “A” derrick [18] are listed in Table 2.
Machines 2017, 5, 19 6 of 15

Wind load is an important parameter in the process of drilling for the derrick. Reference [19]
introduces the maximum wind speed of a derrick in different working states, as shown in6 of
Machines 2017, 5, 19
Table
15
3.

Figure
Figure 5. Parametersof
5. Parameters of derrick
derrick and
anddriller room.
driller room.

Table 2. Parameters of type ‘A’ derrick.

Table 2. Parameters of type ‘A’ derrick.
Type Type A (MA-250)
The maximum lifting
Type weight of Hook Type 200 t
A (MA-250)
Effective height 42.8 m
The maximum
Height oflifting
rackingweight of Hook
platform 24200
mt
Effective height
Thigh span 7.5 m m
42.8
Height of racking
Weight
platform 24 m
35 t
Thigh span 7.5 m
Weight 35 t
Table 3. Maximum wind speed of derrick in different working states.

State Wind Speed (m/s)

Table 3. Maximum wind speed
Operating state of derrick in17.2~20.7
different working states.
Non-operating state 31.2~36
Lift and lay down state
State 14.8 (m/s)
Wind Speed
Operating state 17.2~20.7
3.4. Realizing the Function of the Monitoring System
Non-operating state 31.2~36
As discussed above, the
Liftdrilling
and layoperation safety is ensured
down state by monitoring the parameters of the
14.8
top drive system, hook hoisting system, derrick system, and drilling control room. The specific
functions of the monitoring and control system are as follows:
3.4. Realizing the Function of the Monitoring System
(1) The working parameters of the top drive system, motor temperature, motor speed, cooling fan
As discussed
pressure,above, thegearbox
reduction drilling
oiloperation safety
pressure, brake is ensured
cylinder by monitoring
oil pressure, the parameters
turret head motor speed, of
the top drive system,
inclined hook oil
structure hoisting system,
pressure, and wellderrick
pressuresystem, and drilling
are monitored control room. The specific
in real-time.
(2)ofThe
functions thecontrolled
monitoringtraveling block hook
and control automatically
system runs to the designated location and initiates
are as follows:
the emergency brakes once danger signals are detected.
(1) The(3)working
The working time of the
parameters of driller
the top is calculated and controlled
drive system, to avoid excessive
motor temperature, fatigue.
motor speed, cooling fan
(4) Derrick check workers are reminded to regularly evaluate the working
pressure, reduction gearbox oil pressure, brake cylinder oil pressure, turret head condition of motor
the oil speed,
derrick.
inclined structure oil pressure, and well pressure are monitored in real-time.
(5) Alarms are promptly sent out when danger signals are monitored.
(2) The(6)controlled traveling
History data, block
including hookand
storage automatically runs
display history to the
curves, aredesignated location
supervised and and
reports areinitiates
the emergency
generated.brakes once danger signals are detected.
(3) The working time of the driller is calculated and controlled to avoid excessive fatigue.
4. Software Design and Implementation of the Monitoring System
(4) Derrick check workers are reminded to regularly evaluate the working condition of the oil derrick.
(5) AlarmsThe aresoftware
promptly design
sentand
outapplication
when danger of the signals
corresponding control function are the core of the
are monitored.
entire monitoring platform system. Based on the fieldbus technology, sensor module and
(6) History data, including storage and display history curves, are supervised and reports
programmable logic controller PLC collect the data and the industrial personal computer (PC) is
areutilized
generated.
to process data. Through the detection signal and determined abnormal signal, the control
actuator sends out the alarm and runs the start–stop motor and other control operations.
4. Software The
Design
forceand Implementation
control configuration of the Monitoring
software, System
RS5000 programming software, and RSLinx
communication software are used to create the entire monitoring system. Force control
The software design and application of the corresponding control function are the core of the entire
monitoring platform system. Based on the fieldbus technology, sensor module and programmable
logic controller PLC collect the data and the industrial personal computer (PC) is utilized to process
Machines 2017, 5, 19 7 of 15

data. Through the detection signal and determined abnormal signal, the control actuator sends out the
alarm and runs the start–stop motor and other control operations.
The force control configuration software, RS5000 programming software, and RSLinx
communication software are used to create the entire monitoring system. Force control configuration
software is a professional monitoring configuration software by Beijing 3d force control technology co.
LTD, the software can be widely used in oil and gas, chemical, coal, electricity, environmental protection,
energy management, intelligent buildings, and other fields. RS5000 programming software is a PLC
Machines 2017, 5, 19 7 of 15
ladder programming software for Rockwell Automation company in America. RSLinx communication
software isconfiguration
the softwaresoftwarethat controls the communication
is a professional between the software
monitoring configuration controller
byand the3d
Beijing computer,
force and is
also the product
control of Rockwell
technology co.Automation company.
LTD, the software can be widely used in oil and gas, chemical, coal,
electricity, environmental protection, energy management, intelligent buildings, and other fields.
4.1. Exploitation
RS5000and Design of software
programming the ForceisControl Configuration
a PLC ladder Software
programming software for Rockwell Automation
company in America. RSLinx communication software is the software that controls the
The force control configuration
communication software
between the controller includes
and the theand
computer, man–machine interface
is also the product VIEW, project
of Rockwell
manager, I/O driver, real-time
Automation company. database DB, control strategy of the generator, and other Web service
components, among others [20]. The I/O driver and real-time database DB can implement the variable
4.1. Exploitation and Design of the Force Control Configuration Software
configuration and the link of the OPC database or force control configuration. The software collects
field data andThe force control
controls configuration
the system process.software
It usesincludes the man–machine
the flexible interface way”
“configuration VIEW, project
rather than the
manager, I/O driver, real-time database DB, control strategy of the generator, and other Web service
programming method to integrate the system. The preset software modules are set
components, among others [20]. The I/O driver and real-time database DB can implement the variable
to obtain a simple
configuration to complete the functions and monitor the control layer. Engineers consider
configuration and the link of the OPC database or force control configuration. The software collects it convenient
to use and that it greatly improve the efficiency of the integrated system.
field data and controls the system process. It uses the flexible “configuration way” rather than the
programming method to integrate the system. The preset software modules are
The monitoring configuration screen is designed on the basis of the hardware structure of theset to obtain a simple
configuration to complete the functions and monitor the control layer. Engineers consider it
system and exploitation. The login system and operating system require a dedicated administrator,
convenient to use and that it greatly improve the efficiency of the integrated system.
and thus the The system needsconfiguration
monitoring login rights management.
screen is designed on the Each
basis part
of the of the configuration
hardware structure of the screen is
built subsequently.
system and exploitation. The login system and operating system require a dedicated administrator,
and thus the system needs login rights management. Each part of the configuration screen is built
subsequently.
4.1.1. Top Drive Drilling System
4.1.1.includes
This part Top Drive many
Drillingmonitoring
System parameters, and an actual engineering application is needed
to configure the screen
This concisely,
part includes many intuitively,
monitoringand conveniently.
parameters, The monitoring
and an actual configuration
engineering application is screen
needed to configure the screen concisely, intuitively, and conveniently. The monitoring
is shown in Figure 6. Because most of the top drive system is the hydraulic control, oil pressure is configuration
screen is shown in Figure 6. Because most of the top drive system is the hydraulic control, oil pressure
very important for top drive. As shown in Figure 5, the oil pressure of different hydraulic cylinder
is very important for top drive. As shown in Figure 5, the oil pressure of different hydraulic cylinder
is monitored. At the same
is monitored. At the time, the the
same time, driving
drivingmotor speedand
motor speed andthethe
motormotor temperature
temperature are monitored,
are monitored,
so the working condition
so the working of theoftop
condition the drive can
top drive canbe
bewell understood
well understood inaspects.
in all all aspects.

6. Monitoring
FigureFigure configuration
6. Monitoring screen
configuration screen of drive.
of top top drive.
Machines 2017, 5, 19 8 of 15

Machines 2017, 5, 19 8 of 15
Figure 6 presents all the top drive monitoring parameters. The top drive is divided into several
important Figure
Machines 2017,65,presents
components. 19 all the
Each top drive monitoring
component parameters.
of the monitoring The top drive
parameters is divided
is detailed ininto
the several
8 of 15
annotation.
important components. Each component of the monitoring parameters is detailed in the annotation.
The drillerFigure
can be6 presents
intuitiveall
andthedetect themonitoring
top drive working situation of each
parameters. part.
The top drive is divided into several
The driller can be intuitive and detect the working situation of each part.
important components. Each component of the monitoring parameters is detailed in the annotation.
4.1.2. Oil Derrick and Driller Control Room
The driller
4.1.2. can beand
Oil Derrick intuitive
Drillerand detectRoom
Control the working situation of each part.
The The
monitoring
monitoringconfiguration
configurationscreen
screen in in Figure
Figure 77 considers
considersthethedrilling
drilling workers’
workers’ working
working
4.1.2. Oil Derrick and Driller Control Room
environment
environmentandand
reduces
reducesthethe
intensity
intensityofoftheir
theirwork.
work.
The
The screen monitoring
shows theconfiguration
convenient screen
parameters
The screen shows the convenient parameters in Figure 7the
that the
that considers the drilling
drillerneeds
driller needsto to workers’
control
control the the working
hookhook height
height
environment
control button.
control button.and
TheThe reduces
reminder
reminderthe
lampintensity
lamp isisset of
setup their
upin inan work.
an eye-catching location.
eye-catching location.
The screen shows the convenient parameters that the driller needs to control the hook height
control button. The reminder lamp is set up in an eye-catching location.

Figure
Figure 7. Monitoringconfiguration
7. Monitoring configuration screen
screenof
ofderrick
derrickand driller
and room.
driller room.

4.2. Design and Program of 7.

Figure theMonitoring
Procedureconfiguration screen of derrick and driller room.
4.2. Design and Program of the Procedure
RSLogix5000 was applied to the program. The software provides an integrated programming
4.2. Design andwas
RSLogix5000 Program of the to
Procedure
environment for theapplied
programmable the program. The software
logic controller provides
and considers users’anactual
integrated
needs. programming
Users can
environment for
inputRSLogix5000 the programmable logic
was applied to logic
and edit the programmable controller
the program.
controllerThe and considers
PLCsoftware provides
program, users’
comment anand actual
inspectneeds.
integrated Users can
programming
the program,
inputand
andmanage
edit the
environment programmable
for
files, others.logic logic
the programmable
among controller PLCand
controller program, comment
considers and inspect
users’ actual the program,
needs. Users can
input and
and manage editamong
files, the programmable
others. logic controller PLC program, comment and inspect the program,
and manage
4.2.1. files, among
I/O Configuration toothers.
Local Module
4.2.1. I/O Configuration to Local Module
Before programming, the I/O configuration is added to local module as an important step. The
4.2.1. I/O Configuration to Local Module
programmable
Before programming, logic controller
the I/OPLCconfiguration
has local input and outputto
is added modules, which are
local module asanalog input and step.
an important
analog Before
output programming,
as well as the I/O
digital configuration
input and digital is added
output, to local module
respectively. as anthe
Choosing important
right step. The
connection
The programmable logic controller PLC has local input and output modules, which are analog input
programmable
module logic The
is important. controller PLC hasmodule
configuration local input
usedand output
in this modules,
monitoring whichisare
system analog input
presented and
in Figure
and analog output as well as digital input and digital output, respectively. Choosing the right
analog
8. output
In Figure as controller
8, six well as digital inputare
modules and digital
used, output,
which respectively.
are input Choosing
and output modulestheofright connection
analog signals
connection
module module is important. The configuration module used in this monitoring system is presented
is important.
and digital signals. The configuration module used in this monitoring system is presented in Figure
in Figure
8. In Figure 8, six 8,
8. In Figure six controller
controller modulesmodules
are used,are used,are
which which
inputare
andinput and
output outputofmodules
modules of analog
analog signals
signals
and and digital
digital signals.
signals.

Figure 8. I/O configuration.

Figure 8. I/O configuration.

Figure 8. I/O configuration.
Machines 2017, 5, 19 9 of 15

Based on the hardware input and output types, the programmable logic controller PLC module
obtains the connection slot number and the convert relational, as shown in Table 4.

Table 4. PLC module connection slot number and the convert relational.

Hardware PLC Connection Slot Number Transformation Relation

Motor temperature 6 slot 5 mouth 0~150 ◦ C corresponding 0~5 V
Motor speed 6 slot 1 mouth 0~300 r/min corresponding 0~5 V
Wind speed 6 slot 3 mouth 0~200 Km/h corresponding 0~5 V
Brake cylinder oil pressure 6 slot 6 mouth 0~20 MPa corresponding 0~5 V
Drilling fluid return pressure 3 slot 7 mouth 0~5 MPa corresponding 0~5 V
Balance cylinder oil pressure 3 slot 6 mouth 0~20 MPa corresponding 0~5 V
Cooling fan wind pressure 6 slot 7 mouth 0~20 MPa corresponding 0~5 V
Tilting cylinder oil pressure 3 slot 0 mouth 0~20 MPa corresponding 0~5 V
Driller room temperature 3 slot 4 mouth 0~50 ◦ C corresponding 0~5 V
Driller room humidity 3 slot 5 mouth 0~100% corresponding 0~5 V
Hook height remind 3 slot 3 mouth Corresponding input voltage 4~5 V
Buzzer warning 7 slot 3 mouth Corresponding input voltage 1~2 V

4.2.2. Program Design of the Top Drive System

The designing of the top drive system program goes as follows: The programmable logic controller
PLC is powered on, and the module is initialized. Whether or not to push the drive start button is
determined. When the top drive is launched, the motor temperature, motor speed, and wind pressure
of cooling fan are collected and processed in real time to determine if the temperature is over 135 ◦ C
and the wind pressure id less than 1 MPa. If the values are greater than the preset temperature and
wind pressure, the motor will send out an alarm and brake. The program flow chart is illustrated in
Figure 9.
The other acquisition modules are the real-time monitoring of the reduction of gearbox oil pressure,
brake cylinder oil pressure, and inclined structure oil pressure. According to top drive hydraulic
design manual, rated pressure of hydraulic system is 16 MPa. If this oil pressure exceeds more than
the system rating pressure 16 MPa, the system will send out an alarm and set off the emergency brake.
The program flow chart is presented in Figure 10.

4.2.3. Program Design of the Derrick and Driller Room System

The traveling block hook is present in the derrick, and it controls the traveling block hook in the
control winch. In this system, photosensitive sensors are used to determine if the hook arrives at the
specified location. The module is initialized, determine if the winch start button should be pressed,
determine if the automatic button or the manual button should be pressed, and find out if the hook is
rising or falling. The hook stops at the specified working location when the automatic button is pressed
and when the hook arrives at the specified location and detects the photosensitive sensor signal. If the
manual button is pressed, the driller will manually operate the height of the hook. The program flow
chart is shown in Figure 11.
The regular inspection of the oil derrick and driller fatigue work reminders should be used in
the time delay procedure. A driller mount guard button and an oil derrick check button are present.
When the driller mount guard presses the mount guard button, the system starts to monitor the time
to set off the alarm once the prescribed working hours are exceeded. Regular checks on the oil derrick
are the same as those on the driller mount guard. The program flow chart is shown in Figure 12.
Machines 2017, 5, 19 10 of 15

Machines 2017, 5, 19 10 of 15
Machines 2017, 5, 19 10 of 15

Figure9.9.Program
Program flow chart
chartof top
topdrive.
Figure 9. Program flow
Figure flow chart ofoftop drive.
drive.

Figure 10. Program flow chart of hydraulic system.

Figure
Figure 10.10.Program
Programflow
flow chart
chart of
ofhydraulic
hydraulicsystem.
system.
Machines 2017, 5, 19 11 of 15
Machines 2017, 5, 19 11 of 15
Machines 2017, 5, 19 11 of 15

Figure 11.Program
Figure11.
Figure Programflow
flowchart
flow of
chartof
chart traveling
oftraveling block
travelingblock hook.
blockhook.

Figure 12.Program
Figure12. Program flow chart of
of remind
remindalarm.
alarm.
Figure 12. Program flow chart of remind alarm.
Machines 2017, 5, 19 12 of 15

5. Application
Machines 2017,
Machines 2017, 5,
5, 19
19 12 of
12 of 15
15

The system was successfully conducted in the laboratory test and operation. The test result
5. Application
5. Application
was perfect, and real-time acquisition and control of various parameters were successful. After the
The system
The system waswas successfully
successfully conducted
conducted in
in the
the laboratory
laboratory test
test and
and operation.
operation. The
The test
test result
result was
was
laboratory test,
perfect, and
the monitoring
and real-time
systemand
real-time acquisition
wascontrol
acquisition and
also successfully
of various
applied to the
various parameters
parameters were
corresponding
were successful.
function
successful. After
After the
the
at
perfect, control of
the drilling scene.
laboratory test,
laboratory test, the
the monitoring
monitoring system
system was
was also
also successfully
successfully applied
applied to
to the
the corresponding
corresponding function
function at
at
the drilling
the drilling scene.
scene.
5.1. Application of the Top Drive Monitoring System
5.1. Application
5.1.
The Application of the
of the Top
top drive monitoring Top Drive
Drive Monitoring
Monitoring
system System applied in well site of Sichuan, China. The system
System
is successfully
operationThe process
The top is asmonitoring
top drive
drive follows: the
monitoring corresponding
system
system is successfully
is sensor
successfully andin
applied
applied inthe Programmable
well
well site of
site of Sichuan,
Sichuan, Logic Controller
China.
China. The
The
systeminstalled,
PLC system
were operationthe
operation process
process
signal is cable
is as follows:
as follows: the corresponding
the
was connected,corresponding sensor
and thesensorsystem and
and wasthestarted.
the Programmable
Programmable
The PLC Logic
Logic
wiring
Controller
Controller PLC
PLC were
were installed,
installed, the
the signal
signal cable
cable was
was connected,
connected, and
and the
the
diagram and the configuration of the monitor screen are presented in Figures 13 and 14, respectively. system
system was
was started.
started. The
The PLC
PLC
wiring
wiring
In Figure diagram
13,diagram
a CPU and and six
and the controller
the configuration
configuration of the
of
modules the are
monitor
monitor screen are
used.screen are presented
presented in in Figures
Figures 13
13 and
and 14,
14,
respectively. In
respectively. In Figure
Figure 13,13, aa CPU
CPU andand six
six controller
controller modules
modules are are used.
used.
Figure 14 shows the top drive real-time monitoring parameters. The analyzed parameters report
Figure 14
Figure 14 shows
shows thethe top
top drive
drive real-time
real-time monitoring
monitoring parameters.
parameters. The The analyzed
analyzed parameters
parameters report
report
forms and receive the drilling condition for a period of time. For example, the analyzed motor speed
forms and
forms and receive
receive the
the drilling
drilling condition
condition for for aa period
period ofof time.
time. For
For example,
example, the the analyzed
analyzed motor
motor speed
speed
and temperature
and temperature
and temperaturecan explain
can explain
can
the performance
explain the performance
the performance of theof main
of
motor,
the main
the main the different
motor,
motor, the different
the
performances
different performances
performances
of drilling
of
of
fluid,drilling
whether
drilling thewhether
fluid,
fluid, motor power
whether the motor
the motorsupply
power
power is supply
stable or
supply not, and
is stable
is stable theand
or not,
or not, formation
and conditions.
the formation
the formation conditions.
conditions.
MostMost importantly,
Most importantly,
importantly, these data
these
these data
datacan bebe
can
can beused
usedto
used todetermine
to determine the
determine theworking
the working
working conditions
conditions
conditions of top
of the
of the the top drive
top drive
drive
and to send
and to timely
send warnings
timely warnings for inspection
for inspection maintenance
maintenance to
to avoid
avoid
and to send timely warnings for inspection maintenance to avoid drilling safety accidents. drilling
drilling safety
safety accidents.
accidents.

Figure
Figure 13.PLC
Figure13.
13. PLC wiring
PLC diagram.
wiring diagram.
wiring diagram.

Figure
Figure
Figure 14.
14.14. Configuration monitor
Configuration
Configuration monitor screen
monitor screen ofoftop
screenof top drive.
drive.
top drive.
Machines 2017, 5, 19 13 of 15

Machines 2017, 5, 19 13 of 15
5.2. Application
Machines 2017, 5, 19of the Traveling Block Hook Monitoring System 13 of 15

5.2. Application
The travelingof theblock
Traveling
hookBlock Hook Monitoring
monitoring system was System
successfully applied in a well site in Sichuan,
China. The traveling
5.2. Application of the block
Travelinghook significantly reduced the labor intensity of the drilling workers. In
The traveling block hook Block Hook Monitoring
monitoring system was System
successfully applied in a well site in Sichuan,
the drilling work site, the automatic button launched the hook to rise to the present level
China. The
The traveling
traveling block
block hookhook significantly
monitoring reduced the labor intensity of in
thea drilling workers. In
automatically, the hook reached the presetsystem
height was successfully
accurately, applied
and then worked welltrip.
the siteManual
in Sichuan,
and
the drilling
China. work
Theoperations site,
traveling block the automatic button launched the hook to rise to the present level
automatic werehook significantly
compared reduced
with the the labor
time change. Theintensity of the
hook hike drilling
motion workers.
curve In the
is shown in
automatically,
drilling work the
site, hook
the reached
automatic the preset
button height
launched accurately,
the hook toand
risethen
to worked
the present the trip.
level Manual and
automatically,
Figure 14.
automatic
the hook operations
reached thewere
presetcompared with the time
height accurately, andchange.
thenthe The hook
worked hike motion curve
andisautomatic
shown in
Figure 15 shows that automatic operation reached defaultthe trip.faster
point Manualand more smoothly
Figure 14.
operations were compared with
than manual operation given thethe timeuncontrollable
other change. The hook hike
factors in motion
manualcurve is shown in Figure 14.
operation.
Figure
Figure 1515 shows
shows thatthat automatic
automatic operation
operation reached
reached the
the default
default point
point faster
faster and
and more
more smoothly
smoothly
than manual operation given the other uncontrollable factors in
than manual operation given the other uncontrollable factors in manual operation. manual operation.

Figure 15. The hook hike motion curve of automatic and manual operation.
Figure 15.
Figure The hook
15. The hook hike
hike motion
motion curve
curve of
of automatic
automatic and
and manual
manual operation.
operation.
5.3. Application of the Derrick and Driller Room Monitoring System
5.3. Application
5.3. Application
The derrick of the
of the Derrick
andDerrick and
drillerand Driller
Driller
room Room Monitoring
monitoring system was System
successfully applied in the well site in
Sichuan, China.
The derrick
derrick andThe scene
and driller monitoring
driller room system
room monitoring
monitoring system configuration
system was screen is applied
was successfully
successfully shown in in the
Figure
well16.
siteThe
in
The applied in the well site in
working time
Sichuan, China. of the driller was no more than 4h, and the derrick was regularly checked for less than
Sichuan, China.TheThescene
scenemonitoring
monitoringsystem
systemconfiguration screen
configuration is shown
screen in Figure
is shown in 16. The working
Figure 16. The
a month.
time of the driller was no more
working time of the driller was than 4h, and
no more thanthe4h,derrick
and thewas regularly
derrick checked for
was regularly less than
checked a month.
for less than
As shown
As shown in in Figure
Figure 16,
16, wind
wind speed
speed isis safe
safe for
for drilling
drilling work
work and
and the
the environment
environment of of driller
driller room
room
a month.
is comfortable
is comfortable forfor drillers.
drillers.
As shown in Figure 16, wind speed is safe for drilling work and the environment of driller room
is comfortable for drillers.

Figure 16. Configuration monitor

Figure 16. monitor screen
screen of
of derrick
derrick and
and driller
driller room.
room.

Figure 16. Configuration monitor screen of derrick and driller room.

Machines 2017, 5, 19 14 of 15

6. Conclusions
(1) The drilling rig hoisting security monitoring system is established to collect and control the
parameters of top drive, traveling block hook, oil derrick and driller room, and successfully
applicate in well drilling work site.
(2) Independently developed a software system based on force control, RSLogic5000 software.
Parameters of each part are displayed in real-time, and implemented the alarm function,
generated reports, plotted related parameters.
(3) The collected parameters are used to determine the working conditions of the top drive and to
send timely warnings for inspection maintenance to avoid drilling safety accidents.
(4) Automatic control traveling block hook move to the default location is more efficient and security
than manual control. For each time, automatic control traveling block hook can save 5~10 s.
(5) Work fatigue remind of driller and derrick check regularly remind can be as much as possible to
reduce safety accidents. The system will send a work fatigue warning signal every four hours of
continuous work for driller, and send a derrick check signal every one month.

Author Contributions: Junjiang He designed the monitoring system, wrote system program and wrote the paper;
Liangjie Mao responsible for equipment commissioning and site personnel allocation; Min Luo collected data and
analyzed the data.
Conflicts of Interest: The authors declare no conflict of interest.

References
1. Xu, J.; Shan, Y. Oil Drilling Machinery; Petroleum Industry Press: Beijing, China, 2015.
2. Liang, Z.; Zhang, L.W.; Jiang, F.G.; Li, S. Present State and Proposal of Casing Drive Tool. Oil Field Equip.
2013, 42, 1–5.
3. Shao, G.; Dong, X.; Pu, Z.; An, X. Design of Hydraulic Top Drive Rig Derrick. J. Anhui Univ. Sci. Technol.
(Nat. Sci.) 2012, 32, 86–87.
4. Fan, C.; Kong, M.; Han, J.; Zhang, W.; Wang, C.; Li, Y. Tarim Drilling Branch of Bohai Petroleum Engineering
Company. System Design and Analysis of HVAC System Design and Analysis of Driller Room in Oil Rig.
Electr. Explos. Prot. 2014, 1, 7–11.
5. Pavel, H.; Baluch, D.; Lesso, I. Drilling stand monitoring using internet. Acta Montan. Slovaca 2004, 9,
189–191.
6. Franco-Gasca, L.A.; Herrera-Ruiz, G.; Peniche-Vera, R.; Peniche-Vera, R.d.R.; Leal-Tafolla, W. Sensor less tool
failure monitoring system for drilling machines. Int. J. Mach. Tools Manuf. 2006, 46, 381–386. [CrossRef]
7. Drill View 21 Controls. 2008. Available online: http://www.rigserv.com/frames.html (accessed on
2 August 2017).
8. Make Decisions-Quickly and Effective. 2008. Available online: http://www.wellwizard.com/wwedr.htm
(accessed on 2 August 2017).
9. Wang, Y.; Wang, L.; Tan, G. CANRIG Top Drive External Fault Alarm Analysis. Drill. Prod. Technol. 2008, 31,
99–101.
10. Zhang, N.; Li, X.; Hu, C. Remote Security Monitoring System of Drilling Rig Based on GPRS. Pet. Instrum.
2009, 3, 66–68.
11. Zhang, N.; Guo, J.; Xu, J.; Hu, C. Research on Rig Safety Monitoring System Based on Fuzzy Neural Network.
China Pet. Mach. 2009, 37, 53–55.
12. Wang, M. Experimental Rig Lifting Device Monitoring System Design; Southwest Petroleum University:
Chengdu, China, 2010.
13. Cheng, Y.; Lu, X.; Gong, Y.; Wu, Y.; Rao, Y. Derrick safety monitoring system based on fiber Bragg grating
strain sensors. Photonic Sens. 2013, 3, 237–240. [CrossRef]
14. Deng, L.; Chang, Z. Top Drive Control System Anti-jamming Performance Analysis. Pract. Electron. 2013, 17,
32.
15. Wang, Y. Brief Talk the Characteristics and Development Direction of the PLC Control Technology. J. Lanzhou
High Polytech. Coll. 2011, 18, 40–44.
Machines 2017, 5, 19 15 of 15

16. Qiao, C. Drilling Rig of Top Drive Drilling Device Research; Northeast Petroleum University: Daqing,
China, 2009.
17. Gu, H. Research on the Automation Control of the DQ-90TDS; Lanzhou University of Technology: Lanzhou,
China, 2014.
18. Liu, H. Mechanical Analysis of ‘A’ Form Derrick’s Failure; Daqing Petroleum Institute: Daqing, China, 2007.
19. Wu, L.; Ye, N. Development of Device Driver Based on Force control Configuration Software. Autom. Inf.
2006, 7, 75–78.
20. Yang, M.; Chang, Y. Wind Load of Derrick. Oil Field Equip. 1984, 4, 3–9.

© 2017 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access
article distributed under the terms and conditions of the Creative Commons Attribution
(CC BY) license (http://creativecommons.org/licenses/by/4.0/).