自动猫道举升机构位姿控制研究

发布时间：2018-03-13 09:42

本文选题：举升位姿　切入点：模糊控制　出处：《吉林大学》2017年硕士论文　论文类型：学位论文

【摘要】：在进行大陆科学钻探作业过程中,往往需要将成百上千根钻杆在钻井平台和地面间进行运输与反运输。这部分工作主要以人力作业为主,不仅效率低下,而且危险性高,易造成人身伤亡重大事故。目前,国内有部分井场使用半自动化装置来运移钻具,但效率仍然较低、操作不便,远远不能满足井场生产的需要。国外关于这方面的技术相对成熟,但其装备多用于海洋钻探领域。随着现代自动化技术的不断发展,针对钻具在上下平台间进行输运的专用装备的研究,也日渐提上日程。本文依托于国家深部探测技术与实验研究专项(SinProbe-09-05)中子课题“全液压自动猫道研制”,针对其关键机构——举升机构进行探讨,重点分析其撑杆液压缸位置的控制策略,并对其进行优化控制。首先,本文从举升机构的工作原理出发,介绍其结构组成和工作流程,阐述撑杆机构液压缸的位置控制重要作用。根据举升机构的动作流程,设计负载敏感控制系统;建立阀控非对称液压缸数学模型,以求解控制系统的传递特性;最后研究适应变载荷下的控制策略。本文的主要研究内容如下:(1)电液比例控制系统研究本设计借助负载敏感泵来组建负载敏感系统,其能够感知并满足外界负载的压力或流量变化,以适应执行件外部载荷不断变化的情况。比例多路阀能够实现多个执行件同时工作,且能够实现流量的比例控制,与负载敏感技术一起配合来使用,满足本设计机构中多执行元件的需求。本文重点研究并建立了阀控非对称液压缸数学模型,该模型与比例多路阀数学模型、传感器数学模型一起借助PLC控制器组建控制系统模型,用于求解本控制系统的传递特性。(2)模糊控制器设计根据测得的误差和误差变化率,制定模糊控制规则来实现PID控制参数的在线自整定。根据实际需要,其隶属函数选用常用的三角形函数;模糊推理模块选用玛达尼(Mamdani)最小推理法;解模糊模块采用重心法。(3)自适应模糊PID控制策略研究在单位阶跃函数的激励下,通过常规PID控制结果曲线与模糊PID控制结果曲线的对比,确定在本系统中模糊PID控制更优的控制效果。最后通过实验的方式进一步验证了模糊PID控制策略。
[Abstract]:In the process of continental scientific drilling, it is often necessary to transport and reverse transport of hundreds of drill pipes between drilling platforms and the ground. This part of the work mainly consists of manual work, which is not only inefficient but also dangerous. At present, some wells in China use semi-automatic devices to move drilling tools, but the efficiency is still low and the operation is not convenient. Far from being able to meet the needs of well site production. Foreign technology in this field is relatively mature, but its equipment is mostly used in the field of offshore drilling. With the continuous development of modern automation technology, Research on the special equipment for transporting drilling tools between upper and lower platforms, This paper is based on the national project SinProbe-09-05), "the development of fully hydraulic automatic catwalk," and discusses its key mechanism, lifting mechanism. This paper mainly analyzes the control strategy of hydraulic cylinder position and optimizes it. Firstly, this paper introduces the structure composition and work flow from the working principle of lifting mechanism. This paper expounds the important role of position control of hydraulic cylinder of bracing mechanism, designs load sensitive control system according to the movement flow of lifting mechanism, establishes mathematical model of valve controlled asymmetric hydraulic cylinder to solve the transfer characteristic of control system. The main contents of this paper are as follows: 1) Electro-hydraulic proportional control system; this design uses load sensitive pump to build load sensitive system. It can perceive and satisfy the pressure or flow change of the external load to adapt to the changing external load of the actuator.; the proportional multiplex valve can realize the simultaneous operation of multiple actuators and the proportional control of the flow rate. This paper focuses on the research and establishment of the mathematical model of valve controlled asymmetric hydraulic cylinder, which is combined with the proportional multi-way valve mathematical model. The sensor mathematical model is constructed with the help of PLC controller, which is used to solve the transfer characteristic of the control system. The fuzzy controller is designed according to the measured error and error change rate. The fuzzy control rules are formulated to realize the on-line self-tuning of PID control parameters. According to the actual needs, the membership functions are usually used triangle functions, the fuzzy reasoning module is based on the minimum reasoning method of Madani Mamdani. The adaptive fuzzy PID control strategy based on the barycenter method is used to study the comparison between the conventional PID control result curve and the fuzzy PID control result curve under the excitation of the unit step function. The better control effect of fuzzy PID control in this system is determined. Finally, the fuzzy PID control strategy is further verified by experiment.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：P634;TP273

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