基于DDVC的超深钻井绞车型升沉补偿系统的建模和控制

发布时间：2019-05-10 10:07

【摘要】：深海资源的探测和开发,需要采用超深水超深井浮式钻井。升沉补偿系统是浮式钻井的必备设备之一。绞车型升沉补偿系统是基于直驱容积控制(DDVC)和液压变压器能量回收技术,通过控制绞车的运动来补偿钻柱的升沉位移。系统中的直驱容积控制部分具有节能高效、调速范围宽、控制灵活等优点,但DDVC系统属于容积控制,系统的响应速度慢,控制特性差。所以DDVC液压系统动态特性的改善是本文研究的重点之一。绞车型升沉补偿系统中,平台的升沉运动就是一个干扰,补偿的目的就是保证钻压恒定,常规的反馈控制属于误差出现后才控制的方法,精度不高,响应速度慢。无法使控制机构的补偿操作与浮式作业平台升沉运动同步,不能实现扰动的同步消除即同步升沉补偿,补偿精度不高。因此,大惯量系统的扰动同步消除,提高系统补偿精度的问题是本论文另一个关键问题。本文主要研究工作如下：1、建立了绞车型升沉补偿系统中直驱容积控制液压马达系统的数学模型,在AMESim中建立直驱泵控马达系统仿真模型,并对该系统的数学模型进行仿真分析,对该系统AMESim模型进行仿真验证,探究直驱泵控马达的速度响应特性。2、为了改善绞车型升沉补偿系统动态特性,提出了变转速-变排量泵控马达系统方案和多组不同功率电机驱动不同排量泵组合控制的直驱泵控马达系统方案。并在MATLAB/Simulink和AMESim中进行仿真分析和验证。验证了所提方案的正确性。3、完善了绞车型升沉补偿系统的整体控制方案,提出了基于平台运动速度预测的非线性扰动补偿控制器,对大钩的位移进行补偿,基本实现了大惯量系统的扰动同步消除,提高了系统的补偿精度。4、设计了直驱绞车型升沉补偿系统实验台,对该实验台进行了结构设计和AMESim建模仿真,分析实验台补偿特性和响应特性。进行了伺服电机的速度响应实验,验证所建的伺服电机模型是正确的。结合海洋升沉运动模拟平台对预测补偿控制器进行实验分析,验证所提的预测方案是合理的。
[Abstract]:For the detection and development of deep-sea resources, it is necessary to adopt ultra-deep water ultra-deep well floating drilling. Heave compensation system is one of the necessary equipment for floating drilling. The heave compensation system of winch is based on direct drive volume control (DDVC) and hydraulic transformer energy recovery technology. The lifting displacement of drill string is compensated by controlling the movement of winch. The direct drive volume control part of the system has the advantages of energy saving and high efficiency, wide range of speed regulation, flexible control and so on. However, the DDVC system belongs to volume control, the response speed of the system is slow, and the control characteristic is poor. Therefore, the improvement of dynamic characteristics of DDVC hydraulic system is one of the key points of this paper. In the heave compensation system of winch type, the heave motion of the platform is an interference, the purpose of compensation is to ensure the constant drilling pressure, the conventional feedback control belongs to the method of control after the error appears, the precision is not high, and the response speed is slow. The compensation operation of the control mechanism can not be synchronized with the lift motion of the floating operation platform, and the synchronization elimination of disturbance, namely synchronous lift compensation, can not be realized. The compensation precision is not high. Therefore, the problem of eliminating disturbance synchronously and improving the compensation accuracy of large inertia system is another key problem in this paper. The main research work of this paper is as follows: 1. The mathematical model of the direct drive volume control hydraulic motor system in the heave compensation system of the winch model is established, and the simulation model of the direct drive pump control motor system is established in AMESim. The mathematical model of the system is simulated and analyzed, and the AMESim model of the system is simulated and verified, and the speed response characteristics of the direct drive pump control motor are explored. 2, in order to improve the dynamic characteristics of the heave compensation system of the winch type, The scheme of variable speed-variable displacement pump-controlled motor system and the scheme of direct-drive pump-controlled motor system controlled by multiple groups of different power motors driving different displacement pumps are presented. The simulation analysis and verification are carried out in MATLAB/Simulink and AMESim. The correctness of the proposed scheme is verified. 3, the overall control scheme of the heave compensation system of winch type is improved, and a nonlinear disturbance compensation controller based on platform velocity prediction is proposed to compensate the displacement of the hook. The disturbance synchronous elimination of the large inertia system is basically realized, and the compensation accuracy of the system is improved. 4. The experimental platform of the heave compensation system of the straight drive twist model is designed, and the structure design and AMESim modeling and simulation of the experimental platform are carried out. The compensation characteristics and response characteristics of the experimental platform are analyzed. The speed response experiment of servo motor is carried out to verify that the model of servo motor is correct. Combined with the ocean heave motion simulation platform, the experimental analysis of the predictive compensation controller is carried out to verify that the proposed prediction scheme is reasonable.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：P715.1

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