多自由度钻机旋转系统控制策略的研究

发布时间：2018-01-07 07:10

本文关键词：多自由度钻机旋转系统控制策略的研究　出处：《西安石油大学》2017年硕士论文　论文类型：学位论文

【摘要】：石油钻井系统构成复杂,工作环境复杂多变且工况恶劣。在钻井过程中,钻机旋转钻进时,钻井设备与岩层之间相互作用容易使钻柱产生粘滑振动,主要表现为井底钻具组合周期性的粘滞、旋转。为了抑制粘滑振动,研究钻柱粘滑振动的复杂机理,控制钻机平稳、高效运行,对钻机旋转系统的控制策略进行深入研究具有重要的意义。本文研究内容主要包含三部分的内容。首先给出钻机旋转系统工作原理和保证系统特性不变的假设条件,依据假设条件建立了多自由度钻机旋转系统模型的动力学方程和状态方程。在MATLAB/simulink环境下搭建仿真模型,为后面设计的各种控制器提供基础;其次,设计了基于三种不同趋近律下的单滑模面和双滑模面的滑模控制器,分析趋近律参数变化对系统稳定性的影响,研究随着参数的变化钻头和转盘响应曲线;基于PID控制器的无抖振的优点,在所设计的滑模控制器中加入PID控制,设计了PID滑模控制器,通过仿真实验,分析了基于不同趋近律下的PID滑模控制器对系统的动态性能、抖振情况和鲁棒性的影响;最后,通过理论分析了积分滑模控制原理和自适应控制原理,设计了积分滑模自适应控制器,通过仿真实验得出在积分滑模自适应控制钻机旋转系统下具有较好的动态性能,并能有效地抑制粘滑振动。本文通过对多自由度钻机旋转系统的多种控制策略的研究、分析、对比,得出积分滑模自适应控制对钻机旋转系统具有良好的粘滑振动抑制能力,为后续进行的钻机旋转系统控制策略的研究做出了理论铺垫和借鉴。
[Abstract]:The structure of oil drilling system is complex, the working environment is complex and the working condition is bad. In the drilling process, the interaction between drilling equipment and rock layer can easily make the drill string produce stick-slip vibration. In order to restrain the sticking-slip vibration, study the complex mechanism of the string stick-slip vibration, control the rig running smoothly and efficiently. It is of great significance to study the control strategy of drilling rig rotation system. This paper mainly includes three parts. Firstly, the working principle of drilling rig rotation system and the hypothesis bar to ensure the system characteristics are given. The piece. The dynamic equation and state equation of the rotary system model of the multi-degree-of-freedom drilling rig are established according to the hypothetical conditions, and the simulation model is built under the environment of MATLAB/simulink. To provide the basis for the design of a variety of controllers; Secondly, the sliding mode controller based on the single sliding mode surface and the double sliding mode surface is designed, and the influence of the parameters of the approach law on the stability of the system is analyzed. The response curves of bit and turntable are studied with the change of parameters. Based on the advantages of buffeting free PID controller, PID control is added to the designed sliding mode controller, and a PID sliding mode controller is designed. The effect of PID sliding mode controller based on different approach laws on dynamic performance, buffeting and robustness of the system is analyzed. Finally, through the theoretical analysis of the integrated sliding mode control principle and adaptive control principle, the integral sliding mode adaptive controller is designed. The simulation results show that it has better dynamic performance under the integrated sliding mode adaptive control drilling rig rotation system. And can effectively suppress the stick-slip vibration. This paper through the multi-degree of freedom drilling rig rotation system of a variety of control strategies, analysis, comparison. It is concluded that the integrated sliding mode adaptive control has a good ability to suppress the vibration of the rotary system of the drilling rig, which provides a theoretical basis for the subsequent research on the control strategy of the rotary system of the drilling rig.
【学位授予单位】：西安石油大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TE922

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