缠绕在滚筒上的连续油管的张力模式及其控制系统研究

发布时间：2018-01-07 16:11

本文关键词：缠绕在滚筒上的连续油管的张力模式及其控制系统研究　出处：《长江大学》2016年硕士论文　论文类型：学位论文

【摘要】：连续油管技术逐渐发展成为油气田勘测开发领域应用较为成熟的新兴技术。连续油管作业机适应性强,可以被应用于油气田作业的各个方面,几乎相当于“万能作业机”,同时连续油管的使用寿命是决定整个设备作业的核心因素。所以,迫切需要对连续油管作业过程中发生弯曲拉伸变形的力学特性进行深入分析和研究。本文在前人研究的基础上,结合工程实践,对缠绕在滚筒上的连续油管作业过程中的力学特性进行了深入分析与研究。本文首先综述了国内外对连续油管在滚筒上的力学行为、张力控制等方面的研究现状,发现前人对连续油管的研究主要集中在连续油管的受力、变形以及影响其工作寿命的因素等方面,而对连续油管的张力模式部分研究较少,从而提出本文的研究方向—连续油管作业过程中的张力模式研究。同时对连续油管作业机的工作原理及重要组成部分进行了简单介绍。其次,结合前人的研究和现场实际,利用弹塑性力学和材料力学知识,建立了缠绕在滚筒上的连续油管作业过程中的力学模型,并对其弯曲内力和张紧力深入研究和计算,揭示出连续油管作业过程中所需要的张力主要与连续油管的直径、壁厚、材料性能以及弯曲半径有关。连续油管屈服强度越大、管径越大、壁厚越厚,需要的张力越大,但是其弯曲半径越大,所需要的张力越小。并且通过计算结果可知,连续油管作业过程中,需要的滚筒扭矩在不同层数时是恒定不变的,正是基于这样的前提,得出本文的研究目标为：连续油管缠绕在滚筒上需要的张力在同一层范围内应该是恒张力控制。最后,对能实现连续油管作业过程中恒张力控制的控制系统进行设计与虚拟仿真,主要包括：(1)分析并设计出连续油管张力控制系统方案,采用PID控制器,电液控制方法,通过张力传感器检测变送张力信号；(2)结合控制理论,对控制系统的控制器及控制算法进行了阐述,结合系统的特点和需求,选出适合的PID控制器及相关控制算法,包括PID控制参数整定方法；(3)根据已经建立的控制系统方案,对控制系统的重要组成元件进行详细介绍及选型,并求解出其数学模型,为后面的系统仿真做好准备；(4)结合连续油管张力控制系统及各组成元件的数学模型,在Matlab Simulink中对控制系统进行仿真,对不同的工况、有无PID控制器、是否进行PID参数整定分别进行仿真分析,通过比较其仿真结果,当连续油管张力为恒定值工况、张力允许一定波动范围工况时,设计的连续油管张力控制系统能满足工况要求,实现相应工况下的连续油管恒张力控制的目的,且响应迅速,系统稳定性较好。同时,PID控制器是该控制系统中必不可少的部分,PID参数整定是影响连续油管张力控制系统控制效果的关键环节。本课题研究设计的连续油管张力控制系统,基本能实现连续油管作业过程中的恒张力控制,对指导连续油管现场作业和提高连续油管使用寿命具有一定的参考价值和现实意义。
[Abstract]:The coiled tubing technology has gradually become a new application field of oil and gas exploration and development is mature. The coiled tubing machine has strong adaptability and can be applied to all aspects of oil and gas field, almost equivalent to the "universal machine" at the same time, the service life of the coiled tubing is a key factor to determine the equipment operation. Therefore, urgent the need for coiled tubing in the process of mechanical properties of bending tensile deformation of the in-depth analysis and research. Based on the previous research, combined with the engineering practice, the continuous oil is wound on the roller on mechanical properties of pipe work in the process of in-depth analysis and research. This article firstly summarizes the mechanical behavior of continuous the tubing in the roller, the present research situation of tension control, study on coiled tubing predecessors mainly in coiled tubing stress, deformation And the factors affecting its working life, and the tension of the coiled tubing model research, and puts forward the research direction of tension of the coiled tubing in the process. At the same time, the working principle of the coiled tubing machine and important parts are introduced. Secondly, combined with previous studies and field the actual use of elastic-plastic mechanics and material mechanics, established the mechanical model of the coiled tubing is wound on the roller during operation, and the bending force and tension force of in-depth research and calculation, to reveal the coiled tubing during tension mainly with coiled tubing diameter, wall thickness, the the material properties and the bending radius of the coiled tubing. The yield strength is larger, the larger the diameter, the wall is thicker, need greater tension, but the bending radius is bigger, tension required is smaller. The calculation results show that the coiled tubing process, is in need of constant torque drum in different layers, it is based on the premise that the goal of this paper is: the coiled tubing winding required in the roller tension within the same layer is the constant tension control. Finally, the realization of control system for constant tension control of coiled tubing in the process of design and virtual simulation, mainly including: (1) the analysis and design of coiled tubing tension control system, using PID controller, electro-hydraulic control method, transmitting tension signals through the tension sensor detection; (2) combined with the control theory, the controller and the the control algorithm of the control system are described, combined with the characteristics and requirements of the system, select the PID controller and control algorithm for the PID control parameter tuning method; (3) according to the established Scheme of the control system are introduced in detail, and selection of the important components of the control system, and solving the mathematical model, prepare for the simulation of system; (4) according to the mathematical model of coiled tubing tension control system and its components, the control system was simulated in Matlab Simulink, on different conditions no, a PID controller, whether the tuning of PID parameters were simulated and analyzed. By comparing the simulation results, when the continuous tubing tension constant tension condition, allowing a certain range of conditions, a tension control system of coiled tubing can meet the conditions required to achieve constant tension control of coiled tubing under the condition of the corresponding the purpose, and quick response, the system stability is good. At the same time, the PID controller is essential in the control system, the tuning of PID parameters is the tension control system of coiled tubing. The key control effect. The coiled tubing tension control system designed in this paper, the basic can realize the constant tension control of coiled tubing in the process, to have the certain reference value and practical significance of CT site operations and improve the service life of coiled tubing.

【学位授予单位】：长江大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TE931.2;TP273

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