基于独立模态空间控制方法的海床式取芯钻机控制系统研究

发布时间：2018-03-23 14:46

本文选题：模态分析　切入点：独立模态空间控制　出处：《中国地质大学》2017年硕士论文

【摘要】：随着全球陆地矿产资源的逐渐枯竭,世界各国纷纷将目光投向了广袤的海洋。海洋所蕴藏的巨大储量的矿产资源极有可能打破现有的产业格局,甚至引发能源革命。海底钻探取样是海底矿产资源勘察的重要手段,对于矿产资源勘察和开采均具有重要意义。我国海洋资源理论蕴藏量很大,但探明量很少,海洋勘探尚处于初级阶段,现有的海底勘探取芯技术方法相对简单,深部取芯能力不足,样品质量较差,尤其是面对海底复杂地层的工况条件时,样品采取率极低。因此,为了提高海洋资源开发能力,维护海洋权益,研制性能可靠、稳定的海底钻探取样设备迫在眉睫。海床式取芯钻机作业过程无法进行人工干预,其钻进作业均由控制系统远程控制,因此其控制系统性能的优劣直接决定了海床式取芯钻机的作业效率和作业安全。本文围绕海床式取芯钻机振动控制这一目标,展开了海床式取芯钻机试验模态分析和计算模态分析、控制模型的建立、测控系统的搭建以及上位机软件的编写等方面的工作。(1)查阅了大量的文献资料,归纳整理了现有的国内外海床式取芯钻机的研究现状,包括其性能参数、控制方法以及应用范围等等,分析了现有普通钻机的控制方法和控制策略,分析海床式取芯钻机系统功能特点和控制要求,提出控制策略和方法。(2)对实验室海床式取芯钻机模型样机平台总体结构进行介绍,详细介绍了钻机回转钻进系统和钻具库系统,包括了钻机动力头回转系统、油缸链条倍增给进机构、钻杆库方案和机械手系统。针对海床式取芯钻机钻塔,制定试验模态分析方案,通过弹性绳悬挂方式进行自由状态下的模态试验,通过有限元分析软件对钻塔模型进行自由模态分析,分析结果与试验模态结果进行对比,相互验证。对钻塔施加约束后,利用有限元法分析其约束状态下结构固有模态特性。(3)针对海床式取芯钻机模型样机建立了基于模态滤波器的独立模态空间控制方法理论。独立模态控制控制方法主体可以分为离线数据准备和在线控制两部分。离线数据准备需要采用试验模态技术对所要控制结构进行模态分析,获取其固有模态参数,包括固有频率、阻尼比。同时获取各个测点处的频响函数,求解模态滤波器。在线控制部分需要在结构测点位置布置若干加速度传感器,实时采集各测点加速度信号,根据模态滤波器,将物理加速度与模态加速度进行转换,计算模态控制力和物理控制力。通过实时调整钻进参数,实现对结构模态振动的实时控制。(4)针对所设计通过改变钻压实现对钻机结构模态振动的控制策略,通过有限元分析软件对钻机钻塔进行预应力模态分析,在动力头施加一定大小范围内的载荷,分析其对钻塔结构固有模态的影响。对钻塔进行瞬态动力学分析,分析对动力头施加额外控制力后对结构响应的影响。(5)基于PXI平台搭建海床式取芯钻机测控系统,设计测控系统总体方案。对钻机回转控制系统、钻机给进控制系统和机械手控制系统进行详细设计,对监测系统进行设计,并基于LabVIEW软件编写上位机测控系统软件。本文创新点:(1)本文将试验模态分析技术和有限元模态分析技术相结合对海床式取芯钻机钻塔进行模态实验,分析钻塔的固有模态特性,并提出了通过控制其固有模态来改善钻机实际工作状态下的振动情况。(2)针对海床式取芯钻机,建立了基于模态滤波器的独立模态空间控制方法,通过在一定范围内改变钻压,改变结构固有模态,抑制钻机共振情况。
[Abstract]:The global land with the depletion of mineral resources, countries around the world will look to the vast ocean. The ocean contains huge reserves of mineral resources is likely to break the existing industrial structure, and even lead to energy revolution. Offshore drilling sampling is an important means of seabed mineral resources exploration, has important significance for mineral resources exploration and the exploitation of marine resources. The theory of China's reserves is large, but proved that small amount of ocean exploration is still in the initial stage, the existing seabed exploration coring technique is relatively simple, the deep core ability is insufficient, the sample quality is poor, especially in the face of the complex formation conditions, the sample rate is very low. So take and in order to improve the ability of marine resources development, maintenance of maritime rights and interests, the development of reliable performance, offshore drilling and sampling equipment stability is imminent. Seabed type coring drill machine No artificial intervention, the drilling operations are controlled by the remote control system, so the performance of the control system directly determines the efficiency and safety of seabed type coring rig. This paper focuses on the seabed type coring rig vibration control of this goal, the seabed type experimental modal analysis and modal analysis of core drill and to establish the control model and control system is established and the program of upper computer software and other aspects of the work. (1) a large number of documents, sum up the research status at home and abroad the seabed type existing core drilling rig, including its performance parameters, control method and application range and so on, the control method and analysis the control strategy of existing ordinary rig, analysis of seabed type coring drilling system features and control requirements, and puts forward the control strategy and methods. (2) of the laboratory type seabed coring rig. The overall structure of the machine platform, introduces the drilling rig rotary drilling system and drilling system, including the drill power head of rotary system, double cylinder chain feeding mechanism, the drill pipe base and manipulator system. Aiming at the seabed type coring drill rig, making analysis scheme test mode, the elastic rope hanging way free free modal test, free modal analysis of the derrick model through the finite element analysis software, analysis results and experimental modal comparison, mutual authentication. The constraints imposed on the derrick, modal analysis of structure inherent constraint condition using finite element method. (3) according to the seabed type coring rig model prototype is established the theory of independent modal space control method based on modal filter. The independent modal control method can be divided into offline and online data preparation from control of two parts. Line data preparation needs to take control of the structure modal analysis using experimental modal analysis, get the modal parameters, including natural frequencies, damping ratio. At the same time to obtain the frequency response function of each measuring point of the solution. The online modal filter control part in structure measuring point arrangement of several acceleration sensor, the measuring point acceleration signal in real time the acquisition, according to the modal filter, the physical acceleration and acceleration mode conversion, calculation of modal control force and physical force control. By adjusting the drilling parameters, realize the real-time control of vibration of the structure modal. (4) according to the design by changing the drilling pressure control strategy of modal vibration drilling rig structure, prestressed modal analysis of drilling rig drill through the finite element analysis software, the applied load within a certain scope in power head, analysis of its inherent modal derrick Impact. The transient dynamics analysis of the derrick, analyzed the effect on the structural response to impose additional control of the power head. (5) PXI platform to build seabed type coring rig control system based on the overall design, measurement and control system. The control system of rotary drilling rig, drill feeding control system and manipulator control system in detail design, design of the monitoring system and LabVIEW software control system based on PC software. The innovation of this paper: (1) the experimental modal analysis and finite element modal analysis technology combined on the seabed type core drilling rig derrick modal experiment, analysis of modal characteristics of rigs, and put forward to improve the vibration the actual working condition of the machine by controlling its intrinsic mode. (2) according to the type of seabed coring rig, established the independent modal space control method based on modal filter, through the In a certain range, the drilling pressure is changed, the inherent modal of the structure is changed, and the resonance of the rig is suppressed.

【学位授予单位】：中国地质大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：P756.5;TP273

【参考文献】