钻机旋转系统的自适应PID控制策略.pdfVIP

32 1 Vol. 32 No. 1 2 011 1 A CT A PETROLEI SINICA Jan. 2 01 1 :( 2 01 1) 010 15 804 PID 李 琳 努尔扎提 张奇志 ( 710065) : 钻井过程中钻头的黏滑振动会导致钻头失速, 引起钻机旋转系统发生故障, 从而降低钻井 透率, 增加钻井成本为此建立 了钻机扭转特性模型, 并提出了自适应 PID 控制策略用于抑制黏滑振动首先对系统进行输入状态线性化控制, 补偿钻机非线性 特性引起的黏滑运动; 其次设计自适应 PID 控制, 使其在旋转系统参数大范围的变化和不确定的情况下, 自适应控制保证系统输出 的跟随控制及最优工作状态, 同时PID 控制加快系统动态响应速度, 缩短系统调节时间针对钻机扭转特性模型及钻头和岩石间 摩擦扭力模型进行仿真试验, 结果表明, 自适应PID 控制可有效抑制钻头的黏滑振动, 改善钻机旋转系统工作的动态及静态响应特 性, 提高系统的稳定性和可靠性 : 钻机旋转系统; 黏滑振动; 自适应控制; PID 控制; 钻井底部装置 : T E822 : A Adaptive PID control strategy for the drillingrig rotary system LI Lin Nurzat ZHANG Qizhi ( K ey L aboratory of D ril lingR ig Controlling Technology of S haanx i P rov ince, X i an S hiy ou University , X i an 710 06 5, China) Abstract: In drilling process, the stickslip oscillation of a drill bit can lead to stalling and an equipment failure of the drillingrig rota r s stem, which reduces the drilling permeabilit and increases the drilling cost . In order to solve those problems, the present paper built a model to describe drillingrig torsion characteristics and presented an adaptive PID control strateg to restrain the stickslip os cillat ion of a drill bit. T he paper proposed that the input state of the drillingrig rotar s stem should be cont rolled linearl to compen sate for the st ickslip oscillation caused b nonlinear characteristics of drilling rigs. T he adapt ive PID control w as designed to ensure the t racking control and the opt imal operating status of t he s stem out put when parameters of the drillingrig rotar s stem were greatl variable and