钻机旋转系统的自适应PID控制策略

doi:10.7623/syxb201101027

石油学报 ›› 2011, Vol. 32 ›› Issue (1): 158-161.DOI: 10.7623/syxb201101027

钻机旋转系统的自适应PID控制策略

李琳努尔扎提张奇志

西安石油大学电子工程学院陕西省钻机控制技术重点实验室陕西西安 710065

收稿日期:2010-05-20 修回日期:2010-08-11 出版日期:2011-01-25 发布日期:2011-03-23
通讯作者: 李琳
作者简介:李琳，男，1963年8月生，1993年获西安交通大学硕士学位，现为西安石油大学教授，主要从事钻机电气传动自动控制系统的研究工作。
基金资助:
中国石油科技创新基金（2009D-5006-03-07）和陕西省科技攻关项目（2009K09-25）联合资助。

Adaptive PID control strategy for the drilling-rig rotary system

LI Lin Nurzat ZHANG Qizhi

Received:2010-05-20 Revised:2010-08-11 Online:2011-01-25 Published:2011-03-23

摘要/Abstract

摘要：

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，从而降低钻井渗透率，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。

关键词: 钻机旋转系统, 黏滑振动, 自适应控制, PID控制, 钻井底部装置

Abstract:

In drilling process，the stick-slip oscillation of a drill bit can lead to stalling and an equipment failure of the drilling-rig rotary system,which reduces the drilling permeability and increases the drilling cost.In order to solve those problems,the present paper built a model to describe drilling-rig torsion characteristics and presented an adaptive PID control strategy to restrain the stick-slip oscillation of a drill bit.The paper proposed that the input state of the drilling-rig rotary system should be controlled linearly to compensate for the stick-slip oscillation caused by nonlinear characteristics of drilling rigs.The adaptive PID control was designed to ensure the tracking control and the optimal operating status of the system output when parameters of the drilling-rig rotary system were greatly variable and uncertain.Moreover,the adaptive PID control could elevate the speed of dynamic response and shorten the adjustment time of the system.A simulation experiment was conducted on models of drilling-rig torsion characteristics and the friction torsion between a drill bit and rocks.The results demonstrated that the adaptive PID control could restrain the stick-slip oscillation of a drill bit effectively,improve characteristics of the dynamic and static response and enhance the stability and reliability of the drilling-rig rotary system.

Key words: drilling-rig rotary system, stick-slip oscillation, adaptive control, PID control, drilling base equipment

李琳努尔扎提张奇志. 钻机旋转系统的自适应PID控制策略[J]. 石油学报, 2011, 32(1): 158-161.

LI Lin Nurzat ZHANG Qizhi. Adaptive PID control strategy for the drilling-rig rotary system[J]. Editorial office of ACTA PETROLEI SINICA, 2011, 32(1): 158-161.

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钻机旋转系统的自适应PID控制策略

Adaptive PID control strategy for the drilling-rig rotary system

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