半主动式钻井绞车升沉补偿系统  

Semi-active drilling drawworks heave compensation system

作　　者：黄鲁蒙[1] 张彦廷[1,2] 张磊[1] 刘美英[1] 

机构地区：[1]中国石油大学(华东)机电工程学院 [2]浙江大学流体传动及控制国家重点实验室

出　　处：《石油勘探与开发》2013年第5期620-624,共5页Petroleum Exploration and Development

基　　金：国家自然科学基金(50875262);浙江大学开放基金项目(GZKF-201025);中国石油大学(华东)研究生创新工程资助项目(CX2013055)

摘　　要：为了简化海洋钻井绞车升沉补偿系统的结构、降低主动式绞车补偿系统的能耗,通过系统结构设计、系统建模、内模PID鲁棒位移控制器设计等,设计了一种半主动式海洋钻井绞车升沉补偿系统,并通过非线性时域仿真与实验研究对系统进行了验证。系统结构设计实现了升沉补偿与自动送钻两种运动的解耦控制,降低了系统能耗。系统建模时采用质量集中法和能量守恒原则对系统进行了简化。提出了外环大钩位移闭环与内环电机转速闭环的双层控制方案,设计了外层内模PID鲁棒位移控制器,内模控制在模型匹配与模型失配情况下的稳态偏差均为零,滤波器时间常数越小动态性能越好、抗干扰能力越强。仿真模拟和实验研究的补偿率均在90%以上,补偿效果良好,系统具有可行性。In order to simplify the structure of the ocean drilling heave compensation system and reduce the energy consumption of active drawworks heave compensation system, a new type of semi-active drawworks heave compensation system was designed through structure design, system modeling and internal model PID robust displacement controller design. Then the feasibility of the system was verified by non-linear time domain simulation and experimental study. The structure design realizes decoupling control of heave compensation and automatic bit feed, reduces energy consumption of the system. The system is simplified to build simulation model by lumped mass method and energy conservation principle. The double control scheme of hook displacement closed loop in the outer loop and motor speed closed loop in the inner loop is put forward, the internal model PID robust displacement controller of outer loop is designed. The steady-state deviation of internal model control is zero when the model is matching or mismatching. The dynamic performance and resisting disturbance capacity of the internal model control is better when the filter time constant is smaller. The compensation rate is above 90% by simulation and experimental research results, the compensation effect is good and the system is feasible.

关 键 词：钻井平台 绞车 升沉补偿 半主动式 系统设计 

分 类 号：TE52[石油与天然气工程—油气田开发工程]