全液压自动猫道举升系统控制策略研究  

Control Strategy for Lifting System of Hydraulic Automatic Catwalk

作　　者：康思杰 于萍[1] 靳恩朝 谭志松[1] 

机构地区：[1]吉林大学机械科学与工程学院,吉林长春130022

出　　处：《机床与液压》2016年第3期102-105,共4页Machine Tool & Hydraulics

基　　金：国家深部探测技术与实验研究专项资助项目(Sino Probe-09-05)

摘　　要：举升系统是动力猫道的核心部分,其连续性和平稳性是影响动力猫道性能的关键因素。液压马达和双作用液压缸共同作用的举升系统是一个双输入单输出耦合非线性系统。钻杆上钻台面时与地面夹角为控制变量,为实现举升过程的连续性,要求其角度稳定在设定角度上钻台面。对举升系统进行速度分析,得到两个输入变量和输出变量的关系式;对速度关系式进行线性化处理,就控制效果和可行性,对控制策略进行比较,并确定马达变速—双作用液压缸变速的控制方式;通过LMS Virtual.Lab Motion和AMESim的联合仿真,分析举升过程的平稳性和受力情况。结果表明:该控制方式是可行的,满足实际要求。Lifting system is the core component of the power catwalk whose continuity and stability are key performance. As for a new type of power catwalk,lifting system are 2DFO mechanism whose executive bodies are hydraulic motors and double-acting hydraulic cylinders. So the lifting system is a nonlinear system with dual-input,single-output and coupling. The angle between the drill pipe and the ground is control variable which is required to be unchanged when drilling pipe is going to reach the drilling table in order to realize the continuity. The speed of the lifting system was analyzed and the relationship of the two input variables and output variables was found. The velocity relation was linearized and different control strategies were compared in effect and feasibility,ultimately the control strategy that the speed of motor is uniform as same as that the speed of double-acting hydraulic cylinder is changed was adopted.Through co-simulation of LMS Virtual. Lab Motion and AMESim,the forces and smooth of lifting process was analyzed. Simulation results indicate that the principle of method is correct and meet the practical requirements.

关 键 词：动力猫道 举升系统 平稳性 控制策略 联合仿真 

分 类 号：TE951[石油与天然气工程—石油机械设备]