抑制油气井钻柱黏滑振动控制器设计与应用  

Design and application of a control system to suppress the stick-slip vibration for oil-well drill strings

作　　者：付蒙[1] 吴亚锋[1] 宋叔飚[1] 李江红[1] 张文龙 FU Meng;WU Yafeng;SONG Shubiao;LI Jianghong;ZHANG Wenlong(School of Power and Energy,Northwestern Polytechnical University,Xi’an 710072,China)

机构地区：[1]西北工业大学动力与能源学院,西安710072

出　　处：《振动与冲击》2019年第10期256-261,共6页Journal of Vibration and Shock

摘　　要：油气井钻进过程中,钻柱系统深入地下几千米,容易引发钻柱黏滑振动现象,进而损坏钻井设备、降低钻进效率及危害钻井安全。为了抑制钻柱黏滑振动,提高系统抗干扰能力,建立了钻柱双自由度集中参数模型及非线性摩擦扰动模型,设计一种状态观测器,提出了速度补偿反馈控制方案。在仿真系统中验证了控制方案的可行性;仿真结果表明,设计的控制器可以使波动的钻头转速逐步收敛于输入参考值,并且闭环控制系统表现出良好的动态性能;基于速度补偿反馈控制器设计了钻柱黏滑振动控制系统,并在钻进现场完成测试实验。实验表明,设计的控制系统可以有效地抑制钻柱黏滑振动,从而进一步提高钻进效率、保障钻进安全。In drilling field,the undesired stick-slip vibration of a drill string is easily induced,which can damage drilling equipment,reduce drilling efficiency and compromise drilling safety.In order to suppress the undesired stick-slip vibration of the drill string,a control system with a speed compensation feedback controller was proposed.A two degrees of freedom lumped parameter model was established for the drill string system and a nonlinear friction torque model was built for the external disturbance.Based on the 2DOF model,a state observer and a speed compensation feedback controller were designed separately.The feasibility of the control strategy was verified by using MATLAB.The simulation results show that the drill bit speed gradually converges to the input reference value under the action of the designed controller,and the closed-loop control system shows good dynamic performance.The control system was applied in the actual drilling field.The experimental tests demonstrate that the designed control system can effectively suppress the stick-slip vibration of the drill string and it could be implemented in the drilling field.

关 键 词：钻柱系统 黏滑振动 状态观测器 速度补偿控制 状态反馈控制 

分 类 号：TE92[石油与天然气工程—石油机械设备]