基于S曲线加减速的石油钻机钻速自动控制方法  

Automatic Control Method of Drilling Rate of Oil Rig Based on S-curve Acceleration and Deceleration

作　　者：童明金 TONG Mingjin(International Business Company,Sinopec Material and Equipment Department,Beijing 100728,China)

机构地区：[1]中石化物资装备部国际事业公司,北京100728

出　　处：《机械制造与自动化》2022年第3期232-235,共4页Machine Building & Automation

摘　　要：针对传统钻速控制方法存在的工作效率和控制精度低、控制时间长的问题,设计一种基于S曲线加减速的石油钻机钻速自动控制方法。通过负荷辛普森求解公式计算石油钻机钻速的曲线长度,将最大轮廓误差以及最大向心加速度设定为约束条件,对石油钻机钻速进行规划。使用S曲线加减速方法对石油钻机启动输入信号进行二次规划以有效抑制系统扭振,再通过粒子群优化算法对S曲线中的参数进行优化,获取最小程度激发残余振荡的S曲线,实现对石油钻机钻速的自动控制。仿真结果表明:该方法能够有效提升控制效率和控制精度,同时还能有效减少自动控制时间。To address the problems of low efficiency,poor control accuracy and increased control time of traditional drilling rate control method,an automatic drilling rate control method based on S-curve acceleration and deceleration is designed.The curve length of drilling rate of oil rig is calculated by Simpson solution formula of load,and the maximum contour error and maximum centriole acceleration are set as the constraint conditions for planing the drilling rate of oil rig.The S-curve acceleration and deceleration method is used to carry out quadratic programming for the starting input signal of the oil drilling rig to suppress the torsional vibration of the system effectively,and the parameters in the S-curve are optimized by particle swarm optimization algorithm to obtain the S-curve with minimum excitation residual oscillation,so as to realize the automatic control of drilling speed of the oil drilling rig.Simulation results show that the designed method can effectively improve the control efficiency and accuracy,and reduce the automatic control time as well.

关 键 词：S曲线加减速 石油钻机 钻速自动控制 粒子群优化算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]