HIR-90型全液压铁钻工自动定位过程分析  

Analysis of automatic positioning process of HIR-90 fully hydraulic iron roughneck

作　　者：郑显赫 王清岩[1,2] 盛洁 钟蔚岭 ZHENG Xianhe;WANG Qingyan;SHENG Jie;ZHONG Weiling(College of Construction Engineering,Jilin University,Changchun 130026,China;Key Laboratory of Drilling Technology for Complex Conditions,Ministry of Natural Resources,Jilin University,Changchun 130026,China)

机构地区：[1]吉林大学建设工程学院,长春130026 [2]吉林大学自然资源部复杂条件钻采技术自然资源部重点实验室,长春130026

出　　处：《世界地质》2022年第3期664-674,共11页World Geology

基　　金：国家深部探测技术与实验研究专项(SinoProbe-09-05)。

摘　　要：HIR-90型铁钻工是一种可自动拧卸钻杆的钻井辅助作业设备。为实现HIR-90型铁钻工的高精度自动定位,笔者分别用RecurDyn和AMESim软件建立该型号铁钻工的多体动力学模型和液压系统模型并设计控制信号,驱动铁钻工进行自动定位,分析了HIR-90型铁钻工伸展定位机构、升降定位机构和回转定位机构在铁钻工自动定位过程中的动态特性。通过合理设计控制参数,实现了HIR-90型铁钻工高平稳性、高精准度的自动定位。HIR-90 iron roughneck is an equipment used to perform auxiliary work on drilling projects,which can be used to screw or unscrew the drilling pipes automatically.In order to realize high-accuracy automatic positioning of HIR-90 iron roughneck,in this paper,the multi-body dynamic model and hydraulic system model were established with RecurDyn and AMESim softwares,respectively,and the control signals were designed to drive the automatic positioning of iron roughneck.The dynamic characteristics of HIR-90 iron roughneck s extension positioning mechanism,lifting positioning mechanism and rotation positioning mechanism during the automatic positioning of iron roughneck were analyzed.Through reasonable design of control parameters,the automatic positioning of HIR-90 iron roughneck with high smoothness and accuracy was realized.

关 键 词：铁钻工 自动定位 电液比例控制 联合仿真 

分 类 号：TE245[石油与天然气工程—油气井工程]