基于PID控制的轮毂电机驱动钻机自动送钻系统设计  

Design of Automatic Drilling System for Hub Motor Driven Drilling Rig Based on PID Control

作　　者：安斯远 梁健伟 王旭 An Siyuan;Liang Jianwei;Wang Xu(Mechanical Engineering College,Xi′an Shiyou University,Xi′an 710065,China)

机构地区：[1]西安石油大学机械工程学院,西安710065

出　　处：《机电工程技术》2023年第4期190-193,共4页Mechanical & Electrical Engineering Technology

摘　　要：基于交流变频电机作为送钻电机完成自动送钻的现状,设计了一种轮毂式电机驱动的钻机自动送钻系统,以提高送钻电机依据传感元件反馈的各种实时送钻参数做出及时应对的能力,使得送钻电机可以及时调整自身转速并控制绞车转动完成起、下钻操作,最终达到实时平稳、匀速起下钻。根据轮毂电机特性选取了电机类型和参数,运用串并联多层次多自由度的弹簧阻尼动力学系统平衡原理建立了自动送钻系统动力学模型并求得整个系统的动力学方程,设计了一种轮毂电机对绞车的PID控制算法并通过Simulink仿真。仿真结果表明,与现有的送钻电机相比,所设计的轮毂电机能够调节绞车转速,使绞车转速更快地趋于匀速、稳定,并能根据不同情况及时响应,有利于起、送钻的控制操作。Based on the current situation of AC variable frequency motor as a drill motor to complete automatic drilling,a hub type motor driven automatic drilling system was designed to improve the response ability of the drill motor based on various real time drilling parameters fed back by sensors,enabling the drill motor to timely adjust its rotational speed and control the winch rotation to complete the lifting and tripping operations,ultimately achieving real-time,stable,and uniform tripping.According to the characteristics of the hub motor,the type and parameters of the motor were selected.The dynamic model of the automatic drilling system was established using the balance principle of the spring damping dynamic system with multiple levels in series and parallel,and the dynamic equations of the entire system were obtained.A PID control algorithm for the hub motor on the winch was designed and simulated by Simulink.The results show that compared to the existing drilling motor,the designed hub motor can adjust the winch rotation speed,make the winch rotation speed tend to be uniform and stable in a smaller time,and can respond timely according to different situations,which is conducive to the control operation of tripping and drilling.

关 键 词：轮毂电机 自动送钻 低转速 大转矩 绞车转速 PID控制 SIMULINK 

分 类 号：TE928[石油与天然气工程—石油机械设备]