基于前馈解耦的固井水泥浆密度控制仿真研究  

Simulation on Density Control of Cementing Slurry Based on Feed-forward Decoupling

作　　者：樊恒 冀宇 程思达 陈佳 李勇 FAN Heng;JI Yu;CHENG Sida;CHEN Jia;LI Yong(School of Electronic Engineering,Xi′an Shiyou University,Xi′an,Shaanxi 710065,China;CNPC Engineering Technology Research Company Limited,Beijing 102206,China)

机构地区：[1]西安石油大学电子工程学院,陕西西安710065 [2]中国石油集团工程技术研究院有限公司,北京102206

出　　处：《石油管材与仪器》2024年第2期47-53,共7页Petroleum Tubular Goods & Instruments

基　　金：西安石油大学研究生创新与实践能力培养计划(编号:YCS23114130)。

摘　　要：由于固井水泥浆液位控制和密度控制系统存在大惯性、长时滞和强耦合等问题,传统的PID控制方法难以取得良好的控制效果。提出了一种基于前馈解耦的液位和密度控制策略。首先依据流量守恒和质量守恒原理,采用机理建模法构建了固井水泥混浆系统的数学模型;然后利用数学模型计算水泥混浆系统在稳态工作点的相对增益矩阵,得到了液位密度控制过程的最佳变量配对方式和耦合程度,进一步设计了水泥浆液位和密度控制的前馈解耦控制器;最后基于Matlab/Simulink软件对PID控制和PID前馈解耦控制方法进行了仿真模拟。结果表明:相较于传统PID方法,PID前馈解耦方法能有效补偿液位控制与密度控制的耦合作用,液位控制的超调量减少了26.1%,调节时间从123.503 s减少到32.090 s,密度控制调节时间从62.620 s减少到20.542 s。前馈解耦控制器能较好地提高系统稳定性和缩短响应时间,改善系统控制性能,对于提升固井作业质量和效率具有重要意义。Due to the problems of large inertia,long delay,and strong coupling in cementing slurry level control and density control system,it is quite difficult to achieve favorable control effect by traditional PID control method,Therefore,a level and density control strategy based on feed-forward decoupling is proposed.Firstly,based on the principles of flow conservation and mass conservation,the mathematical model of the cementing slurry mixing system was constructed by using the mechanism modeling method.Then the mathematical model is used to calculate the relative gain array of the cement slurry mixing system at the steady state operating point,and the optimal variable pairing and coupling degree of the level and density control process are obtained,as well as the feed-forward decoupling controller for the level density control of cement slurry is designed.Finally,the PID control and the PID feed-forward decoupling control method are simulated based on the Matlab/Simulink software.The results show that compared with the traditional PID method,the PID feed-forward decoupling method can effectively compensate for the coupling effect of level control and density control,the overshooting amount of the level control was reduced by 26.1%,the regulating time is reduced from 123.503 s to 32.090 s,and the regulating time of the density control was reduced from 62.620 s to 20.542 s.The feed-forward decoupling controller can better enhance the system stability and reduce response time to improve the system control performance,which is highly significant for improving the quality and efficiency of cementing operations.

关 键 词：固井水泥浆 液位控制 密度控制 耦合性分析 前馈解耦 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]