海底钻机机架的同步升降控制方案设计  

Design of synchronous lifting control scheme for subsea drilling rig frame

作　　者：宋建峰 黄鲁蒙[1,2] 张贺恩 孙亚鹏 禚晓 刘秀全 SONG Jianfeng;HUANG Lumeng;ZHANG He’en;SUN Yapeng;ZHUO Xiao;LIU Xiuquan(Mechanical and Electrical Engineering,China University of Petroleum(East China),Qingdao 266580,Shandong,China;National Engineering Research Center of Marine Geophysical Prospecting and Exploration and Development Equipment,Qingdao 266580,Shandong,China;CNPC Offshore Engineering Co.,Ltd,Beijing 100028,China;State Key Laboratory of Large Electric Drive System and Equipment Technology,Tianshui 741020,Gansu,China;Technical Testing Center of Shengli Oilfield,Dongying 257000,Shandong,China)

机构地区：[1]中国石油大学(华东)机电工程学院,山东青岛266580 [2]海洋物探及勘探开发装备国家工程研究中心,山东青岛266580 [3]中国石油集团海洋工程有限公司,北京100028 [4]大型电气传动系统与装备技术国家重点实验室,甘肃天水741020 [5]胜利油田技术检测中心,山东东营257000

出　　处：《电气传动自动化》2024年第2期1-6,共6页Electric Drive Automation

基　　金：国家重点研发计划资助(2021YFB3401400);大型电气传动系统与装备技术国家重点实验室(天水电气传动研究所集团有限公司)开放基金课题资助(SKLLDJ032022004);高等教育科学研究规划课题(23SZH0424)。

摘　　要：为了满足新型海底连续管钻机对可变高度机架的功能需求,开展了机架升降控制方案设计。首先根据海底钻井工艺和深海服役环境,设计了一套基于超长行程柱塞缸和电液比例节流调速的双层机架升降方案及作业流程,具有结构紧凑、稳定性好、油缸及高压管线安装方便、开发成本低的优点。为了减轻大跨距偏载和水下洋流扰动等因素对同步运动控制过程的影响,采用四缸主从同步闭环控制结构,并根据系统理论模型设计了一种内模鲁棒性控制算法,通过调节滤波器时间常数来改善控制器动态特性,仿真结果表明该系统具有良好的抗干扰能力,为深海环境下的准确和稳定控制提供了依据。In order to meet the functional requirements of the new type of subsea continuous pipe drilling rig for variable height racks,a rack lifting control scheme was designed.Firstly,based on the underwater drilling technology and deep-sea environment,a double-layer frame lifting scheme and operation process based on ultra long stroke plunger cylinder and electro-hydraulic proportional throttling speed regulation were designed.It has the advantages of compact structure,good stability,convenient installation of oil cylinders and high-pressure pipelines,and low development cost.Then,in order to reduce the influence of factors such as large span offset load and underwater ocean current disturbance on the synchronous motion control process,a four cylinder master-slave synchronous closed-loop control structure was adopted,and an internal model robust controller was designed based on the system theoretical model.Simulation results showed that the control system has good anti-interference ability,providing a basis for accurate and stable control in deep-sea environments.

关 键 词：海底钻机 液压同步 内模鲁棒 并行控制 

分 类 号：TE928[石油与天然气工程—石油机械设备]