IR-90全液压铁钻工夹持定位精度及其影响因素  

IR-90 Full Hydraulic Iron Roughneck Clamping Positioning Accuracy and Its Influencing Factors

作　　者：李昊轩 王清岩[1,2] 钟蔚岭 盛洁 李苓豪 金赠伍 Li Haoxuan;Wang Qingyan;Zhong Weiling;Sheng Jie;Li Linghao;Jin Zengwu(College of Construction Engineering,Jilin University,Changchun 130026,China;Key Laboratory of Complicated Conditions Drilling Technology(Jilin University),Ministry of Land and Resources,Changchun 130026,China)

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

出　　处：《吉林大学学报（地球科学版）》2024年第4期1305-1315,共11页Journal of Jilin University：Earth Science Edition

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

摘　　要：铁钻工为先进的钻井辅助作业设备,但国内铁钻工在自动化程度、夹持定位精度和工作平稳性方面有较多不足。为了解决此问题,本文设计了一种新型的铁钻工结构及其液压控制系统。首先通过机-液联合仿真分析,研究了铁钻工上卸扣过程中钻杆轴线的偏移角度和径向力变化;然后在此基础上对铁钻工的控制系统进行优化,采用同步分流马达和PID(比例积分微分)控制,进一步分析液压缸增加输入流量对固定钳和动钳的液压缸同步性能、夹持定位精度及接头螺纹径向力的影响。结果表明:采用PID控制时比同步分流马达夹持效果更好,当单个液压缸输入流量为18 L/min时,固定钳夹紧钻杆时钻杆轴线绕x、y轴偏角能控制在0.10°和0.06°以内,响应速度在6.8 s左右,上下钻杆重心沿x和y轴方向的距离可以分别控制在1.93和2.85 mm之内,保证了固定钳和动钳的夹持定位精度以及动作快速性和稳定性。接头螺纹径向力曲线也表明了铁钻工冲扣时钻杆接头间产生的不平衡径向力(17.2 kN)远大于旋扣时(641.0 N),更易导致钻头磨损。Iron roughneck is advanced drilling auxiliary operation equipment,and domestic iron roughnecks have many shortcomings in automation degree,clamping positioning accuracy and work smoothness.In order to solve the problem,a new type of iron roughneck structure and its hydraulic control system are designed in this paper.Firstly,through the machine-hydraulic co-simulation analysis,the axis deviation angle and radial force change of the drill pipes during the makeup and breakout process of the iron roughneck were studied.Then,the control system of the iron roughneck is optimized on this basis,and the synchronous motor and PID(proportional integral differential)control are used to further analyze the influence of increasing hydraulic cylinders input flow rate on the synchronous performance of the hydraulic cylinders,clamping positioning accuracy and radial force of the joint thread of the fixed plier and moving plier.The results show that PID control has better clamping effect than synchronous motor.When the input flow rate of a single hydraulic cylinder is 18 L/min,the x and y axial deviation angles of the drill pipe can be controlled within 0.10°and 0.06°when clamped with fixed plier,and the response speed is about 6.8 seconds.The distance between the center of gravity of the upper and lower drill pipes along the x and y axis directions can be respectively controlled within 1.93 and 2.85 mm,which ensures the clamping positioning accuracy,rapidity and stability of the fixed plier and the moving plier.The radial force curve of the joint thread also indicates that the unbalanced radial force between the drill pipe joints during the iron roughnecks punching(17.2 kN)is much greater than that of the spinning(641.0 N),which is more likely to cause the drill bit to wear.

关 键 词：铁钻工 定位精度 机-液联合仿真分析 不平衡径向力 钻井 

分 类 号：P634.9[天文地球—地质矿产勘探]