石油钻机电控系统的多变量解耦控制方式  

Multi-variable Decoupling Control Method for Electric Control System of Oil Drilling Rig

作　　者：石建龙 王玉明 王泽 张津 SHI Jianlong;WANG Yuming;WANG Ze;ZHANG Jin(Tianshui Electric Drive Research Institute Co.,Ltd.,Tianshui 741020,Gansu,China;Shanghai Engineering Technology Branch of CNOOC Energy Development Co.,Ltd.,Shanghai 200335,China;Bohai Drilling Fourth Drilling Engineering Branch of China National Petroleum Corporation,Renqiu 062552,Hebei,China)

机构地区：[1]天水电气传动研究所集团有限公司,甘肃天水741020 [2]中海油能源发展股份有限公司上海工程技术分公司,上海200335 [3]中国石油集团有限公司渤海钻探第四钻井工程分公司,河北任丘062552

出　　处：《电气传动自动化》2024年第5期6-10,共5页Electric Drive Automation

摘　　要：石油钻机交流电控系统以多变量变频控制多电机为主。针对异步电机非线性、不确定、非最小相等因素引起的耦合多变量无法精确调参及控制的问题,提出了一种石油钻机电控系统的多变量解耦控制方式。在静态坐标系下建立了电机模型,采用了自适应PID神经元网络解耦多变量,降低了速度、励磁等重要变量的耦合程度。高阶非线性部分采用了前馈补偿方法加以消除,低阶非线性部分则加入了神经网络解耦器。通过广义时域响应曲线消除了耦合影响,达到了优化变频控制参数的目的。实验表明,本文所设计的控制方式可以有效地实现多电机速度、励磁等参数的解耦,其控制系统具有良好的稳定性,其闭环控制也具有良好的鲁棒性。The AC electric control system of oil drilling rig is mainly controlled by multi-motor variable-frequency control.Aiming at the problem that the coupling multi-variables caused by the nonlinear,uncertain and non-minimum phase factors of asynchronous motor cannot be accurately controlled,a multi-variable decoupling control method of oil drilling rig electric control system is proposed.The motor model is established in the static coordinate system.The adaptive PID neural network is used to decouple the multi-variable parameters,and the important variables such as speed and excitation are reduced.The feedforward compensation method is used to eliminate the high-order nonlinear part,and the neural network decoupling is added to the low-order nonlinear part.The coupling effect is eliminated by the generalized time domain response curve.and thus to optimize the frequency conversion control parameters.The experimental results show that this design can realize the decoupling of speed,excitation and other parameters in multiple motors,the system has good stability,and the robustness of its closed-loop control is well.

关 键 词：自适应PID 解耦方式 神经网络补偿器 多变量参数 

分 类 号：TM762[电气工程—电力系统及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]