石油钻机自动送钻控制系统研究

Control System Study of Automatic Drill Bit Feeding of Oil Rig

石油钻机自动送钻是钻机自动控制技术的主要发展方向之一,针对钻井过程中井况的非线性、不确定性和实时性要求,很难得到系统的精确数学模型。用基于模型的传统控制方法也就很难得到精确、稳定的控制效果。采用单神经元自适应PSD控制器实现自动送钻的智能控制,这种方法不需辨识对象的参数,只要在线检测被控对象的实际输出与期望输出,就可以形成自适应闭环控制系统。此控制器结构简单易于实现。仿真结果表明,与传统的PID控制相比,单神经元自适应PSD控制器控制的反应速度快,振荡幅度小,并且稳态误差小,效果明显。

Automatic bit feed of oil rig is the main development direct of the rig automatic control technology,for the non-linearity,uncertainty and real-time requirements of the hole conditions in drilling process,it is difficult to obtain the precise mathematic model of the system and realize the precise,steady control purpose based on traditional control model.A single neuron adaptive PSD controller is used in automatic bit feed with intelligent control.This method needs no identify of the object parameters,it can be realize the adaptive feed back control system only by real time detect the real output and the expect output of the object with control.The controller is simple and easy to realize.Contrast with the traditional PID control,the simulating result indicates the single neuron adaptive PSD controller's response is quick,oscillation amplitude and steady state error is small.The effects are obvious.