摘要
针对钻机旋转系统中钻头黏滑振动导致钻头失速而引起系统故障,建立钻机具有扭转特性的多自由度旋转系统模型,提出基于幂次趋近律的双面滑模PID控制策略,将滑模面设计为2个间断面,一是滑模面抑制钻头黏滑运动,二是滑模面使钻头速度跟随顶驱速度,实现钻头恒速运行;滑模控制策略结合PID控制,改善旋转系统的动态及静态响应特性.仿真结果表明:基于幂次趋近律的双面滑模PID控制,使系统对参数和地层结构的变化具有较强的鲁棒特性,可有效抑制钻头的黏滑振动,减小稳态误差,保证系统的稳定性和可靠性.
The paper presents a new control method that combines the double surface sliding control way based on exponent reaching law with the PID control on the basis of multi-DOF model of drilling rotary system.The sliding surface in the controller designs two discontinuity surfaces,one is used to suppress the stick-slip oscillation at the drill bit,and the other makes the bit speed tacking the rotary speed and achieves bit moving with a constant speed.Combined with the PID control,it can improve dynamic and static characters of the drilling rotary system.The comparative analysis of simulation results show the control method not only achieves good robustness for the uncertainties of rock formation and drilling string but also enhances the stability and reliability of the system.
出处
《大庆石油学院学报》
CAS
北大核心
2010年第6期75-79,共5页
Journal of Daqing Petroleum Institute
基金
中国石油科技创新基金项目(2009D-5006-03-07)
陕西省科技攻关项目(2009K09-25)
关键词
钻机旋转系统
滑模控制
黏滑振动
PID控制
drilling rotary system
sliding mode control
stick-slip oscillation
PID control
