基于自抗扰算法的钻杆黏滑控制方法研究

Oil Drill-String Stick-Slip Control Method Based on Active Disturbance Rejection Controller

石油钻井过程中钻柱系统产生的黏滑是一类自激转矩振荡。黏滑过程中,钻头处于或转或停"黏滞-滑动"的状态,钻杆转矩振荡大,不仅影响钻井效率也威胁钻井作业安全。钻柱系统具有非线性、不确定性等特点,难以得到其精确模型。基于以上考虑,设计了自抗扰控制器,该控制算法可以对模型不确定因素以及外扰进行补偿,具有较好的鲁棒性。通过不断地整定自抗扰控制器的参数,在仿真实验中得到了良好的控制效果,能够有效地抑制黏滑振荡,具有广阔的工程应用前景。

Stick-slip is type of self-excited torque vibration which occurs during the oil-drilling work. In the process of stick-slip, drill torque vibrates sharply as the drill bit turns or stops occasionally. It not only affects the drilling efficiency, but also threatens the safety of the drilling operation. In light of nonlinear characteristics of time delay, and uncertain characteristic in the drill-string drive system, auto-disturbance-rejection controller algorithm is proposed. Active disturbance rejection controller （ADRC） can compensate the uncertain factor of the model and external disturbance, and has good adaptability and robustness. By continually adjusting the pa- rameters of the ADRC, the ideal result is achieved in the simulation experiment. The result shows that this method can effectively suppress the stick-slip. It is worth being developed for engineering application.