基于键合图理论的轨道钳升降系统建模与仿真

Modeling and Simulation of Track Clamp Jacking System based on Bond Graph theory

斜直井齿轮齿条钻机作业时,管柱接箍需要以一定倾斜角度和不同位置进行精确对中,又能相对井架上下运动,传统的液压大钳和铁钻工等管柱上/卸扣装置都不适合于斜直井齿轮齿条钻机。针对这一技术难题,提出了可以沿着钻机井架轨道自由升降的轨道钳系统,设计了该轨道钳系统的升降装置及其液压控制系统。基于键合图理论建立了轨道钳升降系统的数学模型,推导出轨道钳升降系统的动态方程。基于20-sim仿真平台,对轨道钳升降系统进行了动态仿真,验证了所建立的键合图模型的合理性,并分析了系统动态特性产生的原因和影响,可为升降系统的研制和控制提供技术指导。

When the gear rack drilling rig for slant drilling is working,string collar need to accurate alignment through certain angle of tilt and different position,and move up and down relative to the derrick,the oilwell string makeup and breakout device such as the traditional hydraulic tongs and iron roughneck is not suitable for it. Focused on the technical problem,the track clamp system which can track freely along the rig derrick is proposed,its jacking system and hydraulic control system are designed. Based on bond graph theory,the mathematical model of track clamp jacking system is established,and the dynamic equation is derived. Based on the20- Sim software,the dynamic simulation analysis is carried out,the rationality of the bond graph model is validated,and the causes and effects of the system dynamic characteristics are analyzed,which provide technical support and theoretical guidance for the research and control of track clamp jacking system.