基于二自由度预测模型的软扭矩控制方式

Soft Torque Control Method Based on Two-DOF Predictive Model

针对软扭矩控制方法在控制钻杆钻井过程中难以预测角位移和角速度的情况,提出一种基于二自由度预测模型的软扭矩控制方式。该方法采用扭摆模型来分析非线性振动规律,建立钻杆钻进方程,利用钻杆在不同位置转动惯量的不同,将三自由度钻柱模型简化为二自由度钻柱模型,并将两种模型在模拟数据中进行比较。实验表明,该软扭矩控制方法方式可以简化并替代复杂的非线性运动方程,具有更高精度的控制结果,从而实现更高的性能。

Aming at the situation of soft-torque control method that it is difficult to predict angular displacement and angular velocity in the process of drilling control. It proposed a soft-torque control method based on 2 DOF prediction model. The way used torsion-pendulum model to analyze nonlinear vibration. It established motion equipment of drillstring and utilized the different place of drill pipe to distinguish different moment of Inertia. And3 DOF would simplify 2 DOF during drillstring model by analog-data comparison. Experimental simulations showed that the soft-torque control way could simplify and replace complex nonlinear motion equations,and have higher accuracy and thus can achieve improved performance.