基于状态重构器的顶驱控制方法

Control method of top drive based on state reconstructor

为了防止钻井过程中因黏滑振动造成钻井事故,提出一种基于状态重构器的顶驱扭矩控制方法。首先,将顶驱、钻杆和钻具组合等效为集中质量弹簧阻尼系统,采用Karnopp非线性摩擦模型分析黏滑振动摩擦,建立钻柱系统井下运动方程;其次,通过增加摩擦干扰器,采用最优阻尼进行参数整定,设计基于龙伯格状态重构器的PID控制算法;再次,采用MATLAB软件搭建钻柱系统运动模型和状态重构器仿真模型,进行井下黏滑振动模拟和控制算法仿真,验证模型的准确性和算法的有效性;最后,设计并建立井下黏滑振动实验装置,在黏滑振动工况下,估算钻头钻速,验证控制算法。研究结果表明:黏滑振动控制算法可在较短时间内有效控制井下转速,抑制黏滑振动。

In order to prevent drilling accidents caused by stick-slip vibration during drilling,a top-drive torque control method based on state reconstructor was proposed.Firstly,the top drive,drill pipe and bottom hole assembly were equivalent to a concentrated mass spring damping system,the stick-slip vibration friction was analyzed by Karnopp nonlinear friction model and the downhole motion equation of drill string system was established.Secondly,the optimal damping was used for parameter tuning and a PID control algorithm based on the Lomborg state reconstructor was designed.Thirdly,the motion model of drill string system and the simulation model of state reconstructor were built by MATLAB software.The simulations of downhole stick-slip vibration and control algorithm were carried out to verify the accuracy of model and the effectiveness of algorithm.Finally,the downhole stick-slip vibration experimental device was designed and established.Under the stick-slip vibration condition,the estimation of bit drilling speed and the verification of control algorithm were implemented on the experimental device.The results show that the stick-slip vibration control algorithm can effectively control the downhole speed in a relatively short time and suppress the stick-slip vibration.