电液复合式二层台排管装置电控系统研制

Development of an Electronic Control System for Electro-Hydraulic Composite Monkey-Board Pipe Racking Device

为满足油田现场对自动化设备在效率、安全、环保等方面不断提升的要求,研制了一套二层台排管装置电控系统。该系统采用以太网将PLC、伺服、视频监控、司钻终端进行互联,实现数据传输与访问;将运动控制系统和伺服驱动系统进行分离设计,以保证系统在良好散热的基础上安全运行;基于钻井工艺,通过TIA平台,用模块化编程方法开发了运动控制软件。现场应用结果表明:电控系统硬件设计合理,在司钻操作、信息显示、故障追踪及安全保护等方面功能完善;系统响应时间短于1 s,定位精度小于1 mm,排管手从待命位到达井口完成管柱交接并返回,用时不超过34 s。配套该电控系统的二层台排管装置,可满足油田现场起、下钻使用要求,适用于二层台无人化、自动化作业。

In order to meet the increasingly stringent requirements of oilfields for efficiency,safety and environment-friendliness of automatic equipment,an electronic control system was developed for the monkey-board pipe racking device.This system uses the Ethernet to interconnect the programmable logic controller,servo,video surveillance,and driller terminal,for purpose of data transmission and access.The motion control system and servo drive system are separated to ensure a safe operation while desirable cooling.Based on the drilling process,the motion control software was developed by a modular programming approach via the TIA platform.The field application demonstrates that the proposed electronic control system is reasonable in hardware design,and has complete functions including driller operation,information display,fault tracing,and safety protection.Moreover,it has a response time<1 s and a positioning precision<1 mm.The system allows the monkey-board manipulator to leave the standby position to the wellhead for handover of the pipe string and then return with no more than 34 s.The monkey-board pipe racking device equipped with the electronic control system can meet the requirements of round trips in oilfields,and helps realize unmanned and automated operations on the monkey board.