基于自适应模糊PID的连续管作业机注入头速度控制研究

Research on Injection Head Speed Control of Coiled Tubing Unit Based on Adaptive Fuzzy PID

连续管作业机工作过程中起/下管速度控制主要依赖手动调节注入头泵的排量、马达压力等。为解决操作复杂、自动化程度低等问题,将连续管作业机注入头液压系统简化为闭式泵控马达系统,将传统手动控制方式改进为自动控制方式。分析泵控马达系统的工作原理,在AMESim中构建泵控马达系统的液压仿真模型;利用MATLAB/Simulink设计出AMESim仿真模型的PID及自适应模糊PID控制模型,从而构成整个系统的闭环控制联合仿真平台。采用PID算法及自适应模糊PID控制算法对系统响应进行仿真分析。结果表明:采用自适应模糊PID控制方式后,液压模型的响应速度更快、无超调和滞后现象、稳态误差更小,泵控马达系统具有良好的动态特性。

During the working process of coiled tubing unit,the speed control of the up/down pipe mainly depends on manual adjustment of the injection head pump displacement and the motor pressure.In order to solve the problems of complex operation and low degree of automation,the hydraulic system of injection head of coiled tubing unit was simplified as a closed pump-controlled motor system,and the traditional manual control method was replaced by an automatic control system.The working principle of pump-controlled motor system was analyzed,and the hydraulic simulation model of pump-controlled motor system was built in AMESim.The traditional PID and fuzzy-adaptive PID control models of the pump-controlled motor system were developed using MATLAB/Simulink,thus forming a closed-loop control co-simulation platform of the whole system.The PID and fuzzy-adaptive PID control algorithms were used to simulate the response of the system.The results show that after adopting the fuzzy-adaptive PID control models,the response speed of the hydraulic model is faster,and there are no overshoot or hysteresis phenomena;in addition,the steady-state error is smaller,and the pump-controlled motor system has good dynamic characteristics.