基于粒子群优化的旋冲钻进系统模糊PID控制

Fuzzy PID Control of Rotary Percussion Drilling System Based on Particle Swarm Optimization

旋冲钻进系统作为钻机的核心传动系统,其动态性能直接影响整机装备的运行可靠性。针对常规PID控制器和模糊PID控制器存在参数设定主观性较大、整定较复杂,会导致旋冲钻进系统在复杂地层钻进过程中给进速度和转速控制精度不高的问题,探究了基于粒子群优化的模糊PID控制方法。基于钻机工作机理,设计了旋冲钻进液压传动系统;利用AMESim建立旋冲钻进系统仿真模型,对模型的合理性进行了验证;采用AMESim-Simulink-ADAMS联合仿真平台建立了基于粒子群优化的模糊PID控制方法的系统耦合模型。结果表明:不同载荷下,相较于常规PID控制和模糊PID控制,基于粒子群优化的模糊PID控制能够有效降低旋冲钻进系统超调量,缩短调整时间,减小稳态误差,对系统起步阶段的振荡现象有一定抑制作用,具有更优的控制精度和稳定性。

As the core transmission system of drilling rigs,the dynamic performance of the rotary drilling system directly affects the operational reliability of the whole equipment.Aimed at the problem of subjective parameter setting and complex tuning in conventional PID controllers and fuzzy PID controllers,which leads to low control accuracy of feed speed and rotation speed in complex formation drilling processes of rotary percussion drilling systems,a control method based on particle swarm optimization(PSO)fuzzy PID is explored.Based on the working mechanism of drilling machine,the hydraulic transmission system of rotary percussion drilling is designed.The simulation model of rotary percussion drilling system is established by AMESim,and the rationality of the model is verified.The system coupling model of PSO fuzzy PID control is established by using the AMESim-Simulink-ADAMS co-simulation platform.The research results indicate that,compared with conventional PID control and fuzzy PID control under different loads,PSO fuzzy PID control can effectively reduce the overshoot of the rotary percussion drilling system,shorten the adjustment time,reduce the steady-state error.Moreover,the PSO fuzzy PID control has a certain inhibition effect on the oscillation phenomenon in the initial stage of the system.The PSO fuzzy PID control has better control accuracy and stability.