基于误差反馈的石油钻井液压机速度自适应控制方法

Adaptive Speed Control Method of Oil Drilling Hydraulic Press Based on Error Feedback

针对当前石油钻井液压机速度控制方案步骤复杂、精度不高等现实问题,设计一种基于误差反馈的液压机速度自适应控制方法。分析由主工作缸、同步缸、活动横梁等部件构成的液压机系统,依照牛顿第二定律组建液压机动力学方程;计算处于动态响应与负载干扰下的转速误差反馈值,确定滑膜控制权重,通过误差反馈机制优化石油钻井液压机速度补偿调节器;引入加减速控制算法,设置加加速、减加速、匀速、减减速与加减速5个速度阶段,在路径长度小于路径总长度与最小路径长度比的基础上,依照运行路径间的夹角自适应改变每段路径的加速度最高值,实现高精度液压机速度自适应控制。实验结果表明,所提方法可有效减少液压机静态误差与抖振,速度控制自适应能力强,具备一定抗干扰能力。

A hydraulic press speed adaptive control method based on error feedback is designed to address the practical problems of complex steps and low accuracy in the current oil drilling hydraulic press speed control scheme.Analyze the hydraulic press system composed of main working cylinder,synchronous cylinder,movable crossbeam and other components,and construct the hydraulic dynamic equation according to Newton's second law;Calculate the feedback value of rotational speed error under dynamic response and load interference,determine the sliding film control weight,and optimize the speed compensation regulator of oil drilling hydraulic press through error feedback mechanism;Introducing an acceleration and deceleration control algorithm,setting up five speed stages:acceleration,deceleration,constant speed,deceleration,and acceleration/deceleration.Based on the path length being less than the ratio of the total path length to the minimum path length,the maximum acceleration value of each segment of the path is adaptively changed according to the angle between the running paths,achieving high-precision hydraulic press speed adaptive control.The experimental results show that the proposed method can effectively reduce static errors and chattering of hydraulic presses,with strong adaptive speed control ability and certain anti-interference ability.