史富斌;努尔扎提;李琳;

• 1:西安石油大学陕西省钻机控制技术重点实验室

摘要(Abstract)：

针对钻机旋转系统中钻头黏滑振动导致钻头失速而引起系统故障,建立钻机具有扭转特性的多自由度旋转系统模型,提出基于幂次趋近律的双面滑模PID控制策略,将滑模面设计为2个间断面,一是滑模面抑制钻头黏滑运动,二是滑模面使钻头速度跟随顶驱速度,实现钻头恒速运行;滑模控制策略结合PID控制,改善旋转系统的动态及静态响应特性.仿真结果表明:基于幂次趋近律的双面滑模PID控制,使系统对参数和地层结构的变化具有较强的鲁棒特性,可有效抑制钻头的黏滑振动,减小稳态误差,保证系统的稳定性和可靠性.

关键词(KeyWords)：钻机旋转系统;滑模控制;黏滑振动;PID控制

Abstract:

Keywords:

基金项目(Foundation):中国石油科技创新基金项目(2009D-5006-03-07);;

陕西省科技攻关项目(2009K09-25)

作者(Author):史富斌;努尔扎提;李琳;

Email:

参考文献(References)：

• [1]Yigit A S,Christoforou A P.Coupled torsional and bending vibrations of actively controlled drillstring[J].Journal of Sound and Vi-bration,2000,234(1):67-83.

• [2]Brett J F.The genesis of torsional drillstring vibrations[J].SPE Drilling Engineering,1992,7(3):168-174.

• [3]Lin Y Q,Wang Y H.Stick-slip vibration of drillstrings[J].Journal of Engineering for Industry,1991,11(3):38-43.

• [4]Navarro-López E M,Cortés D.Avoiding harmful oscillations in a drillstring through dynamical analysis[J].Journal of Sound and Vi-bration,2007,307(4):152-171.

• [5]祝效华,刘清友,童华.三维井眼全井钻柱系统动力学模型研究[J].石油学报,2008,29(2):288-291.

• [6]Serrarens A F A.H∞control as applied to torsional drillstring dynamics[D].Netherlands:Eindhoven University of Technology,2002.

• [7]Abdulgalil F,Siguerdidjane H.Nonlinear friction compensation design for suppressing stick slip oscillations in oil well drillstrings:2004 5th Asian Control Conference[C].Australia:Institute of Electrical and Electronics Engineers Inc,2004.

• [8]Mosleh Al-Harthi,Edwin E Yaz.Reduced order proportional integral compensator for disturbance suppressionin oil well drill-strings:The 2002 IEEEinternational conference on control applications,Glasgow[C].United States:Institute of Electrical and ElectronicsEngineers Inc.,2002.

• [9]Serrarens A F A,van de Molengraft MJ G,Kok J J,et al.H∞control for suppressing stick-slipin oil well drillstrings[J].IEEE Sys-tems Magazine,1998,18(2):19-30.

• [10]Smit A T.Using of opti mal control techniques to dampen torsional drillstrings vibrations[D].Netherlands:University of Twente,1999.

• [11]Abdulgalil F,Siguerdidjane H.PIDbased on sliding mode control for rotary drilling system:Theinternational conference on comput-er as a tool[C].United States:Inst.of Elec.and Elec.Eng.Computer Society,2005.

• [12]Navarro-López E M,Cortés D.Sliding-mode control of a multi-DOF oil well drillstring with stick-slip oscillations:American controlconference[C].New York:Institute of Electrical and Electronics Engineers Inc.,2007.

• [13]ZHANG Qi-zhi,HE Yu-yao,LI Lin.Sliding mode control of rotary drilling system with stick slip oscillation[C].Wuhan:The 2ndInternational Workshop on Intelligent Systems and Applications(ISA2010),2010:30-33.

• [14]贺昱曜,闫茂德.非线性控制理论及应用[M].西安:西安电子科技大学出版社,2007.