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石油是世界上重要的能源,随着人们对石油的大量开采与利用,石油资源日益紧缺。因此,设计合适的基于钻机旋转系统的控制器,提高石油钻机的钻井效率,降低钻井成本,对于有效利用石油资源有着很重要的意义。目前,旋转系统的常规控制方法虽然得到广泛的运用,但其钻井效率比较低,钻井成本还比较高。针对上述问题,通过研究,本文所做的主要工作和研究结果如下:首先,论文建立了钻机旋转系统的数学模型,接着,对钻机旋转系统的数学模型进行了线性化处理。其次,分别设计了PID控制器、自适应控制器,随后对系统进行了仿真分析。应用PID控制器使阶跃响应超调量为零且不存在稳态误差,而应用自适应PID控制器不但具有PID控制器的所有优点而且使系统的快速性再次得到了提高。所以,使用自适应PID控制器进一步提高了钻井效率,得出了自适应控制规律的优越性。
Oil is an important energy source in the world. With the massive exploitation and utilization of oil, petroleum resources are increasingly scarce. Therefore, designing an appropriate controller based on the rotating system of the drilling rig, improving the drilling efficiency of the drilling rig and reducing the drilling cost is very important for effectively utilizing petroleum resources. At present, the conventional control method of rotating system has been widely used, but its drilling efficiency is relatively low, drilling costs are still relatively high. In view of the above problems, through the research, the main work and research results are as follows: Firstly, the paper established the mathematical model of rig rotating system, and then the mathematical model of rig rotating system was linearized. Secondly, the PID controller and adaptive controller are designed respectively, then the system is simulated. The application of PID controller makes the step response overshoot zero and there is no steady-state error. However, the application of adaptive PID controller not only possesses all the advantages of PID controller but also improves the rapidity of the system again. Therefore, the use of adaptive PID controller to further improve the drilling efficiency, obtained the superiority of adaptive control law.