井下闭环导向钻井工具双环积分滑模控制研究
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摘要
带有双偏心环偏置机构的旋转导向钻井工具在导向钻进时,由于旋转外套传递的钻压以及复杂的井下工况等不确定性及非线性因素,造成钻井工具的轨迹精确度难以控制,为此,提出了一种轨迹跟踪控制理论——双环积分滑模控制。首先,对一种旋转导向钻井工具中的双偏心环偏置机构进行模型简化,将其简化为二自由度的连杆机构;其次,对机构模型进行分析,构建其运动学方程和动力学模型;然后,设计了双环积分滑模控制器,并用Lyapunov函数证明了所设计的控制系统的稳定性;最后,利用MATLAB软件进行仿真分析,证实了该控制方法有较好的抗干扰能力和控制精度。
When rotary steering drilling tools with biasing mechanism of double eccentric rings are used in steering drilling,it is difficult to control the accuracy of the trajectory of the drilling tools because of the uncertainties and non-linear factors such as the drilling pressure transmitted by the rotary jacket and the complex downhole working conditions.Therefore,a trajectory tracking control theory,double-loop integral sliding mode control,is proposed.Firstly,the offset mechanism of double eccentric rings in a rotary steering drilling tool is simplified into a two-degree-of-freedom linkage mechanism.Secondly,the mechanism model is analyzed and its kinematics equation and dynamics model are established.Then,a double-loop integral sliding mode controller is designed,and the stability of the designed control system is proved by Lyapunov function.Finally,it is proved that the control method has good anti-interference ability and control accuracy by means of the simulation analysis using MATLAB software.
When rotary steering drilling tools with biasing mechanism of double eccentric rings are used in steering drilling,it is difficult to control the accuracy of the trajectory of the drilling tools because of the uncertainties and non-linear factors such as the drilling pressure transmitted by the rotary jacket and the complex downhole working conditions.Therefore,a trajectory tracking control theory,double-loop integral sliding mode control,is proposed.Firstly,the offset mechanism of double eccentric rings in a rotary steering drilling tool is simplified into a two-degree-of-freedom linkage mechanism.Secondly,the mechanism model is analyzed and its kinematics equation and dynamics model are established.Then,a double-loop integral sliding mode controller is designed,and the stability of the designed control system is proved by Lyapunov function.Finally,it is proved that the control method has good anti-interference ability and control accuracy by means of the simulation analysis using MATLAB software.
引文
[1] 薛启龙,丁青山,黄蕾蕾.旋转导向钻井技术最新进展及发展趋势[J].石油机械,2013,41(7):1-6.XUE Qilong,DING Qingshan,HUANG Leilei.The latest progress and development trend of rotary steering drilling technology[J].China Petroleum Machinery,2013,41(7):1-6.
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[6] 张光伟,高雪,李庆伟,等.一种智能旋转导向钻井工具电子仓装置:中国,201721556086.1[P].2017-11-20.
[7] 刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2008.
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[9] 姜颖韬,康升征.智能扫地机器人双环积分滑模控制方法研究[J].机械设计与制造,2018(5):207-210.JIANG Yingtao,KANG Shengzheng.Research on dual-loop integral sliding mode control of intelligent sweeping robot[J].Machinery Design & Manufacture,2018(5):207-210.
[10] 朱奇光.不确定性机器人轨迹跟踪控制策略及其实验研究[D].秦皇岛:燕山大学,2005:29-38.
[11] KHALATE A A,LEENA G,RAY G.An adaptive controller for trajectory tracking of robot manipulator[J].Intelligent Control & Automation,2011,2(4):364-370.
[12] 韩来聚,孙铭新.石油钻井闭环自动导向机器人系统[J].机器人技术与应用,2001,20(2):16-20.HAN Laiju,SUN Mingxin.Closed-loop automatic guiding robot system for petroleum drilling[J].Robot Technique and Application,2001,20(2):16-20.
[2] 卢胤锟,赵霄.现代石油钻井技术的新进展及发展方向[J].石化技术,2016,23(11):213.
[3] 孙铭新.旋转导向钻井技术[M].东营:中国石油大学出版社,2009.
[4] 张光伟,展茂雷.新型全旋转动态指向式旋转导向钻井系统设计[J].石油机械,2016,44(5):13-17.ZHANG Guangwei,ZHAN Maolei.Design of a new full rotation and dynamic pointthe-bit rotary steerable drilling system[J].China Petroleum Machinery,2016,44(5):13-17.
[5] 张光伟,刘畅,田伟康.基于可控弯接头钻井工具的偏心机构控制方法[J].西安石油大学学报(自然科学版),2017,32(4):77-80,85.ZHANG Guangwei,LIU Chang,TIAN Weikang.A control method for eccentric mechanism of controllable bent sub drilling tool[J].Journal of Xi'an Shiyou University(Natural Science Edition),2017,32(4):77-80,85.
[6] 张光伟,高雪,李庆伟,等.一种智能旋转导向钻井工具电子仓装置:中国,201721556086.1[P].2017-11-20.
[7] 刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2008.
[8] 梁捷,陈力.柔性空间机械臂系统的双环积分滑模控制[J].中国机械工程,2011,22(16):1906-1912.LIANG Jie,CHEN Li.Dual-loop integral sliding mode control for flexible space manipulator[J].China Mechanical Engineering,2011,22(16):1906-1912.
[9] 姜颖韬,康升征.智能扫地机器人双环积分滑模控制方法研究[J].机械设计与制造,2018(5):207-210.JIANG Yingtao,KANG Shengzheng.Research on dual-loop integral sliding mode control of intelligent sweeping robot[J].Machinery Design & Manufacture,2018(5):207-210.
[10] 朱奇光.不确定性机器人轨迹跟踪控制策略及其实验研究[D].秦皇岛:燕山大学,2005:29-38.
[11] KHALATE A A,LEENA G,RAY G.An adaptive controller for trajectory tracking of robot manipulator[J].Intelligent Control & Automation,2011,2(4):364-370.
[12] 韩来聚,孙铭新.石油钻井闭环自动导向机器人系统[J].机器人技术与应用,2001,20(2):16-20.HAN Laiju,SUN Mingxin.Closed-loop automatic guiding robot system for petroleum drilling[J].Robot Technique and Application,2001,20(2):16-20.