CN103941634B - A kind of system and method based on internal model control method suppression drilling rod stick slip vibration - Google Patents

Abstract

The invention discloses a kind of system and method based on internal model control method suppression drilling rod stick slip vibration, including: 1) frequency converter provides the main given rotating speed of motor by PLC control system, and transmit to controlled device, obtain motor actual speed and motor actual torque；2) motor actual torque is transmitted to control unit by frequency converter；3) simultaneously, drilling rod and structure of downhole assembly information are transmitted to control unit by human-computer interaction device；4) the motor actual torque of acquisition and drilling rod and structure of downhole assembly information are optimized computing by control unit, obtain auxiliary given optimization rotating speed；5) auxiliary given optimization rotating speed is transmitted to frequency converter by control unit by CAN, given rotating speed main with motor is superimposed, superposition rotating speed controls to drive the rotating speed of motor, the method the actual output of control system can be constantly equal to desired output, display motor actual speed and actual torque in real time, thus reach to suppress the purpose of drilling rod stick slip vibration.

Description

A kind of system and method based on internal model control method suppression drilling rod stick slip vibration

Technical field

The invention belongs to the technical field such as oil drilling, geological prospecting, relate to a kind of based on internal model control method, Bus communication technology and human-computer interaction technology suppress the system and method for drilling rod stick slip vibration.

Background technology

Process of Oil Well Drilling is moved uncertain due to complex formation, drilling rod, is susceptible to drilling rod vibration, bag Include the oscillation crosswise of drilling rod, axial vibration and stick slip vibration.Wherein, stick slip vibration is due to drill bit and stratum The torque oscillation that causes of moment of friction, bit speed or stop or turn, moment rotating speed is very big, easily causes brill Bar and the penalty of drill bit；This phenomenon not only affects drilling efficiency and also threatens the safety of drilling well, therefore needs Take rational method to suppress stick slip vibration.

For stick slip vibration, vibration damping approach and measure mainly have: (1) increases top rotating speed；(2) system is increased System equivalent torsional stiffness；(3) system equivalent damping is increased；(4) top moment of torsion negative-feedback.

Abroad have been developed for the method and system of some suppression stick slip vibration at present.

Within 2004, Navarro-Lo ' pez and Suarez-Cortez proposes mounting dampers bottom drilling rod； 2000, Richardson and K ü ttel proposed installation hydraulic torque drive system on BHA. But these methods both increase complexity and the cost of drill pipe system, and do not have versatility when using.

Within 1988, Halsey, Kyllingstad and Kylling propose the degenerative method of drilling rod moment of torsion； Within 2005, Canudas-de-Wit et al proposes Drilling vibration jinx Drilling Oscillation Killer (D-OSKIL), it utilizes the weight on drill bit as additional control parameter.It is that these methods have and immature, Using effect is the most very good.Shortcoming is also compared in the domestic current research in field, so this respect Research and development have good engineer applied and are worth.

Summary of the invention

It is an object of the invention to for the stick slip vibration phenomenon often occurred in oil drilling, it is provided that a kind of based on interior The system and method for mould control methods suppression drilling rod stick slip vibration, uses the system of the present invention, it is possible to obtain exactly Take actual drilling rod parameter, show motor actual speed and motor actual torque curve and numerical value in real time, it is possible to send out Go out rotating speed command to control to drive motor, thus suppress drilling rod and the torque oscillation of BHA and speed oscillation. System solves the problem in prior art that hardware connects complexity, system job insecurity, to realize effect undesirable Problem.

In order to realize technique scheme, the present invention takes following technical solution:

A kind of system based on internal model control method suppression drilling rod stick slip vibration, including:

Controlled device, including drive motor connect gear-box, and the drilling rod driven by gear-box and BHA, is used for realizing oil drilling；

Frequency converter, including PLC control system, PLC control system controls to drive the startup of motor, stop Stopping and the duty of speed governing, and set the main given rotating speed of motor, frequency converter will drive the current state of motor Feed back to control unit；

Control unit, including internal mode controller, internal mode controller is for the current state by driving motor It is controlled adjusting, suppression drilling rod and the torque oscillation of BHA and speed oscillation；

Human-computer interaction device, including ARM chip, completes the data management of control unit, man-machine manipulation；

CAN, for realizing the free communication of frequency converter and control unit；

Described frequency converter is connected with driving motor, drives motor and the drilling rod driven by gear-box and BHA Being connected, frequency converter connects control unit by CAN, and control unit connects man-machine interaction by serial ports and fills Put.

Further, described internal mode controller includes feedover internal mode controller, multiplier and feedback filter, front Feedback internal mode controller is connected with frequency converter and multiplier respectively, and frequency converter connects controlled device, multiplier respectively And feedback filter, feedback filter is connected to the internal mode controller that feedovers.

Feedforward internal mode controller obtains motor according to the main given rotating speed of motor of inverter PLC control default Expecting rotating speed and auxiliary given optimization rotating speed, auxiliary given optimization rotating speed output to frequency converter, motor expectation rotating speed is defeated Go out to multiplier, the output quantity motor actual torque of frequency converter and the output quantity motor expectation moment of torsion two of multiplier The difference of person is circulated to feedforward internal mode controller through feedback filter transmission；Meanwhile, by auxiliary given optimization Rotating speed transmits to frequency converter, and with maximum (top) speed, auxiliary given optimization rotating speed is carried out amplitude limit, and motor master gives The superposition rotating speed co-controlling drilling rod of the auxiliary given optimization rotating speed after rotating speed and amplitude limit and the rotary drilling of BHA Enter, suppress drilling rod stick slip vibration.

Correspondingly, the present invention and then give the controlling party of system of internal model control method suppression drilling rod stick slip vibration Method, the method comprises the steps:

1) frequency converter provides the main given rotating speed of motor of setting by PLC control system, and transmission is to controlled right As, drive drilling rod to rise and turn；

2) motor actual torque is transmitted to control unit by frequency converter by CAN；

3) simultaneously, drilling rod and structure of downhole assembly information are transmitted to control unit by human-computer interaction device；

4) acquisition motor actual torque and drilling rod and structure of downhole assembly information are optimized computing by control unit, Obtain auxiliary given optimization rotating speed, and with maximum (top) speed, auxiliary given optimization rotating speed is carried out amplitude limit；

5) the auxiliary given optimization rotating speed after amplitude limit is transmitted to frequency converter, electricity by control unit by CAN The superposition rotating speed co-controlling drilling rod of the auxiliary given optimization rotating speed after owner's given rotating speed and amplitude limit and BHA Rotary drilling, suppress drilling rod stick slip vibration；

6) simultaneously, human-computer interaction device preserves and shows motor actual speed and motor actual torque number in real time According to.

Further, the optimization computing of described control unit is realized by following method:

A) building multiplier, passing ratio gain Kn realizes；

B) building feedforward internal mode controller, feedforward internal mode controller is according to inverter PLC control default The main given rotating speed of motor and proportional gain Kn inverse combine low pass filter obtain motor expectation rotating speed and auxiliary to Surely optimize rotating speed, obtain motor actual torque through frequency converter；

C) motor expectation rotating speed exports to multiplier, obtains motor expectation moment of torsion；

D) building feedback filter, motor is expected that the difference of moment of torsion and motor actual torque is anti-by feedback filter It is fed to feedforward internal mode controller be circulated；

E) this difference is optimized computing by feedforward internal mode controller, obtains auxiliary given optimization rotating speed.

Further, described multiplier is realized by proportional gain Kn, and method is as follows:

Kn=m/n

In formula, m represents motor expectation moment of torsion, and n represents motor expectation rotating speed.

Described feedforward internal mode controller combines LPF by the main given rotating speed of motor and the inverse of proportional gain Kn The method that device obtains motor expectation rotating speed and auxiliary given optimization rotating speed is as follows:

1. structure low pass filter f (z):

$f\left(z\right)=\frac{1}{1-{\mathrm{\βz}}^{-1}}---\left(1\right)$

In formula, β is low pass filter filtering factor, and z is auxiliary complex variable, and boundary condition is Kn*f (1)=1, Thus can get the value of β；

2. feedforward internal mode controller G is built_c(z):

$G_c\left(z\right)=\frac{y_c}{y_r}={\mathrm{Kn}}^{-1}f\left(z\right)---\left(2\right)$

In formula, f (z) is low pass filter, y_cRotating speed, y is expected for motor_rFor the main given rotating speed of motor；

3. motor expectation rotating speed y is obtained_c:

y_c=G_c(z)*y_r(3)；

4. auxiliary given optimization rotating speed y is obtained:

Y=y_c-y_r (4)。

Further, described feedback filter construction method is as follows:

$G_f\left(s\right)=\frac{1}{\mathrm{Kn}}\frac{1-{\mathrm{\α}}_f}{1-{\mathrm{\α}}_f{z}^{-1}}---\left(5\right)$

In formula, G_fS () is feedback filter, α_fFor feedback filter filtering factor, z^-1For auxiliary complex variable z Inverse.

Relative to prior art, present invention is characterized in that

(1) present system is surface control techniques based on top drive drilling technology, and hardware configuration is simple, Can be realized as suppressing drilling rod stick slip vibration without adding any bottom equipment；

(2) present invention employs internal model control controller, to drive PLC control system seamless with existing frequency converter top Integrated, its calculation process speed is fast, has good real-time performance；

(3) present invention employs internal model control controller and be optimized computing, the auxiliary given optimization rotating speed obtained with Motor main given rotating speed superposing control drives motor, it is possible to suppression drilling rod stick slip vibration effectively；

(4) the transmission function of controller is the inverse of multiplier transmission function, and the actual output of control system is constantly equal to Desired output, and unrelated with multiplier and external disturbance, there are good robustness and anti-interference ability；

(5) controller Internal Model Control Algorithm can obtain auxiliary given optimization rotating speed, and comes with motor maximum (top) speed Auxiliary given optimization rotating speed is carried out amplitude limit, on the basis of ensure that security of system, reaches the purpose controlled；

(6) having human-computer interaction interface, simple operation, flexibility is high；

(7) system communication is stable, has good anti-interference.

Accompanying drawing explanation

Fig. 1 is hardware configuration and overall system design figure；

Fig. 2 is stick-slip Control system architecture figure；

Fig. 3 is the controlling curve of drilling rod stick-slip control system drilling rod moment of torsion；

Fig. 4 is the controlling curve of drilling rod stick-slip control system drill speed.

Detailed description of the invention

The present invention is described in detail with detailed description of the invention below in conjunction with the accompanying drawings.

As it is shown in figure 1, the system based on internal model control method suppression drilling rod stick slip vibration of the present invention, including:

Controlled device, including the gear-box driving motor to connect, and the drilling rod that driven by gear-box and drilling tool Combination, is used for realizing oil drilling；Frequency converter, including PLC control system, PLC control system controls to drive The duty of the dynamic startup of motor, stopping and speed governing, and set the main given rotating speed of motor, frequency converter can be by The current state driving motor feeds back to control unit；Control unit, including internal model control controller, is used for It is controlled adjusting to the current state driving motor, suppression drilling rod and the torque oscillation of BHA and rotating speed Vibration；Human-computer interaction device, including ARM chip, completes the data management of control unit, man-machine manipulation, Can thus obtain the structural information of drilling rod and BHA, additionally it is possible to preserve in real time and display motor is actual turns The data such as speed and motor actual torque；CAN, for realizing the free communication of frequency converter and control unit. Frequency converter is connected with driving motor, drives motor to be connected with drilling rod and the BHA driven by gear-box, becomes Frequently device connects control unit by CAN, and control unit connects human-computer interaction device by serial ports.

Wherein, control unit is the core apparatus of control system, is mainly used internal model control to calculate by internal mode controller Method realizes.Internal mode controller includes plant model, multiplier, feedforward internal mode controller, feedback filtering Device.The motor expectation rotating speed of controller output is incorporated into controlled device, and the auxiliary given optimization of controller output turns Speed is incorporated into multiplier, the output quantity of the two, i.e. drilling rod actual torque and drilling rod expectation moment of torsion is poor, difference The main given rotating speed of motor being incorporated into controller and inverter PLC control default compares computing, To auxiliary given optimization rotating speed, and with maximum (top) speed, auxiliary given optimization rotating speed is carried out amplitude limit, after amplitude limit Auxiliary given optimization rotating speed transmits to frequency converter, the auxiliary given optimization rotating speed after the main given rotating speed of motor and amplitude limit Superposition rotating speed co-controlling drilling rod and the rotary drilling of BHA, suppress drilling rod stick slip vibration.See Fig. 2 institute Show.

The present invention gives the control method of the system of internal model control method suppression drilling rod stick slip vibration in detail below, Comprise the steps:

1) frequency converter provides the main given rotating speed of motor of setting by PLC control system, and transmission is to controlled right As, obtain motor actual speed and motor actual torque；

2) motor actual torque is transmitted to control unit by frequency converter；

3) simultaneously, drilling rod and structure of downhole assembly information are transmitted to control unit by human-computer interaction device；

4) the motor actual torque of acquisition and drilling rod and structure of downhole assembly information are optimized fortune by control unit Calculate, obtain auxiliary given optimization rotating speed；

The optimization computing of control unit is realized by following method:

A) building multiplier, passing ratio gain Kn realizes, and computational methods are as follows:

Kn=m/n

In formula, m represents motor expectation moment of torsion, and n represents motor expectation rotating speed；

B) building feedforward internal mode controller, feedforward internal mode controller is according to inverter PLC control default The main given rotating speed of motor and proportional gain Kn inverse combine low pass filter obtain motor expectation rotating speed and auxiliary to Surely optimizing rotating speed, method is as follows:

1. structure low pass filter f (z):

$f\left(z\right)=\frac{1}{1-{\mathrm{\βz}}^{-1}}---\left(1\right)$

In formula, β is low pass filter filtering factor, and z is auxiliary complex variable, and boundary condition is Kn*f (1)=1, Thus can get the value of β；

2. feedforward internal mode controller G is built_c(z):

$G_c\left(z\right)=\frac{y_c}{y_r}={\mathrm{Kn}}^{-1}f\left(z\right)---\left(2\right)$

In formula, f (z) is low pass filter, y_cRotating speed, y is expected for motor_rFor the main given rotating speed of motor；

3. motor expectation rotating speed y is obtained_c:

y_c=G_c(z)*y_r(3)；

4. auxiliary given optimization rotating speed y is obtained:

Y=y_c-y_r (4)。

C) motor expectation rotating speed exports to multiplier, obtains motor expectation moment of torsion；

D) building feedback filter, motor is expected that the difference of moment of torsion and motor actual torque is anti-by feedback filter Being fed to feedforward internal mode controller be circulated, described feedback filter construction method is as follows:

$G_f\left(s\right)=\frac{1}{\mathrm{Kn}}\frac{1-{\mathrm{\α}}_f}{1-{\mathrm{\α}}_f{z}^{-1}}---\left(5\right)$

In formula, G_fS () is feedback filter, α_fFor feedback filter filtering factor, z^-1For auxiliary complex variable z Inverse；

E) feedforward internal mode controller is optimized computing, obtains auxiliary given optimization rotating speed, and with maximum (top) speed pair Auxiliary given optimization rotating speed carries out amplitude limit；

5) the auxiliary given optimization rotating speed after amplitude limit is transmitted to frequency converter, electricity by control unit by CAN The superposition rotating speed co-controlling drilling rod of the auxiliary given optimization rotating speed after owner's given rotating speed and amplitude limit and BHA Rotary drilling, suppress drilling rod stick slip vibration；

6) simultaneously, human-computer interaction device preserves in real time and shows the data such as motor speed and Motor torque.

Advantages of the present invention can be further illustrated by following emulation experiment:

1. simulated conditions

Analyze based on above, built plant model, and established the simulation model that drilling rod stick-slip controls. Frequency converter inputs the main given rotating speed of motor before 100s, simulates stick slip vibration form, and after 100s, input is The main given rotating speed of motor and the superposition rotating speed of auxiliary given optimization rotating speed.Wherein, the main given rotating speed of motor is N=2000rpm, the maximum (top) speed of auxiliary given optimization rotating speed is n_max=400rpm.

2. simulation result

Utilizing above simulated conditions to set up control system model, the main given rotating speed of motor is input to the interior mould control that feedovers After device processed, the motor expectation rotating speed of feedforward internal mode controller output is incorporated into multiplier, the output quantity of the two, I.e. drilling rod actual torque and drilling rod expectation moment of torsion is poor, and difference is incorporated into controller and performs Internal Model Control Algorithm, Obtaining auxiliary given optimization rotating speed, what the summation of auxiliary given optimization rotating speed given rotating speed main with motor obtained superposes rotating speed It is sent to frequency converter, and then controls to drive motor.Drilling rod moment of torsion controlling curve as shown in Figure 3, drill speed Controlling curve is as shown in Figure 4.

Result from figure, can it can be seen that drilling rod moment of torsion and bit speed are put into stable state after 50s See that this controller can suppress stick slip vibration, dynamic property and steady-state behaviour good rapidly and accurately.

The above, be only the embodiment that the present invention is directed to present invention application, can make those skilled in the art Member is more completely understood by the present invention, but the present invention not does any restriction.According to technical solution of the present invention, Above-described embodiment can enumerate a lot of example.Every according to the scope given by technical solution of the present invention and to more than Any simple modifications and changes that embodiment is done, belong to the protection domain of technical solution of the present invention.Greatly Test result indicate that of amount, in the scope that claims of the present invention is proposed, all can reach the mesh of the present invention 's.

Claims (6)

1. a system based on internal model control method suppression drilling rod stick slip vibration, it is characterised in that including:

Controlled device, including drive motor connect gear-box, and the drilling rod driven by gear-box and BHA, is used for realizing oil drilling；

Frequency converter, including PLC control system, PLC control system controls to drive the startup of motor, stop Stopping and the duty of speed governing, and set the main given rotating speed of motor, frequency converter will drive the current state of motor Feed back to control unit；

Control unit, including internal mode controller, for the current state driving motor is controlled, Suppress drilling rod and the torque oscillation of BHA and speed oscillation；

Human-computer interaction device, including ARM chip, completes the data management of control unit, man-machine manipulation；

CAN, for realizing the free communication of frequency converter and control unit；

Described frequency converter is connected with driving motor, drives motor and the drilling rod driven by gear-box and BHA Being connected, frequency converter connects control unit by CAN, and control unit connects man-machine interaction by serial ports and fills Put；

Described internal mode controller includes feedover internal mode controller, multiplier and feedback filter, and feedover internal model control Device is connected with frequency converter and multiplier respectively, and frequency converter connects controlled device, multiplier and feedback filtering respectively Device, feedback filter is connected to the internal mode controller that feedovers.

2. based on the control method of the system of internal model control method suppression drilling rod stick slip vibration described in claim 1, It is characterized in that, the method comprises the steps:

1) the main given rotating speed of motor that frequency converter is set by PLC control system transmits to controlled device, drives Dynamic drilling rod rises and turns；

2) motor actual torque is transmitted to control unit by frequency converter by CAN；

3) simultaneously, drilling rod and structure of downhole assembly information are transmitted to control unit by human-computer interaction device；

4) control unit motor actual torque to obtaining and drilling rod and structure of downhole assembly information are optimized fortune Calculate, obtain auxiliary given optimization rotating speed；

5) auxiliary given optimization rotating speed is transmitted to frequency converter by control unit by CAN, and turns with maximum Speed carries out amplitude limit to auxiliary given optimization rotating speed, the auxiliary given optimization rotating speed after the main given rotating speed of motor and amplitude limit Superposition rotating speed co-controlling drilling rod and the rotary drilling of BHA, suppress drilling rod stick slip vibration；

6) simultaneously, human-computer interaction device preserves and shows motor actual speed and motor actual torque number in real time According to.

Method the most according to claim 2, it is characterised in that the optimization computing of described control unit is Realized by following method:

A) build multiplier, proportional gain Kn realize；

B) building feedforward internal mode controller, feedforward internal mode controller is according to inverter PLC control default The main given rotating speed of motor and proportional gain Kn inverse combine low pass filter obtain motor expectation rotating speed and auxiliary to Surely rotating speed is optimized；

C) motor expectation rotating speed exports to multiplier, obtains motor expectation moment of torsion；

D) building feedback filter, motor is expected that the motor that moment of torsion and frequency converter obtain is actual by feedback filter The difference of moment of torsion feeds back to feedforward internal mode controller and is circulated；

E) feedforward internal mode controller is optimized computing to this difference, obtains auxiliary given optimization rotating speed.

Method the most according to claim 3, it is characterised in that described multiplier is by proportional gain Kn Realizing, method is as follows:

Kn=m/n

In formula, m represents motor expectation moment of torsion, and n represents motor expectation rotating speed.

5. according to the method described in claim 3 or 4, it is characterised in that described feedforward internal mode controller By the main given rotating speed of motor and proportional gain Kn inverse combine low pass filter obtain motor expectation rotating speed and The method of auxiliary given optimization rotating speed is as follows:

1. structure low pass filter f (z):

$f\left(z\right)=\frac{1}{1-{\mathrm{\βz}}^{-1}}---\left(1\right)$

In formula, β is low pass filter filtering factor, and z is auxiliary complex variable, and boundary condition is Kn*f (1)=1, Thus can get the value of β；

2. feedforward internal mode controller G is built_c(z):

$G_c\left(z\right)=\frac{y_c}{y_r}={\mathrm{Kn}}^{-1}f\left(z\right)---\left(2\right)$

In formula, f (z) is low pass filter, y_cRotating speed, y is expected for motor_rFor the main given rotating speed of motor；

3. motor expectation rotating speed y is 2. obtained by step_c:

y_c=G_c(z)*y_r(3)；

4. auxiliary given optimization rotating speed y is obtained:

Y=y_c-y_r (4)。

Method the most according to claim 3, it is characterised in that described feedback filter construction method is such as Under:

$G_f\left(s\right)=\frac{1}{Kn}\frac{1-{\mathrm{\α}}_f}{1-{\mathrm{\α}}_f{z}^{-1}}---\left(5\right)$

In formula, G_fS () is feedback filter, α_fFor feedback filter filtering factor, z^-1For auxiliary complex variable z Inverse.