CN104131806A - Alternating-current variable-frequency constant-power automatic drilling system - Google Patents
Alternating-current variable-frequency constant-power automatic drilling system Download PDFInfo
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- CN104131806A CN104131806A CN201410173667.1A CN201410173667A CN104131806A CN 104131806 A CN104131806 A CN 104131806A CN 201410173667 A CN201410173667 A CN 201410173667A CN 104131806 A CN104131806 A CN 104131806A
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Abstract
The invention discloses an alternating-current variable-frequency constant-power automatic drilling system. An upper computer monitoring unit of the system is arranged in a field control room, and is connected with a PLC control unit through a communication network. The PLC control unit is used for controlling controlled work equipment on the drilling field. A detecting and transducing unit is used for detecting the drilling speed of a drill, the pumping pressure of a drilling pump and the torque of the drill and transmitting the drilling speed of the drill, the pumping pressure of the drilling pump and the torque of the drill to the PLC control unit. A variable-frequency transmission unit is used for controlling the rotating speed of a main drilling motor and a small drilling motor, and therefore the drilling speed of the automatic drilling system is controlled. An energy consumption brake unit is used for adding a direct-current voltage to a stator winding after a three-phase AC power source of a motor is powered off, and braking is achieved through the function of a static magnetic field and rotor induced currents. A Fuzzy PID controller is adopted as a PLC in the PLC control unit. The alternating-current variable-frequency constant-power automatic drilling system has the advantages of being capable of improving the drilling speed control accuracy and safe reliability of drilling work, lowering the overall drilling cost and the like.
Description
Technical field
The present invention relates to a kind of electric control system of petroleum, relate in particular to the permanent power automatic bit feed system of a kind of AC frequency conversion.
Background technology
In drilling process, for guaranteeing to send to bore safely, arrive at the destination, improve and send brill performance, will, to sending drilling speed degree to be controlled, make drill bit to the pressure of the drill in shaft bottom as far as possible steadily.Manually sending brill is to be crept into by the brake force of driller's work manual control machine tool brake, development along with automatic technology, the main motor automatic bit feed system of AC frequency conversion based on electrical drawworks and the popularization of stand-by motor, make situ of drilling well progressively adopt automatic bit feed system.Automatic bit feed has overcome the driller work dish of operating machine and has stopped to control to creep into and cause machinery dish to stop to be easy to the shortcoming of wearing and tearing, adopt that motor instead drags, four quadrant running accurately comes directly to control and exerts oneself to reach constant voltage and send brill, while being drilling well, use automatic bit feed, given required the pressure of the drill, thereby make to send drilling speed degree to be controlled, guarantee to send the stationarity of brill, improve the quality of sending brill.
Manually send to bore and have following major defect:
1) due to driller, need constantly see the operating condition of the equipment such as various instrument, wire rope and brake lever, cause its mental and physical load large especially, be easy to sleepiness, so the accidents such as drilling string not well braked or bit freezing that occur are difficult to avoid.
2) because driller is controlled and sent the Personal Skills of brill etc. different by parking brake, cause drilling quality also to vary with each individual and be proven: the well that send manually brill to bore, borehole wall quality and core-taking rate be quite low, just there will be unless you give your whole attention to it the accidents such as percussion drill and hole deviation.
3) driller send brill by rule of thumb, and the pressure that bearing and drill bit bear constantly changes, and changes in amplitude is very large sometimes, causes bearing and bit wear very fast, has greatly reduced the working time of drill bit.
Existing automatic bit feed system shortcoming:
1) automatic bit feed system adopts traditional PID control strategy.This traditional PID control system is affected by the factors such as geology formation, rock property, characteristics of mud, wall drag, there are many known or X factors in down-hole, meanwhile, rig work self also has necessarily non-linear, thus automatic bit feed system belong to a time lag, time the nonlinear system that becomes.Therefore the problem that, in control procedure, exists the control accuracy of drilling speed lower, security reliability is poor etc.
2) automatic bit feed system mostly is permanent drilling speed control, cannot realize by the adjustment of different drilling parameters the permanent power of permanent the pressure of the drill and control.
Summary of the invention
The present invention is the weak point existing in above-mentioned prior art for avoiding, and provides a kind of AC frequency conversion permanent power automatic bit feed system, the pressure of the drill is controlled and is combined with fuzzy control, to improve drilling speed control accuracy and the security reliability of drilling well work.
The present invention be technical solution problem by the following technical solutions:
The permanent power automatic bit feed system of AC frequency conversion, its design feature is to comprise ipc monitor unit, PLC control module, detect transducing unit, Frequency Drive unit and dynamic braking unit.
Described ipc monitor unit, be arranged on field control indoor, with between PLC control module, by communication network, be connected, be used for being placed on field control chamber towards site operation personnel, through fieldbus and PLC, communicate, or adopt high-performance Industrial Personal Computer (IPC) to communicate by Industrial Ethernet and PLC, for control room, monitor staff provides configuration monitoring, can realize setting and demonstration in real time, information inquiry, data record and the printing of parameter, and can realize high speed information by network and share.
Described PLC control module, the control information sending for receiving ipc monitor unit, controls with the controlled working equipment to situ of drilling well.
Described detection transducing unit, for detection of the drilling tool drilling speed arriving, borehole pump pump pressure, drilling tool torque transfer to PLC control module.
Described Frequency Drive unit, detects for receiving the control parameter that transducing unit sends, and bores main motor and send brill small machine to carry out rotating speed control sending, thereby controls the drilling speed of automatic bit feed system.
Described dynamic braking unit, for after disconnecting motor three-phase AC power supplies, adds a DC voltage on stator winding, utilizes the realization that is used for of stationary magnetic field and rotor inductive currents to brake.
Described PLC control module comprises PLC, the inner Fuzzy PID of described PLC controller.
Described Fuzzy PID controller adopts three ring control systems, is followed successively by from outside to inside the pressure of the drill adjustable ring, speed adjustable ring and air pressure adjustable ring;
The outer shroud of three ring control systems is the pressure of the drill adjustable ring, given the pressure of the drill W
lwith output the pressure of the drill W
2difference output speed set-point V after the pressure of the drill adjuster
1; Middle ring is speed adjustable ring, speed preset value V
1send into middle ring, speed preset value V
1with actual speed V
2the pressure given value P of deviation output pressure system after fast adjuster
1, middle environmental protection card output speed V
2follow speed preset value V
1;
Interior ring is air pressure adjustment ring, pressure given value P
1send into interior ring, the actual pressure P of air pressure mechanism output is demonstrate,proved in interior environmental protection
2follow the pressure given value P of baric systerm
1.
Compared with the prior art, beneficial effect of the present invention is embodied in:
The permanent power automatic bit feed system of AC frequency conversion of the present invention, ipc monitor unit, PLC control module, detection transducing unit, Frequency Drive unit and dynamic braking unit form.Adopt Fuzzy PID controller to complete automatic bit feed, to reach the control of our required permanent the pressure of the drill and permanent power.Adopt Fuzzy PID controller, can set up rationally accurate Mathematical Modeling, solved the problems such as in prior art, the control accuracy of drilling speed is lower, security reliability is poor.
The permanent power automatic bit feed system of AC frequency conversion of the present invention, has the advantages such as holistic cost that can improve the drilling speed control accuracy of drilling well work and security reliability, reduction drilling well.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the permanent power automatic bit feed system of AC frequency conversion of the present invention.
Fig. 2 is that the winch of the permanent power automatic bit feed system of AC frequency conversion of the present invention is controlled schematic diagram.
Fig. 3 is the schematic diagram of Fuzzy control system of the Fuzzy PID controller of the permanent power automatic bit feed system of AC frequency conversion of the present invention.
Fig. 4 is the design flow diagram of Fuzzy control system of the Fuzzy PID controller of the permanent power automatic bit feed system of AC frequency conversion of the present invention.
Fig. 5 is the schematic diagram of the parameter adaptive Fuzzy PID controller of the permanent power automatic bit feed system employing of AC frequency conversion of the present invention.
Fig. 6 is the block diagram of three ring control systems of the Fuzzy PID controller of the permanent power automatic bit feed system of AC frequency conversion of the present invention.
Below pass through the specific embodiment, and the invention will be further described by reference to the accompanying drawings.
The specific embodiment
Referring to Fig. 1～Fig. 6, the permanent power automatic bit feed system of AC frequency conversion, it comprises ipc monitor unit, PLC control module, detects transducing unit, Frequency Drive unit and dynamic braking unit;
Described ipc monitor unit, be arranged on field control indoor, with between PLC control module, by communication network, be connected, be used for being placed on field control chamber towards site operation personnel, through fieldbus and PLC, communicate, or adopt high-performance Industrial Personal Computer (IPC) to communicate by Industrial Ethernet and PLC, for control room, monitor staff provides configuration monitoring, can realize setting and demonstration in real time, information inquiry, data record and the printing of parameter, and can realize high speed information by network and share;
Described PLC control module, the control information sending for receiving ipc monitor unit, controls with the controlled working equipment to situ of drilling well;
Described detection transducing unit, for detection of to drilling tool drilling speed, borehole pump pump pressure, refer to that heavy the pressure of the drill is transferred to PLC control module;
Described Frequency Drive unit, detects for receiving the control parameter that transducing unit sends, and bores main motor and send brill small machine to carry out rotating speed control sending, thereby controls the drilling speed of automatic bit feed system;
Described dynamic braking unit, for after disconnecting motor three-phase AC power supplies, adds a DC voltage on stator winding, utilizes the realization that is used for of stationary magnetic field and rotor inductive currents to brake.
The structured flowchart of the permanent power automatic bit feed system of AC frequency conversion as shown in Figure 1.Situ of drilling well working equipment comprises the equipment such as drilling tool, borehole pump, motor; Drilling parameter comprises drilling tool drilling speed, borehole pump pump pressure, drilling tool moment of torsion etc., is realized the Fuzzy PID closed-loop control of three rings by the continuous P ID control module SFB41 of the PLC inside of PLC control module; The parameters such as frequency conversion tank rotating speed, torque, voltage, electric current and power can directly be uploaded to PLC by Profibus-DP bus from frequency converter, do not need sensor; And the data that well depth, drilling speed, tourist bus position etc. are PLC programs to be gathered according to cylinder encoder are according to certain algorithm gained.After detecting transducing unit processing, given Frequency Drive unit.PLC controls 0～600V voltage of the output 0～200HZ of frequency converter response by exporting 4～20mA, thus controlled drilling rate.Meanwhile, speed feedback Real-time Collection speed is sent into computer and is carried out computing, completes the closed-loop control to controlled device.In order to reach, be energy-conservation efficient feature again, permanent power automatic bit feed has adopted dynamic braking unit, and it refers to after disconnecting motor three-phase AC power supplies, adds a DC voltage in stator winding, utilizes the realization that is used for of stationary magnetic field and rotor inductive currents to brake.
Described PLC control module comprises PLC, the inner Fuzzy PID of described PLC controller.
Adopt Fuzzy PID controller (fuzzy controller) to complete automatic bit feed, with reach our required permanent the pressure of the drill with and the control of drilling speed, as shown in Figure 3, the design cycle of Fuzzy control system is as shown in Figure 5 for the schematic diagram of Fuzzy control system.The schematic diagram of parameter adaptive Fuzzy PID controller as shown in Figure 6.
In the whole control system of rig of Fuzzy PID controller, it is most important that winch is controlled, and the important tasks such as it is born automatically and makes a trip, tourist bus anti-collision and Bottom Hole Bit Weight In A control, so the quality that winch is controlled affects the quality of whole drilling well to a great extent.In actual motion, by brake, provide the lifting force of winch, and then adjust running speed, can realize permanent the pressure of the drill and control, when measuring the pressure of the drill, pulling force sensor is placed in to wire rope dead line place, thereby measures hook pulling force, be Bottom Hole Bit Weight In A with drilling tool gravitational difference.As shown in Figure 2, wherein assembly pulley middle pulley quantity is upper seven times six to the control schematic diagram of winch, and when static, 1,/12 12 of winch brake power=drilling tool gross weight rope participates in promoting drilling tool.If Bottom Hole Bit Weight In A is W, drilling tool gross weight is G, and the pulling force that pulling force sensor detects is F5, and the pressure of the drill W is:
.
Fuzzy PID controller gathers the pressure of the drill data by sensor according to certain sampling time indirectly, then the pressure of the drill setting value generating with drilling well economic optimum database deducts and gathers actual the pressure of the drill value of returning, its difference and rate of change are exported 0 ~ 20mA after by whole control system, thereby producing the corresponding moment loading of stopping that coils stops in hydropneumatic water-cooling type dish, controlled drilling rate, and then make the pressure of the drill actual value follow setting value.
Described Fuzzy PID controller adopts three ring control systems, is followed successively by from outside to inside the pressure of the drill adjustable ring, speed adjustable ring and air pressure adjustable ring;
The outer shroud of three ring control systems is the pressure of the drill adjustable ring, given the pressure of the drill W
lwith output the pressure of the drill W
2difference output speed set-point V after the pressure of the drill adjuster
1; Middle ring is speed adjustable ring, speed preset value V
1send into middle ring, speed preset value V
1with actual speed V
2the pressure given value P of deviation output pressure system after fast adjuster
1, middle environmental protection card output speed V
2follow speed preset value V
1, i.e. two velocity amplitude V
1and V
2approximately equal;
Interior ring is air pressure adjustment ring, pressure given value P
1send into interior ring, the actual pressure P of air pressure mechanism output is demonstrate,proved in interior environmental protection
2follow the pressure given value P of baric systerm
1, i.e. two pressure value P
1and P
2approximately equal.
So, at given speed V
1situation under, output the pressure of the drill W
2follow given the pressure of the drill W
1thereby, realize permanent the pressure of the drill and send brill.The schematic diagram of described three ring control systems as shown in Figure 6.
The Input output Relationship formula of described Fuzzy-PID controller is:
In described Input output Relationship formula: T is the sampling time; Ti is the time of integration; Td is derivative time; K
pfor scale factor; K
ifor integrating factor; K
dfor differential divisor, T
ffor low-pass filter coefficients; U (t) is input quantity; U (t) is output quantity.
Accompanying drawing 1 is the operating principle schematic diagram that exchanges permanent power automatic bit feed, and in drilling process, the pressure of the drill signal acts on weight transduser by dead line anchor, output 4 ~ 20mA.Can carry out the automatic unperturbed of hand herein and switch, generally be defaulted as automatic bit feed.Then this signal being sent into selected cell (generally setting certain threshold value) adjudicates.If it is normal to gather actual the pressure of the drill value of returning, by itself and given the pressure of the drill, to do, after difference, to send into intelligent controller, intelligent controller gathers drilling tool torque, rotating speed, tourist bus position and mud pump pressure in real time, and controls according to the program setting.Then output signal is controlled through frequency converter, exports corresponding speed winch is controlled, and finally by transmission system, controls the speed that hook is transferred, and realizes permanent the pressure of the drill and send brill.If it is abnormal to gather actual the pressure of the drill value of returning, then selected cell can be this signal feedback to intelligent controller, and intelligent controller feeds back out a constant speed, thereby realize permanent drilling speed according to said process, send brill, until the pressure of the drill is normal.When send bore control module occur abnormal, driller can by automatic unperturbed be switched to and manually send brill, this system still can normally be moved.
The design of fuzzy controller (in Fig. 3 between through path A/D and D/A part): intelligent controller carries out Real-time Collection by sensor and transmitter to actual the pressure of the drill value, then compares and obtains error with setting value
e, the while can obtain the rate of change of error
, then they are delivered to the input of fuzzy controller, and carry out fuzzy quantization and process and to obtain
ewith
eC(
ewith
corresponding fuzzy quantity), available corresponding fuzzy language represents, then by
e,
eCwith
r(fuzzy control rule) carries out fuzzy reasoning and decision-making, obtains output quantity △
u(drilling speed)
In formula, "
" expression fuzzy composition.
For controlling accurately the pressure of the drill, need be by fuzzy quantity △
ureverse gelatinization (ambiguity solution) is accurately to measure.Export given speed (accurately amount), after D/A conversion, act on hydraulic disc brake and whole drilling system, finally by three rings, control to realize the control of whole system, according to this sampling period, constantly circulate subsequently.The control block diagram of parameter adaptive Fuzzy PID controller as shown in Figures 4 and 5.In Figure 4 and 5, the Input output Relationship formula of Fuzzy-PID controller is
In this Input output Relationship formula: T is the sampling time; Ti is the time of integration; Td is derivative time; K
pfor scale factor; K
ifor integrating factor; K
dfor differential divisor, T
ffor low-pass filter coefficients; U (t) is input quantity; U (t) is output quantity.This algorithm has been eliminated due to the caused vibration of frequent movement, anti-interference strong, makes integration automatically change cumulative speed according to inclined to one side extent, is conducive to improve system quality.The require inaccuracy of this algorithm to A, B two parameters, parameter tuning is easier to.Wherein, adjustable parameter
u 0 can determine by the experiment to actual controlled device.If
u 0 too little, control action can be too frequent, cannot realize the stable of controlled device; If
u 0 too large, system hysteresis will be very large, may cause tripping, thereby can not control well.
Claims (4)
1. the permanent power automatic bit feed system of AC frequency conversion, is characterized in that, comprises ipc monitor unit, PLC control module, detects transducing unit, Frequency Drive unit and dynamic braking unit;
Described ipc monitor unit, be arranged on field control indoor, with between PLC control module, by communication network, be connected, be used for being placed on field control chamber towards site operation personnel, through fieldbus and PLC, communicate, or adopt high-performance Industrial Personal Computer (IPC) to communicate by Industrial Ethernet and PLC, for control room, monitor staff provides configuration monitoring, can realize setting and demonstration in real time, information inquiry, data record and the printing of parameter, and can realize high speed information by network and share;
Described PLC control module, the control information sending for receiving ipc monitor unit, controls with the controlled working equipment to situ of drilling well;
Described detection transducing unit, for detection of the drilling tool drilling speed arriving, borehole pump pump pressure, drilling tool torque transfer to PLC control module;
Described Frequency Drive unit, detects for receiving the control parameter that transducing unit sends, and bores main motor and send brill small machine to carry out rotating speed control sending, thereby controls the drilling speed of automatic bit feed system;
Described dynamic braking unit, for after disconnecting motor three-phase AC power supplies, adds a DC voltage on stator winding, utilizes the realization that is used for of stationary magnetic field and rotor inductive currents to brake.
2. the permanent power automatic bit feed system of AC frequency conversion according to claim 1, is characterized in that, described PLC control module comprises PLC, the inner Fuzzy PID of described PLC controller.
3. the permanent power automatic bit feed system of AC frequency conversion according to claim 2, is characterized in that, described Fuzzy PID controller adopts three ring control systems, is followed successively by from outside to inside the pressure of the drill adjustable ring, speed adjustable ring and air pressure adjustable ring;
The outer shroud of three ring control systems is the pressure of the drill adjustable ring, given the pressure of the drill W
lwith output the pressure of the drill W
2difference output speed set-point V after the pressure of the drill adjuster
1;
Middle ring is speed adjustable ring, speed preset value V
1send into middle ring, speed preset value V
1with actual speed V
2the pressure given value P of deviation output pressure system after fast adjuster
1, middle environmental protection card output speed V
2follow speed preset value V
1;
Interior ring is air pressure adjustment ring, pressure given value P
1send into interior ring, the actual pressure P of air pressure mechanism output is demonstrate,proved in interior environmental protection
2follow the pressure given value P of baric systerm
1.
4. according to the permanent power automatic bit feed system of the AC frequency conversion described in claim 2 or 3, it is characterized in that, the Input output Relationship formula of described Fuzzy-PID controller is:
In described Input output Relationship formula: T is the sampling time; Ti is the time of integration; Td is derivative time; K
pfor scale factor; K
ifor integrating factor; K
dfor differential divisor, T
ffor low-pass filter coefficients; U (t) is input quantity; U (t) is output quantity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410173667.1A CN104131806A (en) | 2014-04-28 | 2014-04-28 | Alternating-current variable-frequency constant-power automatic drilling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410173667.1A CN104131806A (en) | 2014-04-28 | 2014-04-28 | Alternating-current variable-frequency constant-power automatic drilling system |
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| Publication Number | Publication Date |
|---|---|
| CN104131806A true CN104131806A (en) | 2014-11-05 |
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ID=51804641
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|---|---|---|---|
| CN201410173667.1A Pending CN104131806A (en) | 2014-04-28 | 2014-04-28 | Alternating-current variable-frequency constant-power automatic drilling system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104895547A (en) * | 2015-06-05 | 2015-09-09 | 辽宁石油机械制造有限公司 | Intelligent mobile monitoring and full-automatic maintenance method and device of electric control system of drilling machine |
| CN106522916A (en) * | 2016-12-19 | 2017-03-22 | 四川宏华电气有限责任公司 | Fuzzy-PID-control-based automatic drill feeding device and method |
| CN110995068A (en) * | 2019-12-20 | 2020-04-10 | 无锡奥特博电子科技有限公司 | Variable-frequency transmission system of oil drilling platform |
| CN111271047A (en) * | 2020-03-03 | 2020-06-12 | 北京四利通控制技术股份有限公司 | Global speed control method and device for improving drilling efficiency and safety factor |
| CN112065359A (en) * | 2020-09-21 | 2020-12-11 | 北京三一智造科技有限公司 | Drilling control method and rotary drilling rig |
| CN113638689A (en) * | 2021-07-26 | 2021-11-12 | 山东大学 | Quantitative drilling device and method |
| CN114482981A (en) * | 2022-01-20 | 2022-05-13 | 江苏大学 | Electromechanical liquid gas multi-field coupling rotary-percussion drilling system |
| CN116480390A (en) * | 2023-06-19 | 2023-07-25 | 山西研控智能科技有限公司 | Automatic drilling and anchoring control method and system |
-
2014
- 2014-04-28 CN CN201410173667.1A patent/CN104131806A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104895547A (en) * | 2015-06-05 | 2015-09-09 | 辽宁石油机械制造有限公司 | Intelligent mobile monitoring and full-automatic maintenance method and device of electric control system of drilling machine |
| CN104895547B (en) * | 2015-06-05 | 2018-04-06 | 辽宁石油机械制造有限公司 | Electric control system for drilling machine intelligent mobile monitors and automatic maintenance method and device |
| CN106522916A (en) * | 2016-12-19 | 2017-03-22 | 四川宏华电气有限责任公司 | Fuzzy-PID-control-based automatic drill feeding device and method |
| CN110995068A (en) * | 2019-12-20 | 2020-04-10 | 无锡奥特博电子科技有限公司 | Variable-frequency transmission system of oil drilling platform |
| CN111271047A (en) * | 2020-03-03 | 2020-06-12 | 北京四利通控制技术股份有限公司 | Global speed control method and device for improving drilling efficiency and safety factor |
| CN111271047B (en) * | 2020-03-03 | 2023-04-07 | 北京四利通控制技术股份有限公司 | Global speed control method and device for improving drilling efficiency and safety factor |
| CN112065359A (en) * | 2020-09-21 | 2020-12-11 | 北京三一智造科技有限公司 | Drilling control method and rotary drilling rig |
| CN112065359B (en) * | 2020-09-21 | 2023-05-16 | 北京三一智造科技有限公司 | Drilling control method and rotary drilling rig |
| CN113638689A (en) * | 2021-07-26 | 2021-11-12 | 山东大学 | Quantitative drilling device and method |
| CN114482981A (en) * | 2022-01-20 | 2022-05-13 | 江苏大学 | Electromechanical liquid gas multi-field coupling rotary-percussion drilling system |
| CN116480390A (en) * | 2023-06-19 | 2023-07-25 | 山西研控智能科技有限公司 | Automatic drilling and anchoring control method and system |
| CN116480390B (en) * | 2023-06-19 | 2023-09-12 | 山西研控智能科技有限公司 | Automatic drilling and anchoring control method and system |
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Application publication date: 20141105 |
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