CN106522916A - Fuzzy-PID-control-based automatic drill feeding device and method - Google Patents
Fuzzy-PID-control-based automatic drill feeding device and method Download PDFInfo
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- CN106522916A CN106522916A CN201611179941.1A CN201611179941A CN106522916A CN 106522916 A CN106522916 A CN 106522916A CN 201611179941 A CN201611179941 A CN 201611179941A CN 106522916 A CN106522916 A CN 106522916A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000005553 drilling Methods 0.000 abstract description 22
- 230000000694 effects Effects 0.000 abstract description 6
- 230000004044 response Effects 0.000 abstract description 2
- 238000005299 abrasion Methods 0.000 abstract 1
- 241001074085 Scophthalmus aquosus Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
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- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000005457 optimization Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
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- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a fuzzy-PID-control-based automatic drill feeding device and method. The device comprises a programmable logic controller (PLC), a variable-frequency drive (VFD), a motor and a touch operation screen. The PLC collects the rotation speed of the motor, the rotation speed is compared with the rotation speed reference, and a rotation speed control signal is obtained through fuzzy control operation. The touch operation screen can give initial speed and display corresponding speed reference, the actual motor speed and other related information. The VFD can receive a speed control signal sent by the PLC and control the rotation speed of the motor. According to the method, fuzzy processing is conducted through speed deviation and the deviation ratio, and the PID control precision is improved. The fuzzy-PID-control-based automatic drill feeding device and method has the characteristics that control response is fast and adaptability is high. The effect that an adjusting system has good dynamic and steady characteristics is ensured, the drill speed can be improved, abrasion of a drill bit is reduced, and the well drilling cost is reduced.
Description
Technical field
The present invention relates to field of oil drilling, specifically a kind of automatic driller and method based on fuzzy-adaptation PID control.
Background technology
Automatic bit feed in oil drilling controls rotational speed setup typically using traditional PID controller, achieves good
Control effect.As in drilling process, system control model, among being continually changing, is controlled to make system remain optimal
State processed, needs to enter pid parameter often amendment of passing through.These parameters of site operation personnel's reasonable set are difficult greatly, have impact on
The using effect of automatic bit feed.The controlled device of petroleum drilling winch revolution speed control system is non-linear, time-varying a link,
It is difficult good control effect is reached in the whole range of speed control only with conventional PID control.
The Chinese patent of Publication No. CN101566059 discloses a kind of novel automatic driller of Wide-adaptive, the dress
Put including actuator, frequency conversion motor and converter, actuator is driven by winch, and winch is connected to by reduction box and clutch
On frequency conversion motor, converter is connected to frequency conversion motor, and three phase mains connection converter is provided with a suspending weight sensing in actuator
Device, by surveyed data input to programmable controller PLC, the programmable controller PLC connects converter to the weight transduser
With a touch screen as man machine interface, include the pressure of the drill computing module, PID modules in programmable controller PLC and obscure
Adjust module.The characteristics of device of the present invention is directed to automatic bit feed control object, reduces driller dry for PID control system
Pre- degree, introduces FUZZY ALGORITHMS FOR CONTROL and PID systematic parameters is adjusted, reached the optimization of PID control system parameter
The purpose of configuration.The patent arranges weight transduser in actuator, surveyed data input extremely may be used by weight transduser
Scheme in programmable controller PLC is different from the present invention, and the present invention passes through the Fuzzy processing of velocity deviation and deviation ratio, enters
One step improves the precision of fuzzy-adaptation PID control.
The Chinese patent of Publication No. CN201410173667.1 discloses a kind of AC frequency conversion invariable power automatic bit feed system
System, its ipc monitor unit are arranged in field control room, are connected by communication network between PLC control unit；PLC
Control unit is for being controlled to the controlled work equipment of situ of drilling well；The drilling tool that detection transducing unit is used to detect is bored
Speed, drilling pump pump pressure, drilling tool moment of torsion are transferred to PLC control unit；Frequency Drive unit is for sending brill mair motor and sending brill little
Motor carries out rotating speed control, so as to control the drilling speed of automatic bit feed system；Dynamic braking unit is in disconnection motor three-phase
After AC power supplies, plus a DC voltage is on stator winding, and system is realized using the effect of stationary magnetic field and rotor inductive currentses
It is dynamic；PLC in PLC control unit adopts Fuzzy PID controllers.The AC frequency conversion invariable power automatic bit feed system of the present invention,
Have the advantages that to improve the drilling speed control accuracy and security reliability of drilling well work, reduce the holistic cost of drilling well.This is special
It is sharp different from the deviation Fuzzy Processing of the present invention to improve control accuracy by using Fuzzy PID controllers, and present invention tool
The characteristics of having response quickly, strong adaptability, moves steady-state characteristic more preferable.
The Chinese patent of Publication No. CN102383777A discloses a kind of observing and controlling for rotary steerable drilling system and fills
Put and investigating method, including microprocessor module, data acquisition module, drive module, data communication module, data memory module
And power management module.1) pressure pulse coding is carried out in the face of control instruction on ground, passes to down-hole microprocessor module；2) system
Initialization self-inspection, detection host CPU whether normal work, such as can not normally be switched to redundancy CPU；3) microprocessor module is to pressure
Power pulse is decoded, and obtains the instruction that pressure pulse is passed down；4) system acquisition data, try to achieve current rotary steering drilling tool
The hole angle of present position, flash tool face azimuth and center displacement amount, the displacement overhang of actuator；5) decode pulse to refer to
Order, performs PID control to calculated actuator displacement overhang, adjusts out the displacement overhang of actuator.This
It is bright for quiescent biasing guiding type rotary steering drilling tool, can be with precision measuring instrument center displacement amount, while to rib
Stroke control is also more accurate.The patent is in identical field with the present invention, and the patent directly adopts PID control, do not enter
Row Fuzzy Processing, control accuracy can be limited by pid algorithm.
The existing solution existing defects that can improve PID control precision, the present invention are based on this and propose improvement side
Case.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, line parameter can not be entered online for conventional PID controller
A kind of problem of Self-tuning System, with reference to fuzzy control technology, there is provided automatic driller and method based on fuzzy-adaptation PID control, with
Drilling speed, the effect for reducing bit wear, reducing drilling cost are improved at least up to.
The purpose of the present invention is achieved through the following technical solutions：A kind of automatic bit feed based on fuzzy-adaptation PID control
Device, it includes working out controller PLC, converter VFD, motor, touch operation screen, and described programmable controller PLC is adopted
Collection motor speed, is compared with rotational speed setup, through fuzzy control operation, obtains speed controling signal；Described touch behaviour
Make screen and can carry out initial velocity to give, and show corresponding speed given, actual motor speed and other relevant informations；Described
Converter VFD can receive the speed control signal that can work out that controller PLC sends, and controlled motor rotating speed.
Further, it also includes encoder, and the encoder is connected with converter VFD, and described encoder is used to examine
Angular displacement when measured motor operates, and Output speed signal, to the converter VFD, the converter VFD is based on angular velocity
Signal Regulation motor speed.
A kind of automatic bit feed method based on fuzzy-adaptation PID control, it comprises the following steps：
S1：Encoder gathers motor speed, and is input into programmable controller PLC；
S2：The motor speed of collection and rotational speed setup are compared by programmable controller PLC, are transported through fuzzy control
Calculate, output speed control signal；
S3：Converter VFD receives the speed control signal that PLC sends, and controlled motor rotating speed.
Further, in step s 2, on the basis of conventional PID controller, velocity deviation and deviation ratio are carried out into mould
Gelatinizing is processed, and using the control rule in knowledge base, exports through fuzzy reasoning and sharpening interface, pid parameter is carried out
Line Self-tuning System, then rotational speed setup signal is provided by PID controller, converter VFD is sent to, then effectively control is carried out to motor speed
System；
U (k)=Kpe(k)+Ki∑e(i)+Kdec(k)
Wherein, u (k) responds output signal, K for PID controlpFor proportionality coefficient, KiFor integral coefficient, KdFor differential coefficient,
E (k) is velocity deviation, and ec (k) is percentage speed variation.
Described velocity deviation is the difference of speed preset and velocity feedback.
Further, in step s 2, described fuzzy control operation, when e is more than preset value, sets in pid parameter
In the range of adjust relevant parameter, including tuning up Kp, turn K downdWith turn K downiValue.
Further, in step s 2, described fuzzy control operation, when e is in preset value interval range, in PID
Relevant parameter is adjusted in the range of parameter setting, including turning K downp, adjust KdAnd Ki, make KdAnd KiFall in preset range.
Further, in step s 2, when e is less than preset value, relevant parameter is adjusted in pid parameter set point,
Including tuning up KiAnd Kp, K is adjusted according to practical situationd。
The invention has the beneficial effects as follows：The present invention is determined to brill according to bit size, BHA and geological conditions etc.
The pressure of the drill value that head applies, including torque value or other values, detect currently practical the pressure of the drill value and compared with the pressure of the drill value is wished, according to
Comparative result adjusts the speed of winch by fuzzy controller, is equal or close to actual the pressure of the drill value and wishes the pressure of the drill value, from
And raising drilling speed is reached, reduce bit wear, reduce the purpose of drilling cost.The present invention had both had PID controller high-precision
Advantage, the characteristics of there is fuzzy controller quick, strong adaptability again, it is ensured that regulating system has good dynamic, steady-state characteristic,
Good in anti-interference performance and robustness are stronger, are conducive to improving drilling speed, reduce bit wear, reduce drilling cost.
Description of the drawings
Fig. 1 is method of the present invention flow chart；
Fig. 2 is the structured flowchart of the present invention；
Fig. 3 is the hardware structure diagram of the present invention.
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
Described below.
Such as Fig. 2, shown in 3, a kind of automatic driller based on fuzzy-adaptation PID control, it include working out controller PLC,
Converter VFD, motor, touch operation screen, described programmable controller PLC collection motor speed, are compared with rotational speed setup
Compared with through fuzzy control operation, obtaining speed controling signal；Described touch operation screen can carry out initial velocity and give, and
Show given corresponding speed, actual motor speed and other relevant informations；Described converter VFD can be received and can be worked out control
The speed control signal that device PLC sends, and controlled motor rotating speed.
Further, it also includes encoder, and the encoder is connected with converter VFD, and described encoder is used to examine
Angular displacement when measured motor operates, and Output speed signal, to the converter VFD, the converter VFD is based on angular velocity
Signal Regulation motor speed.
As shown in figure 1, a kind of automatic bit feed method based on fuzzy-adaptation PID control, it comprises the following steps：
S1：Encoder gathers motor speed, and is input into programmable controller PLC；
S2：The motor speed of collection and rotational speed setup are compared by programmable controller PLC, are transported through fuzzy control
Calculate, output speed control signal；
S3：Converter VFD receives the speed control signal that PLC sends, and controlled motor rotating speed.
Further, in step s 2, on the basis of conventional PID controller, velocity deviation and deviation ratio are carried out into mould
Gelatinizing is processed, and using the control rule in knowledge base, exports through fuzzy reasoning and sharpening interface, pid parameter is carried out
Line Self-tuning System, then rotational speed setup signal is provided by PID controller, converter VFD is sent to, then effectively control is carried out to motor speed
System；
U (k)=Kpe(k)+Ki∑e(i)+Kdec(k)
Wherein, u (k) responds output signal, K for PID controlpFor proportionality coefficient, KiFor integral coefficient, KdFor differential coefficient,
E (k) is velocity deviation, and ec (k) is percentage speed variation.
Described velocity deviation is the difference of speed preset and velocity feedback.
Further, in step s 2, described fuzzy control operation, when e is more than preset value, sets in pid parameter
In the range of adjust relevant parameter, including tuning up Kp, turn K downdWith turn K downiValue.
Further, in step s 2, described fuzzy control operation, when e is in preset value interval range, in PID
Relevant parameter is adjusted in the range of parameter setting, including turning K downp, adjust KdAnd Ki, make KdAnd KiFall in preset range.
Further, in step s 2, when e is less than preset value, relevant parameter is adjusted in pid parameter set point,
Including tuning up KiAnd Kp, K is adjusted according to practical situationd。
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form, is not to be taken as the exclusion to other embodiment, and can be used for various other combinations, modification and environment, and can be at this
In the text contemplated scope, it is modified by the technology or knowledge of above-mentioned teaching or association area.And those skilled in the art are entered
Capable change and change, then all should be in the protection domains of claims of the present invention without departing from the spirit and scope of the present invention
It is interior.
Claims (8)
1. a kind of automatic driller based on fuzzy-adaptation PID control, it is characterised in that：It includes working out controller PLC, frequency conversion
Device VFD, motor, touch operation screen, described programmable controller PLC collection motor speed, are compared with rotational speed setup, Jing
Fuzzy control operation is crossed, speed controling signal is obtained；Described touch operation screen can carry out initial velocity and give, and show phase
Answer speed preset, actual motor speed and other relevant informations；Described converter VFD can be received and can be worked out controller PLC
The speed control signal sent, and controlled motor rotating speed.
2. a kind of automatic driller based on fuzzy-adaptation PID control according to claim 1, it is characterised in that：It also wraps
Encoder is included, the encoder is connected with converter VFD, described encoder is used to detect angular displacement during motor rotation, and
, to the converter VFD, the converter VFD is based on angular velocity signal regulation motor rotating speed for Output speed signal.
3. a kind of automatic driller based on fuzzy-adaptation PID control as described in any one in claim 1-3 is sent automatically
Drill method, it is characterised in that it comprises the following steps：
S1：Encoder gathers motor speed, and is input into programmable controller PLC；
S2：The motor speed of collection and rotational speed setup are compared by programmable controller PLC, through fuzzy control operation, defeated
Go out speed controling signal；
S3：Converter VFD receives the speed control signal that PLC sends, and controlled motor rotating speed.
4. a kind of automatic bit feed method based on fuzzy-adaptation PID control according to claim 3, it is characterised in that：In step
In S2, on the basis of conventional PID controller, velocity deviation and deviation ratio are carried out into Fuzzy processing, using in knowledge base
Control rule, exports through fuzzy reasoning and sharpening interface, carries out online self-tuning to pid parameter, then given by PID controller
Go out rotational speed setup signal, be sent to converter VFD, then effectively control is carried out to motor speed；
U (k)=Kpe(k)+Ki∑e(i)+Kdec(k)
Wherein, u (k) responds output signal, K for PID controlpFor proportionality coefficient, KiFor integral coefficient, KdFor differential coefficient, e (k)
For velocity deviation, ec (k) is percentage speed variation.
5. a kind of automatic bit feed method based on fuzzy-adaptation PID control according to claim 4, it is characterised in that：Described
Velocity deviation is the difference of speed preset and velocity feedback.
6. a kind of automatic bit feed method based on fuzzy-adaptation PID control according to claim 3, it is characterised in that：In step
In S2, described fuzzy control operation, when e is more than preset value, adjusts relevant parameter in pid parameter set point, including
Tune up Kp, turn K downdWith turn K downiValue.
7. a kind of automatic bit feed method based on fuzzy-adaptation PID control according to claim 3, it is characterised in that：In step
In S2, described fuzzy control operation, when e is in preset value interval range, adjusts corresponding ginseng in pid parameter set point
Number, including turning K downp, adjust KdAnd Ki, make KdAnd KiFall in preset range.
8. a kind of automatic bit feed method based on fuzzy-adaptation PID control according to claim 3, it is characterised in that：In step
In S2, when e is less than preset value, relevant parameter is adjusted in pid parameter set point, including tuning up KiAnd Kp, according to actual feelings
Condition adjusts Kd。
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107340403A (en) * | 2017-06-09 | 2017-11-10 | 中国科学院地质与地球物理研究所 | A kind of electronic demarcation turntable rotating speed control and tool face azimuth measuring method and device |
| CN107355210A (en) * | 2017-08-31 | 2017-11-17 | 安徽三山机械制造有限公司 | A kind of mine drilling machine automatic control system based on dynamics detection |
| CN110331967A (en) * | 2019-06-11 | 2019-10-15 | 中国石油天然气股份有限公司 | A kind of high pressure water-injection pump band carries the Control protection system and method for starting |
| 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 |
| CN112554825A (en) * | 2020-12-02 | 2021-03-26 | 杭州瀚陆海洋科技有限公司 | Self-adaptive drilling measurement and control system of deep sea core drilling machine |
| CN112548924A (en) * | 2020-12-02 | 2021-03-26 | 安徽大学 | Fuzzy PID (proportion integration differentiation) -based bolt wrench torque control method |
| WO2021190584A1 (en) * | 2020-03-26 | 2021-09-30 | 杭州汇健科技有限公司 | Pressure micro-control device for in-situ collection of molecules on surface of sample, and operation method therefor and use method therefor |
| CN115182692A (en) * | 2022-08-10 | 2022-10-14 | 中国石油天然气集团有限公司 | Electrically driven gas drilling system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107340403A (en) * | 2017-06-09 | 2017-11-10 | 中国科学院地质与地球物理研究所 | A kind of electronic demarcation turntable rotating speed control and tool face azimuth measuring method and device |
| CN107355210A (en) * | 2017-08-31 | 2017-11-17 | 安徽三山机械制造有限公司 | A kind of mine drilling machine automatic control system based on dynamics detection |
| CN110331967A (en) * | 2019-06-11 | 2019-10-15 | 中国石油天然气股份有限公司 | A kind of high pressure water-injection pump band carries the Control protection system and method for starting |
| WO2021190584A1 (en) * | 2020-03-26 | 2021-09-30 | 杭州汇健科技有限公司 | Pressure micro-control device for in-situ collection of molecules on surface of sample, and operation method therefor and use method therefor |
| 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 |
| CN112554825A (en) * | 2020-12-02 | 2021-03-26 | 杭州瀚陆海洋科技有限公司 | Self-adaptive drilling measurement and control system of deep sea core drilling machine |
| CN112548924A (en) * | 2020-12-02 | 2021-03-26 | 安徽大学 | Fuzzy PID (proportion integration differentiation) -based bolt wrench torque control method |
| CN112548924B (en) * | 2020-12-02 | 2022-03-15 | 安徽大学 | Fuzzy PID (proportion integration differentiation) -based bolt wrench torque control method |
| CN115182692A (en) * | 2022-08-10 | 2022-10-14 | 中国石油天然气集团有限公司 | Electrically driven gas drilling system and method |
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