CN108729862B - Robust self-adaptive three-dimensional vibration suppression method for marine flexible riser system - Google Patents

Robust self-adaptive three-dimensional vibration suppression method for marine flexible riser system Download PDF

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CN108729862B
CN108729862B CN201810670547.0A CN201810670547A CN108729862B CN 108729862 B CN108729862 B CN 108729862B CN 201810670547 A CN201810670547 A CN 201810670547A CN 108729862 B CN108729862 B CN 108729862B
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riser
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flexible riser
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CN108729862A (en
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赵志甲
肖颖
张润成
廖永健
马永浩
韦蕴珊
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Guangzhou University
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/01—Risers
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/10—Wear protectors; Centralising devices, e.g. stabilisers

Abstract

The invention discloses a robust self-adaptive three-dimensional vibration suppression method for a marine flexible riser system, which comprises the following steps: establishing a three-dimensional dynamic model of the marine flexible riser system; designing a robust adaptive boundary controller according to the three-dimensional dynamic model; obtaining real-time parameters of a marine flexible riser system; and sending a control command to the driving device according to the robust adaptive boundary controller and the real-time parameter so that the driving device applies acting force to the flexible riser to inhibit riser vibration. By adopting the technical scheme of the invention, the three-dimensional vibration suppression of the flexible marine riser system can be realized when the outside has variation interference.

Description

Robust self-adaptive three-dimensional vibration suppression method for marine flexible riser system
Technical Field
The invention relates to the technical field of automatic control, in particular to a robust self-adaptive three-dimensional vibration suppression method for a marine flexible riser system.
Background
The flexible marine riser is used as a connecting device between a submarine oil well and an oil drilling platform on the sea level, and is a life line project in the development of the whole marine oil and gas field. When the marine flexible riser transports petroleum, under the common coupling action of the internal flow (fluid in the tube) and the ocean current, vertical vibration deformation is inevitably generated. Excessive vibration will seriously affect the performance of the flexible riser system, reduce the service life of the riser, and even possibly cause fatigue damage of the riser, causing serious economic loss and environmental pollution. Therefore, the suppression of vibration of the flexible marine riser system is of great significance to deep sea hydrocarbon development.
In order to suppress the vibration of marine risers, a number of experts and scholars have studied the problem of flexible marine riser vibration. Current research on marine risers mainly includes passive and active control. The passive control is only limited to the optimization of mechanical structure and material properties, and the control mode cannot fundamentally solve the vibration problem of the stand pipe; the active control is to design a controller to suppress the vibration of the marine riser, and the control effect of the control mode is more remarkable. However, in all active control schemes, the controller design is limited to only one vertical plane, i.e., only the lateral tube vibration is controlled. In a real marine environment, however, the vibration of the riser is in three dimensions. Therefore, the active control research on the three-dimensional space of the marine flexible riser system has practical significance for deep sea oil and gas development.
Disclosure of Invention
The embodiment of the invention provides a robust self-adaptive three-dimensional vibration suppression method for a marine flexible riser system, which can realize the three-dimensional vibration self-adaptive suppression of the flexible marine riser system when the external environment has variation interference.
The embodiment of the invention provides a robust self-adaptive three-dimensional vibration suppression method for a marine flexible riser system, which comprises the following steps:
establishing a three-dimensional dynamic model of the marine flexible riser system;
designing a robust adaptive boundary controller according to the three-dimensional dynamic model; wherein the three-dimensional dynamical model is used for analyzing the marine flexible riser system;
obtaining real-time parameters of the marine flexible riser system;
and sending a control command to a driving device according to the robust self-adaptive boundary controller and the real-time parameters so that the driving device applies acting force to the flexible riser to inhibit riser vibration.
Further, the three-dimensional dynamic model of the marine flexible riser system comprises: kinetic energy, potential energy, total work acting on the riser, a control equation and boundary conditions of the riser;
wherein, L is defined as the length of the riser, X (s, t), Y (s, t) and Z (s, t) are respectively the transverse, longitudinal and axial offsets in the X, Y and Z directions at the time t, and s and t are respectively displacement and time variable; dx(t)、dy(t)、dz(t) are each located in the direction X, Y, ZUnknown time-varying boundary perturbations of the top payload; f. ofx(t)、fy(t)、fz(t) unknown distributed ocean current loads along the riser in direction X, Y, Z, respectively; u. ofx(t)、uy(t)、uz(t) control inputs to controllers located at the riser top payload in the direction X, Y, Z, respectively;
then E of the riserk(t) kinetic energy is:
Figure BDA0001708961460000031
wherein M is the mass of the payload; ρ is the density of the flexible marine riser;
said potential energy Ep(t) is:
Figure BDA0001708961460000032
wherein EA is the axial stiffness of the stand pipe, and T is the tension;
the total work δ w (t) acting on the riser is: δ W (t) δ Wf+δWm(t); wherein, δ WfDoing virtual work on the stand pipe for external interference and time-varying ocean current; delta Wm(t) the virtual work done by the controller on the flexible riser system;
when in use
Figure BDA0001708961460000038
Then, the boundary conditions are:
x(0,t)＝y(0,t)＝z(0,t)＝0；
x″(0,t)＝y″(0,t)＝z″(0,t)＝0；
x″(L,t)＝y″(L,t)＝z″(L,t)＝0；
Figure BDA0001708961460000033
Figure BDA0001708961460000034
further, the robust adaptive boundary controller uses the following control law:
Figure BDA0001708961460000036
Figure BDA0001708961460000037
Figure BDA0001708961460000041
wherein the content of the first and second substances,
Figure BDA0001708961460000042
is an estimate of the parameter M, is defined
Figure BDA0001708961460000043
For estimating the error, the adaptive update law is:
Figure BDA0001708961460000044
gamma and xi are normal numbers.
Further, after the designing the robust adaptive boundary controller according to the three-dimensional dynamic model, the method further includes:
and verifying the stability of the robust self-adaptive boundary controller through a Lyapunov function.
Further, the verifying the stability of the robust adaptive boundary controller through the Lyapunov function specifically includes:
defining a Lyapunov function
Figure BDA0001708961460000045
Wherein V (t) ═ V1(t)+V2(t)+V3(t)，V1(t) is an energy term, V2(t) is a cross term, V3(t) is an additional term;
Figure BDA0001708961460000046
Figure BDA0001708961460000047
Figure BDA0001708961460000048
α, β are normal numbers;
the stability of the robust adaptive boundary controller is determined by verifying the following inequality:
Figure BDA0001708961460000049
wherein the content of the first and second substances,
Figure BDA0001708961460000051
the derivative of the Lyapunov function with respect to time has the following upper bound formula:
Figure BDA0001708961460000052
further, the obtaining of the real-time parameters of the marine flexible riser system specifically includes:
acquiring x (L, t), y (L, t) and z (L, t) measured by a laser displacement sensor at the top end of the vertical pipe;
acquiring x ' (L, t), y ' (L, t), z ' (L, t) measured by an inclinometer;
obtaining accelerometer measurements
Figure BDA0001708961460000053
And calculating the backward difference algorithm for x (L, t), y (L, t), and z (L, t) to obtain:
the embodiment of the invention has the following beneficial effects:
according to the robust adaptive three-dimensional vibration suppression method for the marine flexible riser system, provided by the embodiment of the invention, under the condition of determining the load, three-dimensional coupling dynamics analysis is carried out on the marine flexible riser system, the three-dimensional vibration suppression of the flexible marine riser system is realized through robust adaptive boundary control, the required sensors are few, the engineering quantity is small, and the practicability is high.
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FIG. 1 is a schematic flow diagram of one embodiment of a robust adaptive three-dimensional vibration suppression method for a marine flexible riser system provided by the present invention;
FIG. 2 is a schematic diagram of one embodiment of a flexible marine riser system model provided by the present invention;
FIG. 3 is an analysis schematic diagram of one embodiment of the amplitude of vibration of the flexible riser in the X direction without control applied provided by the present invention;
FIG. 4 is an analysis schematic diagram of one embodiment of the amplitude of the Y-direction vibration of the flexible riser when no control is applied provided by the present invention;
FIG. 5 is an analytical schematic of one embodiment of the controlled Z-direction vibration amplitude of the flexible riser provided by the present invention;
FIG. 6 is an analysis schematic diagram of one embodiment of the controlled flexible riser X direction vibration amplitude provided by the present invention;
FIG. 7 is an analysis schematic of one embodiment of the amplitude of the Y direction vibration of the flexible riser after the control is applied provided by the present invention;
FIG. 8 is an analytical schematic of one embodiment of the Z-direction vibration amplitude of the flexible riser without control applied provided by the present invention;
FIG. 9 is a control schematic of one embodiment of input control provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, it is a schematic flow chart of an embodiment of a robust adaptive three-dimensional vibration suppression method for a marine flexible riser system according to the present invention, the method includes steps 101 to 104, and each step specifically includes the following steps:
step 101: and establishing a three-dimensional dynamic model of the marine flexible riser system.
In this embodiment, referring to fig. 2, fig. 2 is a schematic diagram of an embodiment of a flexible marine riser system model provided by the present invention. The three-dimensional dynamic model of the flexible marine riser system of the present invention comprises: kinetic energy, potential energy of the riser, total work acting on the riser, control equations, and boundary conditions.
Wherein, L is defined as the length of the riser, X (s, t), Y (s, t) and Z (s, t) are respectively the transverse, longitudinal and axial offsets in the X, Y and Z directions at the time t, and s and t are respectively displacement and time variable; dx(t)、dy(t)、dz(t) unknown time-varying boundary perturbations at the top payload in the direction X, Y, Z, respectively; f. ofx(t)、fy(t)、fz(t) unknown distributed ocean current loads along the riser in direction X, Y, Z, respectively; u. ofx(t)、uy(t)、uz(t) control inputs to controllers located at the riser top payload in the direction X, Y, Z, respectively;
then E of the riserk(t) kinetic energy is:
Figure BDA0001708961460000071
wherein M is the mass of the payload; ρ is the density of the flexible marine riser;
said potential energy Ep(t) is:
Figure BDA0001708961460000072
wherein EA is the axial stiffness of the stand pipe, and T is the tension;
the total work δ w (t) acting on the riser is: δ W (t) δ Wf+δWm(t); wherein, δ WfDoing virtual work on the stand pipe for external interference and time-varying ocean current; delta Wm(t) the virtual work done by the controller on the flexible riser system;
the virtual work done by external interference and time-varying ocean currents on the stand pipe is as follows:
Figure BDA0001708961460000073
the virtual work done by the controller on the flexible riser system is expressed as:
δWm(t)＝ux(t)δx(L，t)+uy(t)δy(L，t)+uz(t)δz(L，t)；
the control equation is:
Figure BDA0001708961460000081
the Hamilton principle can be expressed as:
Figure BDA0001708961460000082
wherein: delta is a variation operator, t1And t2Is two points of time, t1～t2Is an operation interval period.
The control equation is:
when in use
Figure BDA0001708961460000084
Then, the boundary conditions are:
x(0，t)＝y(0，t)＝z(0，t)＝0；
x″(0，t)＝y″(0，t)＝z″(0，t)＝0；
x″(L，t)＝y″(L，t)＝z″(L，t)＝0；
Figure BDA0001708961460000085
Figure BDA0001708961460000086
step 102: designing a robust adaptive boundary controller according to the three-dimensional dynamic model; wherein a three-dimensional dynamical model is used for analyzing the marine flexible riser system.
In this embodiment, the boundary controller uses the following control laws:
Figure BDA0001708961460000088
Figure BDA0001708961460000089
Figure BDA0001708961460000091
wherein the content of the first and second substances,
Figure BDA0001708961460000092
is an estimate of the parameter M, is defined
Figure BDA0001708961460000093
For estimating the error, the adaptive update law is:
Figure BDA0001708961460000094
gamma and xi are normal numbers. Introducing a correction term xiThe purpose is to improve the robustness of the closed loop system and avoid the parameter estimation valueThe drift phenomenon is generated, and some emergencies are eliminated.
As an example of this embodiment, after designing a boundary controller, verifying the stability of the robust adaptive boundary controller through a Lyapunov function, specifically:
defining a Lyapunov function
Figure BDA0001708961460000096
Wherein V (t) ═ V1(t)+V2(t)+V3(t)，V1(t) is an energy term, V2(t) is a cross term, V3(t) is an additional term;
Figure BDA0001708961460000097
Figure BDA0001708961460000098
α, β are normal numbers;
the stability of the robust adaptive boundary controller is determined by verifying the following inequality:
wherein the content of the first and second substances,
the derivative of the Lyapunov function with respect to time has the following upper bound formula:
Figure BDA00017089614600000912
step 103: real-time parameters of the marine flexible riser system are obtained.
In this embodiment, step 103 specifically includes: acquiring x (L, t), y (L, t) and z (L, t) measured by a laser displacement sensor at the top end of the vertical pipe;
acquiring x ' (L, t), y ' (L, t), z ' (L, t) measured by an inclinometer;
obtaining accelerometer measurements
Figure BDA0001708961460000101
And calculating the backward difference algorithm for x (L, t), y (L, t), and z (L, t) to obtain:
Figure BDA0001708961460000102
step 104: and sending a control command to the driving device according to the robust adaptive boundary controller and the real-time parameter so that the driving device applies acting force to the flexible riser to inhibit riser vibration.
In this embodiment, step 104 is specifically to obtain a boundary control law at time t according to the real-time parameters and the control law formula, and the driving device applies an acting force to the flexible riser according to the boundary control law to suppress riser vibration.
For better illustration of the effect of the technical solution of the present invention, refer to fig. 3 to 9, wherein fig. 3 to 5 are schematic diagrams respectively illustrating the vibration amplitude analysis of the flexible riser X, Y, Z in the direction without control. Fig. 6 to 8 are schematic diagrams respectively illustrating the analysis of the amplitude of the vibration in the direction of the riser X, Y, Z after the control is applied. FIG. 9 is an input control schematic of the present invention. Comparing the effect graphs, it can be seen that the vibration amplitude is larger without the control of the present invention, and the vibration amplitude is reduced with the control of the present invention, so that the effect of suppressing the vibration is significant.
Therefore, the robust adaptive three-dimensional vibration suppression method for the marine flexible riser system provided by the embodiment of the invention can be used for carrying out three-dimensional coupling dynamics analysis on the marine flexible riser system when the external environment has variation interference, realizing three-dimensional vibration suppression on the flexible marine riser system through robust adaptive boundary control, and having the advantages of less required sensors, small engineering quantity and high practicability.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (6)

1. A robust adaptive three-dimensional vibration suppression method for a marine flexible riser system, comprising:
establishing a three-dimensional dynamic model of the marine flexible riser system;
designing a robust adaptive boundary controller according to the three-dimensional dynamic model; wherein the three-dimensional dynamical model is used for analyzing the marine flexible riser system;
obtaining real-time parameters of the marine flexible riser system;
and sending a control command to a driving device according to the robust self-adaptive boundary controller and the real-time parameters so that the driving device applies acting force to the flexible riser to inhibit riser vibration.
2. The robust adaptive three-dimensional vibration suppression method for marine flexible riser systems according to claim 1, wherein the three-dimensional dynamical model of marine flexible riser system comprises: kinetic energy, potential energy, total work acting on the riser, a control equation and boundary conditions of the riser;
wherein, L is defined as the length of the riser, X (s, t), Y (s, t) and Z (s, t) are respectively the transverse, longitudinal and axial offsets in the X, Y and Z directions at the time t, and s and t are respectively displacement and time variable; dx(t)、dy(t)、dz(t) unknown time-varying boundary perturbations at the top payload in the direction X, Y, Z, respectively; f. ofx(t)、fy(t)、fz(t) unknown distributed ocean current loads along the riser in direction X, Y, Z, respectively; u. ofx(t)、uy(t)、uz(t) control inputs to controllers located at the riser top payload in the direction X, Y, Z, respectively;
then E of the riserk(t) kinetic energy is:
Figure FDA0002293218540000021
wherein M is the mass of the payload; ρ is the density of the flexible marine riser;
said potential energy Ep(t) is:
Figure FDA0002293218540000022
wherein EA is the axial stiffness of the stand pipe, and T is the tension;
the total work δ w (t) acting on the riser is: δ W (t) δ Wf+δWm(t); wherein, δ WfDoing virtual work on the stand pipe for external interference and time-varying ocean current; delta Wm(t) the virtual work done by the controller on the flexible riser system;
when in use
Figure FDA0002293218540000023
Then, the boundary conditions are:
x(0，t)＝y(0，t)＝z(0，t)＝0；
x″(0，t)＝y″(0，t)＝z″(0，t)＝0；
x″(L，t)＝y″(L，t)＝z″(L，t)＝0；
Figure FDA0002293218540000024
Figure FDA0002293218540000025
3. the robust adaptive three dimensional vibration suppression method for marine flexible riser systems according to claim 2, wherein the robust adaptive boundary controller uses the following control law:
Figure FDA0002293218540000027
Figure FDA0002293218540000028
Figure FDA0002293218540000031
wherein the content of the first and second substances,is an estimate of the parameter M, is defined
Figure FDA0002293218540000033
For estimating the error, the adaptive update law is:
Figure FDA0002293218540000034
gamma and xi are normal numbers.
4. The robust adaptive three-dimensional vibration suppression method for marine flexible riser systems according to claim 3, further comprising, after said designing a robust adaptive boundary controller from said three-dimensional dynamical model:
and verifying the stability of the robust self-adaptive boundary controller through a Lyapunov function.
5. The robust adaptive three-dimensional vibration suppression method for the marine flexible riser system according to claim 4, wherein the stability of the robust adaptive boundary controller is verified through a Lyapunov function, specifically:
defining a Lyapunov function
Wherein V (t) ═ V1(t)+V2(t)+V3(t)，V1(t) is an energy term, V2(t) is a cross term, V3(t) is an additional term;
Figure FDA0002293218540000036
Figure FDA0002293218540000037
Figure FDA0002293218540000038
α, β are normal numbers;
the stability of the robust adaptive boundary controller is determined by verifying the following inequality:
Figure FDA0002293218540000041
wherein the content of the first and second substances,
the derivative of the Lyapunov function with respect to time has the following upper bound formula:
6. the robust adaptive three-dimensional vibration suppression method for a marine flexible riser system according to claim 3, wherein the obtaining of real-time parameters of the marine flexible riser system is specifically:
acquiring x (L, t), y (L, t) and z (L, t) measured by a laser displacement sensor at the top end of the vertical pipe;
acquiring x ' (L, t), y ' (L, t), z ' (L, t) measured by an inclinometer;
obtaining accelerometer measurements
And calculating the backward difference algorithm for x (L, t), y (L, t), and z (L, t) to obtain:
Figure FDA0002293218540000045
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