SA519402183B1 - Control System and Method for Eliminating Stick-Slip Vibration of Drill String - Google Patents

Abstract

The present invention discloses a control system and method for eliminating the stick-slip vibration of a drill string. The control system of the present invention and a top drive form a torque feedback closed-loop control system. A data measurement module is used to obtain a torque measurement value of the top drive, and a rotational speed correction value is output to the top drive through calculation by a rotational speed control module so as to control the top drive to drive, according to a set rotational speed value, the drill string to rotate, so that adverse effects of the stick-slip vibration of the drill string on a drilling operation can be eliminated so as to reduce the wear of a bit, prevent the damage of the drill string, prevent jamming during drilling, increase the rotational speed and improve the drilling efficiency. According to the control system and method of the present invention, parameters of a PI controller of a speed controller in a driving controller of the top

Description

Control System and Method for Eliminating Stick—Slip Vibration of Drill String Full Description Background The invention relates to the technical field of stick—slip vibration in oil wells drill string; Especially the anti-vibration control system and method of stopping and sliding of the drill rod.

during the actual drilling process; The drill shaft interacts with the well wall jas or well bottom and is often 'stopped' due to excessive torque. When the torque reaches a certain value, the drill shaft will suddenly release quickly This phenomenon is called In the name of “stopping and sliding of the stick-sli P”. In particular, dag » The longer the length of the drill rod 3 increases, the Ala 0 3 decreases and the friction of the bottom “A” increases, which makes it difficult to rotate the drill rod at the bottom of the well. It often is

0 The stopping and sliding of the drill rod is accompanied by the bottom vibration of ull which easily leads to the collapse of the CE and shortening the service life of the drill until the drill shaft is broken. The stopping and sliding vibration of the drill rod is caused by the strong torsional vibration and friction at the bottom of the blister. This vibration is represented as follows: the anchor stops for a period of time. when the torque applied to the drill shaft is large enough; CE suddenly spins at a high speed; It can reach

5 rotation speed to big dad in an instant”; The maximum rotational speed exceeds the number of times the rotational speeds of the highest drive motor; This easily causes the drill rod to fatigue and reduces the work efficiency and service life of the drill rod, making it difficult to continue the drilling work. As in the “stop and slide” vibration process, the torque fluctuation is also large, as the actual torque is so large that it does not exceed the specific torque that the device can bear; This causes the drilling process to stop

0 Causing devastating damage to drilling equipment

In order to eliminate the stopping and sliding vibration” US patent application 20110232966 disclosed the method and device for reducing the stopping and skidding vibration” It is mainly used to change the parameters of the PI controller sas control of the speed control of the driving control unit to achieve less stopping and skidding. But when some top drive drivers do not allow third party users to change Pl controller parameters it does not work. General description of the invention The technical problem solved by the invention is mainly to provide a control system and a method to resist the stop and slide vibration of the sag pall Eliminate the negative effect of the stop and slide vibration of the drill rod on the drilling process To reduce the call SB and avoid damage to the drill rod and prevent the shaft stop Drilling 0, increase the drilling speed and increase the drilling efficiency.In order to solve the above technical problem, Jal) the technique adopted from the present invention is to provide the anti-slip and stop vibration control system of the drilling shaft which is applied to the drilling machine and the drilling machine includes the upper motor and the drilling; The upper motor includes the upper control unit A, the control unit on the motor and the motor which are connected in series.” The above control unit A5 is used to generate a control signal Uy for the specified rotational speed value; And the control unit on the motor is used to control the motion of the motor Gy of the above control signal; The drilling rig includes the drill rod and the auger; The aforementioned drill shaft is used to transmit the rotational speed and torque of the motor to Call to provide force (CA) to break the rock layer. The above control system includes data measurement unit and rotational speed control unit; And the unit of measurement 0 The data mentioned above is used in calculating the output torque of the upper motor to obtain torque measurements. The unit for controlling the rotational speed includes the following: The frequency calculation unit that is used to obtain the characteristic parameter of the stopping and sliding vibration feature and calculating the frequency of the stopping vibration angle and slip using the stop-slip vibration characteristic parameter acquired by the calculation formula:

oo J, where © is the modulus of stiffness of the drill rod in units NM and 7 is the moment of inertia of the drill rod in units NST; the index arithmetic unit is used to calculate the stop and slip vibration index measured using the torque measurement value in the formula : ssor = r 5 where 7 is the average of torque measurements over a calculation cycle; die expressed as: N 1 7-2-7 va 7 is the standard deviation of torque measurements over a cycle arithmetic; expressing die as follows: lg kerah N p= i 7 10 where 2 is the real-time value of the torque measured at di time where a is the serial number of an arithmetic cycle”; and a is the number of ad Torque measurements in an arithmetic cycle; unit of determination; used to determine if the stop-slip vibration index is greater than DAD determinant HA; unit of resistance calculation; used to calculate the characteristic resistance of a drill rod using the characteristic parameters of stop-slip vibration acquired when The stop-slip vibration index is greater than a specified value (FIN) with the calculation formula: E=1,Gp where © is the shear elastic modulus of the drill rod in units NMS” and 72 is the density of the drill rod in units Ly KEM is the moment The polar inertia of the unit “7” is expressed as die

- “7 1) the following: 220” 7 1 and 0 is the outer diameter of the drill rod in the unit dem is the inner diameter of the drill rod in the unit 77; Moment of inertia calculation unit ¢ is used to obtain the parameters of the upper engine ¢ and calculate the moment of inertia of the upper engine using the parameters of the upper engine with the calculation formula: Jp 7 (7+7) 5 Cua 7 is the number of upper engines; 7 is the transmission ratio Movement for the gears of the upper motor; 77 is the SIAN moment of inertia of the motor rotor; Jo is the moment of inertia of the upper motor body; the unit for calculating the modulus of stiffness; used in converting the upper motor to the elastic system; and calculating the modulus of rigidity of the elastic system using angle frequency Stop-and-slip vibration and moment of inertia 0 1 of the top drive with the formula: k=wll, and calculate the dynamic characteristic parameters of the elastic system using the characteristic resistance of the drill rod with the formula: c=¢ k=wlJ, 5 where © is the damping coefficient of the elastic system in units (NMS is an arithmetic unit |; used to calculate the parameter correction dadd!© and the parameter correction value | using the dynamic characteristic parameter in the calculation formula: K, - 4 k = k K, Cua is the correction value of parameter P 6, k, is the correction value of parameter |+, and ©” is the predefined proportionality coefficient;

function generating unit; Used to obtain the matching transfer function of the controller on Pl corresponding to the dynamic characteristic parameter using the correction value of parameter P and the correction value of parameter | ; and get the controller's initial transfer function on Pl using parameter © and parameter | of the controller on PL and calculate the rotational speed correction transfer function using the above mentioned transfer function and the identical transfer function; The rotary speed adjustment unit is used to output the rotary speed correction value to the upper motor by using the torque measurement value and the rotary speed correction transmission function to control the upper motor to drive the drill shaft to rotate according to the above set rotational speed value. Preferably the formula for calculating the tachometer correction Jay function is: 1 1 H(s)=——-—— G(s) G(s) 10 where F105) is the tachometer correction transfer function » and G5) is the corresponding transfer function, and G5) is the elementary transfer function. Preferably » the control system also includes an input display unit »; Where the input display unit is used to input the parameter of the stop-and-slip vibration feature or the parameter of the upper motor or display the output rotational speed and torque of the upper motor. In order to solve the above technical problem; The technical solution adopted by the present invention is to provide the anti-vibration control system of stop and slide of the drill rod which is applied to the drilling machine and the drilling machine includes the top drive and the drilling rig and the top drive includes the control unit on the Pl and the control unit on the motor and the motor which are connected in series; and console on 0 | The above mentioned is used to generate a control signal Why for a specified rotational speed value; The control unit on the motor is used to control the movement of the motor according to the control signal mentioned above; The drilling rig includes the drill rod and the auger; The above mentioned drill shaft is used for speed transmission

Rotation and motor torque to Call to provide force to CEA to break rock layer. It is distinguished in that this control method includes the following steps: 1: It is used to obtain the characteristic parameter of the stop and slide vibration; and calculate the stop-slip vibration angle frequency using the acquired stop-slip vibration characteristic parameter with the calculation formula: y = 0 J, \ where © is the modulus of stiffness of the drill rod in units (NM) and 7 is the moment of inertia of the drill rod in units NMS”; 2 : the ale measurement value of rotation obtained by measuring the torque output from the upper motor; 0 and computes the stop-and-slip vibration index using the above mentioned torque measurement dad with the calculation formula: ~= roy T where 7 is the mean of the torque measurements rotation during a computational cycle, expressed as: N 1 T==NT x 15 9 # is the standard deviation of torque measurements over a computational cycle, expressed as die (1-7) ( = 0, N p= i 7 where 7 is the real-time value of the torque measurement JES: JRE where a is the serial number of a computation cycle”; and a is the number of torque measurements in a computation cycle; 3 : used to determine whether the stop and slide vibration index is greater than a foundry specified value;

4: When the stop and slide vibration index is greater than a preset value; Used to calculate the characteristic resistivity of the drill rod using the characteristic parameters of stop and slip vibration obtained with the calculation formula: E=1,Gp 5 where © is the shear elastic modulus of the drill rod in units NMS? and 0 is the drill rod density in units Ly KEM is the polar moment of inertia in the unit “27 expressed die as -” 7 1) the following: 220 “7 1 and 0 is the outer diameter of the drill rod in the unit dem is the inner diameter of the drill rod in the unit 77; 55 : Used to obtain the parameters of the upper motor and calculate the moment of inertia of the upper motor 0 using the upper motor parameters with the calculation formula: Jp 7 (7+7) Cua 7 is the number of the upper motors; 7 is the gear transmission ratio of the upper motor; 77 is the SIAN moment of inertia of the armature rotor; Jo is the moment of inertia of the upper armature body; 6: used to convert the upper armature into the elastic system; calculate the rigidity modulus of the elastic system using the frequency of the stop and slide vibration angle and the moment of inertia of the upper armature With the formula: k=wll, and calculate the dynamic characteristic parameters of the elastic system using the characteristic resistance of the drill rod characteristic with the calculation formula: c=¢ k= wld, 20 where © is the damping coefficient of the flexible system (NMS)

The dynamic characteristic with arithmetic formula: K, - 4 k = k K, Cua is the correction value of P 6 and k, is the correction value of Parameter | + and © is the predetermined proportionality coefficient; 8: Used to obtain the matching transfer function of the Ali Pl controller corresponding to the dynamic characteristic parameter using the correction value of parameter © and the correction value of parameter | ; and get the controller's initial transfer function on Pl using parameter © and parameter | of the controller on Pl and calculate the rotational speed correction transfer function using the above mentioned transfer function and the identical transfer function 0; 9: Used to output the rotational speed correction value to the upper motor, using the torque measurement value and the rotational speed correction transfer function to control the upper motor to drive the drill shaft to rotate dy to the above specified rotational speed value. Preferably, the formula for calculating the Jay function correcting for rotational speed is: 1 1

H(s)=——-—— G(s) G(s) 5 where (5) is the rotational velocity correction transfer function” and G0) is the congruent transfer function, and (5)© is the transfer function primary. preferably after step 59; The above control method Load includes: 510: Determine whether the stopping and skidding vibration has been successfully eliminated; 511: If ram does not reset the proportionality parameter 0 and repeat step 54 again 5124: If successful, stop outputting a value

— 0 1 — The beneficial effects of the invention (Jad) are: different from the previous technique; The control system and the top drive of the present invention form a Glas to control the torque feedback closed loop 3 and the rotation measurement unit is used to the top drive through the calculation by the rotary speed control unit to control the top drive to drive the rotation of the drill rod according to the set rotational speed value; This can eliminate the negative impact of the drill rod stopping and sliding vibration on the drilling process, reduce the wear of the auger, avoid damage to the drill rod, prevent the drill rod from stalling, increase the drilling speed, and increase the drilling efficiency. In comparison to the technical solution disclosed in US Patent Application No. 20110232966; The control system and the control method do not need to change the parameters of the PL control unit of the 0 speed control unit of the upper motor control unit; Especially if some overhead engines do not allow third party users to change the controller parameters on Pl it still works” and it applies to any case. Brief Explanation of Drawings Figure 1. Structure diagram of the drilling rig; 5 Figure 2 Schematic diagram of the structure of the drill rod stop-and-slip anti-vibration control system of the embodiment of the present invention; Figure 3 Schematic diagram of the equivalent flexible system of the top drive of the drilling rig; Fig. 4 Schematic diagram of the closed-loop control principle of the drill rod stop-slip anti-vibration control system of the embodiment of the present invention; 0 Fig. 5 Schematic diagram of the parameter setting interface of the input display unit of the drill rod stop and slide vibration resistance control system of the embodiment of the present invention; Figure 6 Graph of the trend of parameter changes after applying the control system to the stop-and-slip vibration resistance of the drill rod of the embodiment of the present invention;

— 1 1 —

Figure 7 Graph of the trend of parameter changes after the control system is hung on the stop-and-slip vibration resistance of the drill rod of the embodiment of the present invention; Fig. 8 Schematic diagram of operations of the anti-vibration control system against stop-and-slip of the drill rod of the embodiment mentioned in the present invention;

Detailed Description: The technical solution mentioned in the present invention is illustrated quite clearly and completely with reference to the accompanying drawings mentioned in the present invention; It is clear that the embodiments shown are only a part of the embodiment of the present invention; Not all models. and all other models obtained by those ordinary technicians in this field without making creative efforts depending on the model mentioned in the invention

0 current; They fall within the scope of protection of the present invention. Referring to Figures 1 to 4; The anti-vibration control system of stopping and sliding of the drill rod of the model mentioned in the present invention is applied to the drilling machine 10. The drilling machine 10 includes the top motor 11, the drilling rig 2, and the top motor 11 includes the control unit on PI 111, the control unit on the motor 112, and the motor 113 which be connected to the ail and console on

11101 5 is used to generate a control signal according to the specified rotational speed value; The motor control unit 112 is used to control the movement of the dad (113) according to the control signal; The drilling rig 12 includes drill shaft 121 and auger 122 (and drill shaft 121 is used to transfer the rotary speed and torque of the motor 113 to CE 122 to provide force Cal) 122 to break the rock layer.

0 The control system 20 includes the data measurement unit 21 and the rotary speed control unit 22; And the data measurement unit 21 is used to calculate the output torque from the upper motor 11 to obtain torque measurements »and the rotational speed control unit 22 includes the frequency calculation unit 221, the index calculation unit 222, the determination unit 223, the resistance calculation unit 224, and the plan calculation unit

— 2 1 — inertia 225, modulus arithmetic unit 226, function generation unit 227, tachometer setting unit 228. Frequency arithmetic unit 221 is used to obtain the characteristic parameter of the stop and slide vibration; And calculate the frequency of the stop-and-slide vibration angle using the characteristic parameter of the stop-and-slide vibration resistance characteristic with the formula:

0 J

7 (1) where “” is the modulus of stiffness of the drill rod in units (NM) and 7 is the moment of inertia of the drill rod in units (NMS”)

0 Stop vibration (GY) where the parameters characteristic of the stop vibration and slide can be entered from

by the user or a third party. During the drilling process it is known from the stop-and-slip vibration mechanism that the drill rod rotation angle frequency Cr and the stop-and-slip vibration angle frequency * satisfy the following relationship:

2) a, na

5 According to the engineering and mechanical analysis of the mechanical structure, the frequency of the drill rod rotation angle is calculated as k _ 2

0, = +

7 (3) Set the number of any ial columns) including the drill pipe and the hardness modulus of each drill pipe is Ko and the moment of inertia is 7:

— 3 1 — pi L J; = pl, L (4) 1 11 1&1 cee + —_— + —_— + d d 2 m k, = 1 ki ky ky Kp mm + J, => J, =d +d, +000 2 (5) Formula (1) can be obtained by substituting the above formulas. The index arithmetic unit 222 is used to calculate the stopping and sliding vibration index using the torque measurement value with the computation formula: ssor - 22 r (6) where 7 is the average of torque measurements over a computational cycle; expressed as: 3 r=—=>T Na 7) 7 is the standard deviation of torque measurements over 550 computations; expressed as die Syntax 0 in sequence: 2 & 1 J (1-7) = 0 ,Na (8) Ta is the real-time value of the torque measured at time a where a is the serial number of an arithmetic cycle”; and a is ad is the number of torque measurements in an arithmetic cycle; the stop-and-slip vibration indicator reflects the intensity of the stop-and-slip vibration.The greater the value of 5, the greater the phenomenon of the stop-and-slip vibration of the drill rod.

— 4 1 — Determination unit 223 Used to determine whether the stop and slide vibration index is greater than a set value Liane including the preset value Jie 9630; resistance calculation unit; It is used to calculate the characteristic resistivity of a drill rod using the characteristic parameters of the stop and slip vibration acquired when the stop and slip vibration index is greater than a predetermined value with the calculation formula: M (9) where © is the modulus of shear elasticity of the drill rod in units NIST and © is the bar density Drill in unit KEM and 7" is the polar moment of inertia in unit 17 expressed die as (p* —d* ) 7 /

D 50 7 22: Jul is the outer diameter of the drill rod in unit dye M is the diameter

0 internal diameter of the drill rod, in unit mM; +n(i*J,) 7-7 from Cua 7 is the number of upper motors; and 7 is the transmission gear ratio of the upper drive; and 7 is the moment of inertia of the motor rotor; and To is the moment of inertia HA of the upper motor body; Number of upper motors, transmission ratio of the gears of the upper motor, and the moment of inertia of the rotor

5 The motor and the moment of inertia SI of the upper motor body are the parameters of the upper motor; The upper engine parameters can be entered by the user or a third party. hardness modulus calculation unit 226; Used to convert the upper engine to the flexible system; And calculate the stiffness modulus of the elastic system using the frequency of the stop and slide vibration angle and the moment of inertia (SIA) for the upper engine with the calculation formula:

2 (11) for 2p

— 5 1 — and calculate the dynamic characteristic parameters of the elastic system using the characteristic resistance of the drill rod with the calculation formula: a 2 k — a, J; 2 1 ) where © is the damping coefficient of the flexible system (NMS)

By 5 of the Torque Feedback Concept “The method of torque feedback is to adjust the speed of the upper motor in response to torque fluctuations” such that the upper motor absorbs or dampens stopping and skidding vibration. And the drill shaft is equivalent to the propagation conductor of the | wave to twist ¢ hag a by the friction of the drill rod against the bottom of the blister; The torque of the drill shaft changes; A torsion wave ¢ was created and the waveform propagated along the drill shaft to the surface of the earth” aging the upper engine as the fixed end of the shaft.

0 waveform by transferring the torsion wave into reverse. Therefore the terminal resistance of the upper armature is defined as terminal b

With the introduction of the concept of plural which is expressed as follows:

1 3 177 — — ZO"

where © is the angle frequency in rad/s, 7 is the magnitude of the complex expression for torque in NM, and 52 is the magnitude of the complex expression for rotational speed in 180/5.

5 in order to analyze the attenuation characteristics of the reflection waveform of the upper motor; The terminal reflection coefficient © is entered, which indicates the ratio of the reflected wave to the incident wave. © is related to the terminal resistance Z (in NMS) and the drill-shaft characteristic resistance A (in NMS) as follows: r= eZ —Z 2 + (14) Equation (14) applies to any case .And if we take the upper mover (JS) and if it is 2.7226 - -

0 1.; The 96100 torsional wave is reflected along the drill string to the drill shaft at the bottom of the “jill” causing the drill shaft at the bottom of the “ll to fluctuate sharply; if LSE © -1; are concentrated

— 6 1 — torsional wave energy in the upper engine; And the upper engine fluctuates greatly. The closer 2 is to <5, the “ral” reflection coefficient and the ability of the upper engine to absorb or resist torsional vibration are stronger.

To further clarify the principle of torque feedback » the drill shaft is equivalent to the rigid spring; the characteristic resistance a 5; The upper motor is also equivalent to the rigid flexible system as the cial shaft terminal and its characteristic resistance is 2. The equivalent structure is shown in Figure 3. The Z terminal resistance can also be expressed as: Z+c+ x +7

(10 (15) where © is the damping of the upper motor equivalent model in Kg (NMS) is the stiffness modulus in NM; and L is the moment of inertia in 1105. The upper motor 11 is equivalent to the rigid-elastic system; the parameters are defined as follows : the angular velocity of the elastic system is ©”, the torsional form is oF, and the torque is 17. When the system is operating steadily, the variables satisfy the following relations: X= [od 15 T—co—kx=0 (16) Eq. mentioned above changes to: T=co+k fwd = f(@) (17) Therefore, the above equation T can be considered as a function around 0 0. It can be noted from the properties of the rigid-elastic system that it is 7 in contrast to the reference direction of © Equation (13) can be transformed into:

— 7 1 — 11-20 (18) It can be deduced from the above equations (15) and (17) that 7 is related to © and “a; and © is an intrinsic property of the elastic system equivalent to an overhead engine; and “a is the dynamic property Between the elastic system and the angle frequency 2 and and can be set by adjusting Cc and A. It can be seen from the above theorem that when Z is approaching and Z is a Ghia number the reflection coefficient r is smaller. To the upper motor 11 rigidly connects the upper motor 1 to the drilling shaft 12) and the rotation angle speed of the upper motor 1 satisfies 1 : (19)”r = o, RO, given the dynamic characteristics of the drilling machine. The current rotational speed of the upper motor 11 is ‘ and torque is To and after time AT becomes © and 9; then (a,) ,0) b h h 2 dt Mt At (20) The function T described can be expressed in this form (17) In the following form: 7 - e (+k) ),0— ha!) 21) The arithmetic unit Pl 227 is used to calculate the correction value of parameter P and the correction value of parameter using the dynamic characteristic parameter in the calculation form: te =ca k, = k (22)

— 8 1 — Ca K . a.

K. where 7 is the correction value of the parameter P; and is the value of the corrected parameter | » and <“ is the proportionality parameter preset in the range 0-100% Figure 4 represents a schematic diagram of the closed-loop control fad; aig expresses the sang control over Pl as follows: y(t) =k,e(t) + K, fe(t)ar 5 (23) then: =o, (t (-o, (1) (1) a (24) It can be seen from Figure 4 and the above formula that the equivalent elastic system of the upper motor can analyze the system using the time domain analysis method of control theory” and adjust the terminal resistance 2 of the upper motor 0 by adjusting the gain The relative 7" and the integral modulus Ki of the controller on Pl to obtain the formula (22). Among them, 0 and >a are computed as shown in the formula (2 1). The function generating unit 228 is used to obtain the dlls The corresponding transfer of the controller Ali Pl Matching with the dynamic characteristic parameter using the correction value of parameter © and the correction value of parameter | ; and obtaining the initial transfer function of the controller Ali PI 111 using the parameter © and parameter | of the controller Ali A© 111« and calculates the tachometer correction transfer function using the initial transfer function and the corresponding transfer function.According to the closed-loop control principle diagram shown in Fig. 4, sets the tachometer correction transfer function to G(s) and the tachometer correction transfer function to dg » H( s) closed-loop control; The corresponding transfer function of controller 0 on PI corresponding to the dynamic property parameter 0 "© can be expressed by the following equation:

— 9 1 — G(s) © 6-0 (25) 1 1 H(s)=————— G(s) G(s) (26) where (8) ( is the rotational speed correction transfer function” and G0) is the corresponding transfer function. G(s), 5 is the initial transfer function. Rotational speed adjustment unit 229 is used to output the rotational speed correction value to the upper motor 1, using the torque measurement value and the rotational speed correction transmission function to control the upper motor 1 1 to drive the drilling shaft 2 1 to rotate Lg to the preset rotational speed value. The upper motor 11 obtains the set rpm value by combining the preset rpm value

0 1 and the rotation de ys correction value » which drives the drill shaft 2 1 to rotate Gg to the specified rotational speed value. in this form; The Wad control system has an input display module 23 which is used to input a characteristic stop-and-slip vibration or overhead engine parameter; Or display the rotational speed and output torque of the upper motor. As shown in Figure 5; It is the parameter setting interface diagram of the input display module.

With reference to Figures 6 and 7.” Figure 6 shows the process of changing the rotational speed and torque of the upper motor after starting the control system of the present invention. Between them line A represents torque” and line 8 represents rotational speed” Jiang line © the stop-and-slip signal of the control system; Line D represents the degree of stopping and slipping vibration. And it starts the control system on the watch (Sarg «0:12:29] Note that the control system gets rid of the vibration of stopping and slipping according to the fluctuations

STK B Lal 20 Elimination of stop and slip vibration; The volatility of line A becomes small. Tass Fig. 7 The process of changing the rotational speed and torque of the upper engine after the control system is turned off. He turns off the control system at 8:48:45; And the fluctuation of line A becomes gradually large.

— 0 2 — Figure 8 is the schematic diagram of a method for controlling the stop-and-slip vibration resistance of a Wy drill rod of the embodiment of the present invention. The control method mentioned in the model is applied to the eal machine. The drilling machine includes the upper motor and the drilling rig; The upper engine includes the control unit on the PI, the control unit on the engine and the motor; The controller on the Pl mentioned above is used to generate a control signal according to the set rotational speed value; The control unit on the motor is used to control the movement of the motor according to the above control lay; The drilling rig includes the drill rod and the anchor; The above drill shaft is used to transmit the rotational speed and torque of the motor to the anvil to provide force (CE) to break the rock layer. This control method includes the following steps: 1: It is used to obtain the characteristic parameter of the sliding and stop vibration; And calculate the frequency 0 of the stop-slip vibration angle using the acquired stop-slip vibration characteristic parameter with the calculation formula: p Jy where “” is the modulus of stiffness of the drill rod in units (NM) and 7 is the moment of inertia of the drill rod in units NMS” 5 52 : the torque measurement value gained by measuring the torque output from the upper motor; calculates the stop-and-go vibration index using the above mentioned torque measurement dad with the calculation formula: ssor - 22 T where 7 is the average of the torque measurements over an arithmetic cycle, expressed as: 2 r=—=>T N= 20

— 1 2 — 7 is the standard deviation of torque measurements over 550 calculations; die expressed as: (TT) >= = 0 , r N — i Cua is the real-time value of the measured torque at time a where a is the serial number of the arithmetic cycle; and N is the number of torque measurements ad in an arithmetic cycle;

3: Used to determine whether the stop and slide vibration index is greater than a specified value foundry; 4: When the stop and slide vibration index is greater than a preset value; It is used to calculate the characteristic resistance of the drill rod using the characteristic parameters of the stop and slip vibration obtained with the calculation formula:

0 is navigator where © is the modulus of shear elasticity of the drill rod in units of NIST, 0 is the drill rod density in units of KEM, and 7 is the polar moment of inertia in units of 10 expressed as

; 7 0 —d* )

Dg 7” 220: Wl is the outer diameter of the drill rod of unit 07; It is the inner diameter of the drill rod of unit 77;

5 55: used to obtain the upper engine parameters; Calculate the moment of inertia of the upper motor using the upper motor parameters with the formula: 7 (7 + 7 - 7 Cua 7 is the number of the upper motors; and 7 is the transmission gear ratio of the upper drive; and 7# is the moment of inertia of the motor rotor; and To is the moment of inertia HA of the upper motor body;

— 2 2 — S6: Used to convert the upper engine to the flexible system; Calculation of the rigidity coefficient of the elastic system using the frequency of the stop-and-slide vibration angle and the moment of inertia of the upper engine with the formula: -m and the calculation of the dynamic characteristic parameters of the elastic system using the characteristic resistance of the drill rod characteristic with the formula: P k = wlJ, where © is the damping coefficient of the system Elastic unit (NMS 0) Dynamic characteristic In the calculation form: te =ca k =k K, Cua is the correction value of P 6, k, is the correction value of parameter | and © is the coefficient of proportionality predetermined; 8: used to obtain the corresponding transfer function of the controller on Pl matched with the dynamic characteristic parameter 5 using the correction value of parameter P and the correction value of parameter | ; and to obtain the initial transfer alla of the controller on Pl using Parameter A and parameter | of the controller on Pl and calculate the tachometer correction transfer function using the above-mentioned elementary transfer function and identical transfer function; preferably the formula for calculating the tachometer correction Jay function is: 1 1 H(s)=— ———— This is G(s) G(s).

— 3 2 — where (8) is the rotational speed correction transfer function” and G0) is the congruent transfer function. G(s), is the elementary transfer function. 9: Used to output the rotational speed correction value to the upper motor, using the torque measurement value and the rotational speed correction transmission function to control the upper motor to drive the drill shaft to rotate Gay 5 to the above specified rotational speed value. in this form; after step 59; The above control method Wad includes: 0: Determine whether the stop-and-skid vibration has been successfully eliminated; S11: If not successful; Reset the proportionality parameter and repeat step 54 again. The above is an embodiment of the present invention only and is not intended to limit the scope of the invention; It aims to use the equivalent structure or equivalent process transformations mentioned in the patent instruction manual and the contents of the accompanying drawings or apply them directly or indirectly to other technical fields with dla and all of them are included in the scope of the current patent protection.

Claims (1)

protection elements 1. Control method to eliminate vibration caused by sala stick—slip vibration of drill string; It includes the following steps: 1: setting drill string parameters after parameter initialization; Step 51 consists of the following specific steps: 511: select or enter drill string parameters after parameter initialization; 2 Observe and judge whether the stick—slip vibration period 155 corresponds to the torque vibration period; 3 adjust the stick—slip vibration period 5 to match the torque vibration period if the stick—slip vibration period 0 155 is inconsistent with the torque vibration period; and 4: computation; by a programmable controller (PLC) The value of P and the value of | to the proportional-integral adjustment controller PI through drill string parameters and stick—slip vibration period 155 if the stick—slip vibration period period 5 155 corresponds to the torque oscillation period; where is the formula for calculating P dad and the value of | As follows: where § represents the characteristic impedance of the drill string and 8 represents the pie parameter from 70 to 7100 WS the angular frequency of vibration produced by the adhesive slip phenomenon; 5 JTD is the rotational inertia of a top drive; 20 52: Initiation of the anti-stick vibration system when the stick—slip vibration indication of an SSI reaches a specific dad; 3: Set up a suppression system against Bhs for the amplitude of the stick—SSI slip vibration indication of the parameter; And 4: Comparison between an actual speed that was fed by a VED frequency converter and a specific speed of the motor after generating the vibration resulting from the stick-slip vibration indication, and when adjusting through the proportional and integrative adjustment controller. PI and add torque to the speed rate output of frequency VED converter 5 and control the motor rotation speed through frequency converter 700/; Or in reverse process through the Wy modulation controller of the actual torque fed by the VED frequency converter and add speed to the speed rate input of the VED frequency converter and then control the rotational speed of the motor through the frequency converter VED frequency converter; So that the drill bit leaves the stick—slip area 0. 2- A control method to eliminate the vibration resulting from the sticky slip phenomenon of the drill string Gg string for protection element 1, where the equation for calculating the characteristic impedance p of the drill string is as follows: £=1.4Gp 15 and the equation for calculating The angular frequency, ws, of the vibration resulting from the stick—slip phenomenon, indication 018100, is as follows: kx = nm, where Ks = Glp / L, representing the stiffness coefficient of the drill 500090 20 « forward = Jb represents the rotational inertia of the drill string! is the length of the drill string jell ; © shear p “elastic modulus of the drill string” represents the density of the string “represents a all Ip “ density of the drill string polar moment of inertia of the drill string; The formula for calculating lp is as follows: Amaj, where YL Malsay DY DL Lo 0 and in which Dio di Jia the inner and outer diameters of the drill string represent inner and outer diameters of the drill string 5 and Li represents the length of the drill string of the drill string ¢ and n represents the number of drill strings. 3- The control system to get rid of the vibration resulting from the stick-slip phenomenon (3D) vibration of the drill string drill string created per claim 2; which 0 comprises a touch screen, PLC programmable controller and motor with encoder where the touch screen is connected to the programmable controller (A0); Configured to display a set value and an actual engine speed value; actual value and limit value of engine torque; operating status information and drill string setting parameters; The PLC programmable controller is configured to eliminate vibration caused by sticky slip in the drill string by controlling the motor speed; The motor is initialized for the motion of the drilling string system; the motor speed and torque are controlled in real time by the PLC programmable controller; The control system includes a frequency converter (1-/A; the VFD frequency converter is configured to obtain the pulse data from the encoder and calculate the actual 0 speed of the engine in real time” and then read the actual engine speed from the frequency converter frequency VED converter through the programmable controller (PLC). Protection 3 where transformer is included The frequency VED frequency converter is on an integral proportional modulation controller Pl and the 5-control system controller is configured to eliminate the vibration caused by the stick—slip vibration 5 (5.30) of the drill string according to of claim 4; where the controller controls Programmable controller (PLC) programmable controller in motor speed in either way the following two: Method 1. The PLC programmable controller compares the actual value of the motor speed taken from the VFD frequency converter with a given value of 0 motor speed; aig Obtains a given value of motor torque from a proportional adjustment controller Integral A and then add it to the integral proportional output value of the speed of the frequency converter VED frequency converter thus the motor speed is controlled; And Method 2: The programmable controller (A0) gets the value The actual motor torque is obtained from the VED frequency converter, and the speed value is calculated by means of a reverse process through the integral proportional adjustment controller. 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To rotate the scroll bar to speed up the plat Check the upper joint Tiad Tod Peal Decrease its rate Sy : Coid Ala Tan Te : x ; pS Go J5407 TASID WHAT WE HAVE BEEN DONE AN NEA GE : reno sr mn NEA ge ng 5 : Tee © a SANE ? : 3 dR dy again nad ST] ; i Sd An Al-Maj Al-Jeet: CR J LE The Saudi Authority for Intellectual Property Sweden Authority for Intellectual Property pW RE .¥ + \ A 0 § Um 5 + < Ne ge “Benaj > Aye Ki Jada Li Days TEE Bbha Nase eg + Ed - 2 - 3 .++ .* provided that the annual financial fee is paid for the patent and that it is not null and void due to its violation of any of the provisions of the patent system, layout designs of integrated circuits, plant varieties and industrial designs or its implementing regulations. »> Issued by + BB 0.B Saudi Authority for Intellectual Property > > > “+ PO Box 1011 .| for ria 1*1 uo ; Kingdom | Arabic | For Saudi Arabia, SAIP@SAIP.GOV.SA