| The drill string heave compensation system is the key equipment to ensure the normal operation of the deep-sea floating drilling platform.Currently,only a few countries,such as the United States and Norway,have mastered the production technology of the drill string heave compensation system.Compared with the traveling-block hook heave compensation system,and the winch heave compensation system,the crown-block heave compensation system has the advantages of small occupied deck area,high compensation accuracy,and can withstand large loads.To break the foreign technical blockade,improve the heave compensation effect,and reduce the energy consumption of the compensation system,it is very important to investigate the technology and theory of drilling string heave compensation system.Based on the analysis and optimization research of the existing crown-block heave compensation system,This dissertation puts forward a new type of crown-block heave compensation system solutions with compound cylinders.The electrohydraulic control system was researched and designed based on the theoretical model.Based on comparative research of several controller’s comprehensive performances,the suitable control strategies for the new type crown-block heave compensation system were established;The experimental prototype was developed and the comprehensive performance experiment of different control schemes was carried out.(1)Based on the optimization analysis of the existing crown-block heave compensation system,a new semi-active crown-block heave compensation system with compound cylinders was proposedThe numerical analysis model of the compensation cylinder’s positioning parameters of the crown-block heave compensation device was established,and its influence on active compensation force and energy consumption of the heave compensation system was revealed,and the optimization of structural parameters was studied.The numerical analysis model of the wirerope’s winding mode and the swing arm system’s structural parameters was established,and its influence on the force of the swinging arm,the working condition of the wirerope,and the compensation effect of the system were revealed,the swing arm system’s structural parameters of the outer enwinding wirerope mode were optimized,and the comprehensive performance evaluation standard of swing arm system was put forward.The results show that the optimal balance inclination angle of the passive compensated hydraulic cylinder is 18°.The outer enwinding wirerope scheme has the advantages of the stable force of the swing arm,no wirerope flowing phenomenon,and small straight bending alternating length of the wirerope.Based on the above research,a new semi-active crown-block heave compensation system with compound cylinders was proposed,the advantages of the new heave compensation scheme were analyzed,and the specific structure design scheme was given.(2)Research on optimization design of hydraulic system parameters was carried out based on the theoretical model,the special isolation valve of the heave compensation system was developed independently,and the electrical control system scheme was givenThe optimal design of hydraulic system parameters was carried out based on the theoretical model,the influence law of the parameters of the liquid-gas energy storage device and different heave conditions on the active compensation cylinder force and system energy consumption was revealed,and the detailed scheme of the hydraulic control system was given.The isolation valve of the heave compensation system was developed independently,and its comprehensive performance of normal pressure drop and the emergency shutdown was studied.The composition of the software and hardware of the electrical control system was analyzed and the scheme of the electrical control system was designed.(3)The numerical calculation model of the new compensation system was established based on the theory of fluid dynamics,and multiple controllers including Terminal Sliding Mode variable structure control were designed and developed,and the comprehensive performance comparison of different control strategies was carried outBased on the theory of fluid dynamics,the numerical calculation model of the crown-block heave compensation system with compound cylinders was established,and a set of controllers for the system was designed and developed.The sliding mode variable structure control technology was innovatively applied to the drill string heave compensation system,and the comprehensive compensation performance of Terminal Sliding Mode variable structure control was explored.The results show that compared with other control strategies such as fuzzy PID,sliding mode variable structure control has the advantages of high compensation rate,fast response speed,high robustness,small pressure/flow fluctuation,and low energy consumption,and so on.(4)The multi-functional experimental prototype of the new heave compensation system was designed and developed,the control software of the experimental platform was developed,and the experimental research on different control schemes was carried outAccording to the scale ratio of 1:5,the compound cylinder type crown-block heave compensation experimental prototype was designed and developed,the control software of the experimental platform was developed,the ADAMS/AMESim co-simulation model of the experimental system was established,and virtual simulation and experimental research of the main parameters and comprehensive performance of the experimental prototype were carried out,the influence laws of compensation accumulator parameters,different conditions,different ways of feedback effect on the compensation performance were revealed,the comprehensive performance comparison of different control schemes was studied,and the optimal control strategy and control parameters were determined.The experimental results show that the new compensation experimental prototype and operating software system meet the requirements of compensation performance and stability and reliability,and the compensation rate reaches 96%.Through the theoretical analysis and experimental verification of structure parameters,system composition,and the control strategy of the crown-block heave compensation system,this dissertation develops a novel crown-block heave compensation system with compound cylinders which has the independent intellectual property rights,masters its key control technology,simplifies the system structure,improves the compensation effect,reduces the energy consumption of the system,and provides a theoretical basis and technical support to accelerate the development of the crown-block heave compensation system. |
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