Sliding Mode Control And Monitoring System Of Drilling Rig

In the complex processing of drilling rigs, it is used the real-time monitor and control to improve the control ability of drilling rigs, to reduce the loss energy, to prolong the life of rig and to enhance the efficiency of drilling which is to achieve the high-efficiency, automation and intelligent of drill. To implement the full automated drilling, increase the security of production of drilling and improve the efficiency, we make in-depth research of the drilling rotary system. It is proposal the study and the innovations in the paper as bellow:1. In view of the drilling rotary nonlinear system, it is established the dynamics model and the load characteristics model, and then analyzed the variety of rotation rate with the bit torque and torsion vibration characteristic of rotary system.2. It presents a derivative and integral sliding mode controller in order to avoid the assumption that the derivatives of tracking signal must be known in conventional sliding mode controller. The herein developed controller is, a time-varying sliding mode adaptive controller has tracking performance and identification of drilling parameters for remaining insensitive to parameter variations and other disturbances in the transient process of system. The simulation results show that the time-varying sliding mode adaptive controller has faster dynamic responses and suppress stick-slip in oil well drill string, can achieve global stability of rotary drilling system.3. It presents a new control way that combines the double surface sliding control way based on exponent reaching law with the PID control way for the multi-DOF model of drilling rotary system. It has strong robustness and faster dynamic responses4. The drilling monitoring system for real-time drilling supervision, simulation,3D visualization and diagnosis is presented. The paper studied its hardware system and software system, the way of measured drilling data, main sensor and drilling models.