Research On Control Strategy Of Rotating System For A Multi-DOF Drilling Rig

Oil drilling system has complex structure,complicated working environment and bad working conditions.In the process of oil drilling,the interaction between the drilling equipment and the rock formation is easy to produce the stick slippery vibration of the drill string,which mainly shows bottom hole drilling combination of periodic viscous,rotation.In order to better control the smooth operation of the drilling and enhance the performance of the drill string,understand the complex mechanism of stick slip vibration of drill string,it is of great significance to study the stick slip vibration control strategy.In order to realize the high efficiency of the drilling rig and to suppress the sticky and sliding vibration,the control strategy of the drilling system rotation system is studied deeply.The main contents of this paper include the following three aspects.First of all,understand the working principle of the rotary drilling system to give the assumption that the system characteristics of the unchanged,the dynamic equations and state equations of the a multi-DOF drilling machine rotating system model are established according to the assumptions.Using MATLAB/simulink environment to build simulation model for the back of the design of a variety of controllers to provide the basis.Secondly,a single sliding mode surface and a double sliding mode controller based on three different approximation laws.Analyze the influence of the change of the approximation laws on the system and the law of the formation of the drill and turntable response curves as the parameter changes.Based on the advantages of no buffeting of PID controller,PID sliding mode controller is designed by adding PID control to the designed sliding mode control.Through the simulation under MATLAB/simulink environment,the influence of PID sliding mode controller on dynamic performance,chattering and robustness of the system based on different reaching law is analyzed.Finally,the integral sliding mode adaptive controller is designed by analyzing the principle of integral sliding mode control and the principle of adaptive control.The simulation results show that the integral sliding mode adaptive has good dynamic performance and can effectively suppress the stick-slip vibration.In this paper,through the research on the control strategies of a multi-DOF drilling machine rotating system,the conclusion is drawn that the integral sliding mode adaptive has good ability to suppress the viscous sliding vibration,and makes a theoretical and partialsimulation study on the control strategy of the rotating system of the drilling rig.