| With the increasing demand for offshore oil and the difficulty of offshore drilling,the requirements for efficiency and accuracy of oil drilling equipment in the petroleum industry have been greatly improved.However,the heave motion caused by waves affects the movement of drilling instruments,such as winches,top drive and so on,make drilling platform can not carry out normal drilling operation and reduce the efficiency and accuracy of operation.Therefore,it is great significance to study the heave compensation control algorithm for the floating drilling rig to improve the efficiency of normal drilling operations and increase the effective time of drilling operations and to reduce the impact of the platform's heave movement on the normal operation of the platform drilling equipment.Firstly,reaserch the working principle and process of the hoist compensation control system for the floating drilling platform,and obtain the control scheme of the winch heave compensation control system.Secondly,the basic principle,structure and working process of drilling rod lifting system are analyzed,and the mechanism model of drilling rod lifting system in different working conditions is established and simplified by the study of the drilling tool rising and descending process,and the model of the drill hoisting system is simulated under different conditions and the results are carried out analysis.Thirdly,according to the spectrum of sea waves,the motion model of sea waves under different sea conditions is set up,and the velocity curve of platform heave motion is obtained,according to the relationship between sea wave motion and platform lifting movement.And considering the delay in the heave compensation control system,the prediction model of the heave motion of the platform is established by the theory of fast Fourier transform and Kalman filtering,and the platform heave motion simulation is carried out under different conditions.Finally,according to the characteristics of heave compensation system,a predictive control algorithm considering the measurable disturbance is selected as the heave compensation control algorithm of the floating drilling platform.According to the established model of drilling rod lifting system model and the platform lifting motion model,the simulation of heave compensation control system is carried out,and the control efficiency of the algorithm in the different cases is compared.It shows that the predictive control has good effect of heave compensation control,and lays the foundation for the industrial application of the floating heave compensation system in the future. |
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