| With the depletion of shallow resources and the increasing social demand for mineral resources,the drilling and exploitation of deep resources has become particularly important.In deep drilling process,in order to obtain the deep core position,need to hundreds or thousands of drill pipe conveying,drilling,drilling operations,such as "depth detection and experimental research on the key instrument equipment" in the process of the experiment,the design of drilling depth of 10000 meters,you will need to deliver 1110 drill pipe for recycling,according to the statistics,drilling tool conveying time occupies more than a third of the drilling operation time.The traditional method of drilling tool transportation is low in efficiency and high in danger.The safety accidents caused by drilling tool transportation account for 77% of the whole well site accidents every year,which greatly affects the safety of site construction personnel.If the drill tool conveying mechanism(commonly known in the industry as "automatic cat path","cat path" or "power cat path")is used to transport the drill tool,the whole process requires less personnel,only 1-2 people can complete the operation,and the migration time is short,1-3 minutes can complete the transportation.The use of drilling tool conveying mechanism can greatly improve the efficiency of drilling tool conveying,reduce the labor intensity of workers,reduce the operating cost,improve the drilling construction efficiency and the automation level of drilling equipment,so it has a high research value and market value.However,there is a strong nonlinear vibration of the drill tool conveying mechanism in the actual work,which causes the deformation of the whole machine,and even causes the machine to roll over and cause casualties,which limits its application in engineering.The main research contents of this paper are as follows:1.Analyze the overall structure and working process of the drilling tool automatic conveying mechanism by studying its working process.According to the real object,the parameters of drilling tool conveying are calculated by using the principle of similarity,and the model of drilling tool conveying is designed.Through the kinematics analysis of the model,the control mode is studied.2.To study the vibration characteristics of strut mechanism,the institution of transverse vibration dynamics equations and the institutions of the state space equation,using modal analysis method to deduce the poles of the first order modal function and mechanical structure under the action of harmonic load,the dynamic equation of forced vibration,it provides theoretical supports for the vibration control of poles.Using ANSYS software to solve the strut mechanism,the natural frequency and vibration pattern of the strut are deduced,and the main modal characteristics of the strut component in the frequency range susceptible to influence and the position of the dangerous section of the strut are obtained.3.The vibration control of strut mechanism is studied based on PID control and fuzzy control theory.The vibration suppression effect of PID controller and fuzzy controller is verified by SIMULINK simulation.It is found that PID controller and fuzzy controller have their own advantages and disadvantages,so the design of fuzzy PID controller is carried out by combining PID controller and fuzzy controller.Through the numerical simulation of the fuzzy PID controller,the vibration suppression effect of the controller on the strut mechanism is verified.4.Set up the vibration control experiment platform of the strut mechanism,and the computer and software together constitute the data comprehensive processing module of the system.After completing the debugging of each equipment,the physical experiment of the strut vibration control is started,and the corresponding experimental results are finally obtained,and the results are analyzed and summarized to verify the feasibility of the theory. |
PDF Full Text Request