Research On The Control Strategy Of The Active-passive Combined Heave Compensation Device For The Tianmo Model

This project aiming at the offshore drilling operation,due to the complex system structure,prominent hook vibration problems,system control lags,and factors affecting system operation accuracy,the heave compensation control strategy for drilling operations system is studied to ensure the reliable and safe operation of drilling operations.Marine exploration projects have been vigorously developed and utilized by various countries in the world.Marine drilling equipment is the key component in the development of offshore oil and gas projects.The heaving compensation of Marine drilling equipment is particularly important.The drilling operation is performed on an offshore platform,influenced by wind,waves,currents,etc.These will cause the platform to perform heave motion.Among them,when the platform's heave motion exceeds a certain range,due to up and down of the work platform,will cause the vibration of the drill,leading to instability in the bottom hole;when the platform's heave motion is too large,it will lead to the drill bit off the bottom of the well,leading drilling operations to be unusable or safety incidents.Therefore,the compensation effect for the heave motion of the working platform can be used as a criterion forjudging the control effect of the drilling heave compensation system.In this paper,the crane type for heave compensation test bench was built to analyze and research the principle prototype process and working principle.The drill string vibration model was used to analyze the effect of heave motion of the work platform on the drilling process in drilling operations under complex sea conditions.The control system is used to collect the heave displacement of the work platform and compensate the displacement of the hydraulic cylinder to obtain the deviation between the two to achieve real-time control of the crane displacement.The active and passive compensation cylinders are used to adjust the displacement of the crane to realize the compensation for the deep motion of the working platform.The whole heave compensation system was investigated.The heave compensation system was used to predict the heave motion of the working platform before heave compensation,and the heave compensation system was used to compensate for the heaving motion of the working platform.Based on the motion law of the operating platform in the waves,it presents a nonlinear and changeable characteristics.An improved support vector machine is proposed to optimize the least squares support vector machine using artificial immune algorithm to realize the prediction of the heave motion state of the platform.At the same time,the prediction of the heaving motion of the operating platform is based on historical wave data.A simulation test was conducted to verify the prediction method and provide a new idea for the heave compensation motion of the working platform.Based on the research and analysis of the working principle of the device,using the drill string vibration model,through the theoretical study to highlight the need to compensate for the heave motion of the drilling platform,establish the Mathematical model of electro-hydraulic control system for the crane type for heave compensation.Three different controllers PID,fuzzy PID and BP neural network PID simulation experiments were done,and the device experiments were done based on the simulation results.The BP neural network PID was the best control strategy for the control system of the device.Based on the principle prototype of the active and passive combined heave compensation system of the crane type.The test was performed under different sea conditions to verify the compensation performance of the device.This paper studies the control strategy of heave compensation system for drilling platform,improves the control accuracy of the system.When the platform performs three kinds of wave motions with different waveforms,different amplitudes,and different periods,effective compensation is achieved,and the average compensation rate of the system can be as high as 95%or more.Protect the drilling operation safely and orderly.In addition,the prediction method proposed in this paper does not need to consider the parameters of the system itself,and avoids the tedious process of system modeling.Can be used to solve other similar problems.