| Snubbing can effectively protect the formation pressure and production potential,reduce the pollution to the working environment and improve the efficiency of the operation.Based on the structure of traditional snubbing unit,combined with the concept of modularization,this paper designs a new set of highly integrated tubing rod integrated snubbing unit.At the same time,in order to improve the synchronous tracking accuracy of the hydraulic lifting system of the machine,,the research on single track control algorithm and two-way synchronous control strategy is carried out.The main contents of this paper are as follows:(1)Aiming at the problems of poor structural versatility,long well occupation period and high construction cost of traditional pressure operation equipment,based on the existing tubing snubbing equipment structure,the overall structure design of pipe rod integrated snubbing unit is carried out,and the key structures and process technologies such as blowout prevention system,clamping system and liquid path conversion are optimized.The field application data show that the integrated operation machine realizes the organic integration of tubing and sucker rod snubbing unit,effectively reduces the construction difficulty in the process of under pressure injection,pump inspection and casing acidizing,and greatly improves the efficiency of under pressure operation.(2)Aiming at the position control problem of single way hydraulic lifting system with strong disturbance,parameter uncertainty and uncertain nonlinearity,an adaptive backstepping sliding mode control strategy based on extended state observer is proposed.The dynamic surface control method is introduced to calculate the derivative of virtual control variables,and the stability of the system is proved by Lyapunov direct method,and the simulation experiment is carried out by MATLAB/Simulink.The results show that the trajectory tracking accuracy and dynamic quality of the hydraulic lifting system are significantly improved under the action of adaptive backstepping sliding mode controller based on extended state observer,and it shows stronger robustness against internal and external disturbances.(3)Aiming at the high-performance synchronous control requirements of two-way hydraulic lifting system,a cross coupling synchronous control strategy based on fuzzy linear active disturbance rejection is proposed on the basis of the single way position controller designed above.The synchronization controller of the system is optimized and verified by simulation experiments under three different disturbance conditions of light load and heavy load.The results show that the position tracking performance and synchronization quality of the optimized lifting system are significantly improved.At the same time,it can maintain high synchronization tracking accuracy under the conditions of load quality and disturbance amplitude frequency change,and has good stability performance,which can better meet the needs of snubbing. |
