Analysis of Stick-slip Reduction and PID Control Strategy for a New Torsional Vibration Tool
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摘要: 在深井和超深井勘探开发过程中,广泛存在着粘滑振动现象,该现象不仅造成机械钻速降低,驱动能量大量浪费;而且还会加速钻具老化和失效,严重威胁钻井安全。为了有效地控制钻柱的粘滑振动,首先提出了一种新型扭转振动工具;其次建立了基于该工具的钻柱系统的理论模型;最后用PID控制方法对新型扭转振动工具的降粘特性进行了研究。结果表明:该工具能够有效地控制钻柱的粘滑振动,两种PID控制方程均能对期望稳态转速进行实时监控,对比两者,U2控制方程具有更快的调节能力和更好的控制性能,且前期无粘滑现象的发生。Abstract: In the exploration and development of deep and ultra-deep wells, the phenomenon of stick-slip vibration is widespread, which is not only causes the reduction of the mechanical drilling rate, but also wastes the driving energy. And it will also accelerate the aging and failure of the drill, threatening the safety of drilling seriously. In order to effectively control the stick-slip vibration of the drill string, a new type of torsional vibration tool is proposed in this paper. Secondly, the theoretical model of the drill string system based on the tool is established. Finally, the viscosity reduction characteristics of the new torsional vibration tool are studied by the PID control method. The simulation experiment is carried out on the established theoretical model of the drill string. The results show that the two PID control methods proposed in this paper also can monitor the expected steady-state speed in real time to suppress the stick-slip vibration phenomenon of the drill string system. Compared the two control equations, U2 control equation owns the faster adjustment ability and better control performance, and there is no stick-slip phenomenon in the early stage.
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Key words:
- stick-slip vibration /
- dynamics /
- torsional vibration tool /
- drill string system /
- PID control
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表 1 相关参数
参数名称 数值及单位 静钻压Wob 97 347 N 工具转动惯量Jt 1.297 8 kg∙m 2 转盘转动惯量Jr 930 kg∙m 2 钻杆转动惯量Jp 2 782.25 kg∙m 2 钻铤转动惯量Jc 700 kg∙m 2 钻头转动惯量Jb 471 kg∙m 2 转盘与钻杆单元之间弹簧刚度Krp 700 N∙m/rad 钻杆与钻铤之间弹簧刚度Kpc 1 080 N∙m/rad 钻铤与工具之间弹簧刚度Kct 951 N∙m/rad 工具与钻头之间弹簧刚度Ktb 824 N∙m/rad 转盘与钻杆单元之间阻尼Crp 139.6 N∙m∙s/rad 钻杆与钻铤之间弹簧阻尼Cpc 190 N∙m∙s/rad 钻铤与工具之间弹簧阻尼Cct 157 N∙m∙s/rad 工具与钻头之间弹簧阻尼Ctb 181.5 N∙m∙s/rad 转盘处粘滞阻尼系数Cr 425 N∙m∙s/rad 钻头处粘滞阻尼系数Cb 50 N∙m∙s/rad 钻头半径Rb 0.155 m 动摩擦因素μsb 0.8 库伦摩擦因素μcb 0.5 转换系数γb 0.5 -
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