海洋浮式钻井液压绞车升沉补偿系统设计
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摘要
为了降低海洋钻井电动绞车补偿系统的能耗、实现升沉补偿运动与自动送钻运动的解耦控制,开展了补偿绞车的节能方法及控制策略研究。针对系统大惯性、大负载的特点,提出一种基于混合动力与液压能量回收的新型液压绞车补偿系统,通过被动液压马达承担钻柱的部分静载荷,通过液压二次调节元件克服运动过程中的其余载荷,同时利用液压蓄能器实现对系统位能与动能的周期性回收与再利用。提出一种基于升沉-送钻双位移闭环控制的软件解耦控制策略;设计了液压绞车补偿系统的串级控制结构;建立了补偿系统的仿真模型并研制了一套补偿绞车原理样机。仿真与实验结果表明,液压绞车补偿系统的解耦控制效果良好,相对于电动绞车补偿系统的节能效果明显。
To reduce the energy consumption of electrodynamic winch compensation system for offshore drilling and realize the decoupling control of heave compensation movement and automatic bit feed movement,the research was carried out on the energy-saving method and control strategy of compensation winch.Due to large inertia and heavy load characteristics of the system,a new type of hydraulic winch compensation system was proposed on the basis of hybrid and hydraulic energy recovery.The passive hydraulic motor was able to bear part of drill-string static load,and hydraulic secondary regulating elements were used to overcome the rest load during the movement.Meanwhile,hydraulic accumulators were adopted to achieve the periodic recovery and reutilization of system potential energy and kinetic energy.Software decoupling control strategy was put forward based on the dual closed loop control of heave and bit feed displacement,and the cascade control structure of hydraulic winch compensation system was designed.Finally,a simulation model of compensation system was established,and a principle prototype of compensation winch was developed.Simulation and experimental results show that the decoupling control effect of hydraulic winch compensation system is favorable with more significant energy saving effect than the electrodynamic winch compensation system.
To reduce the energy consumption of electrodynamic winch compensation system for offshore drilling and realize the decoupling control of heave compensation movement and automatic bit feed movement,the research was carried out on the energy-saving method and control strategy of compensation winch.Due to large inertia and heavy load characteristics of the system,a new type of hydraulic winch compensation system was proposed on the basis of hybrid and hydraulic energy recovery.The passive hydraulic motor was able to bear part of drill-string static load,and hydraulic secondary regulating elements were used to overcome the rest load during the movement.Meanwhile,hydraulic accumulators were adopted to achieve the periodic recovery and reutilization of system potential energy and kinetic energy.Software decoupling control strategy was put forward based on the dual closed loop control of heave and bit feed displacement,and the cascade control structure of hydraulic winch compensation system was designed.Finally,a simulation model of compensation system was established,and a principle prototype of compensation winch was developed.Simulation and experimental results show that the decoupling control effect of hydraulic winch compensation system is favorable with more significant energy saving effect than the electrodynamic winch compensation system.
引文
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[19]侯喜茹,柳贡慧,梁景伟,等.基于Matlab/Simulink模糊工具箱的井眼轨迹模糊控制仿真[J].石油学报,2006,27(3):108-111.HOU Xiru,LIU Gonghui,LIANG Jingwei,et al.Fuzzy control simulation of wellbore trajectory based on Matlab/Simulink fuzzy tool box[J].Acta Petrolei Sinica,2006,27(3):108-111.
[20]黄鲁蒙,张彦廷,刘振东,等.海洋升沉模拟系统设计与控制算法研究[J].机床与液压,2015,43(23):72-75.HUANG Lumeng,ZHANG Yanting,LIU Zhendong,et al.Design of ocean heave motion simulation system and study of control algorithm[J].Machine Tool&Hydraulics,2015,43(23):72-75.
[21]张彦廷,黄鲁蒙,孙选建,等.半主动式补偿绞车的液压试验系统[J].液压与气动,2016(4):38-43.ZHANG Yanting,HUANG Lumeng,SUN Xuanjian,et al.Hydraulic experimental system for semi-active heave compensation drawworks[J].Chinese Hydraulics&Pneumatics,2016(4):38-43.
[2]张光亚,马锋,梁英波,等.全球深层油气勘探领域及理论技术进展[J].石油学报,2015,36(9):1156-1166.ZHANG Guangya,MA Feng,LIANG Yingbo,et al.Domain and theory-technology progress of global deep oil&gas exploration[J].Acta Petrolei Sinica,2015,36(9):1156-1166.
[3]BAKER R J.Improved heave compensation[R].SPE21961,1991.
[4]WOODACRE J K,BAUER R J,IRANI R A.A review of vertical motion heave compensation systems[J].Ocean Engineering,2015,104:140-154.
[5]KORDE U A.Active heave compensation on drill-ships in irregular waves[J].Ocean Engineering,1998,25(7):541-561.
[6]李子丰.油气井杆管柱力学研究进展与争论[J].石油学报,2016,37(4):531-556.LI Zifeng.Research advances and debates on tubular mechanics in oil and gas wells[J].Acta Petrolei Sinica,2016,37(4):531-556.
[7]刘清友,徐涛.深海钻井升沉补偿装置国内现状及发展思路[J].西南石油大学学报:自然科学版,2014,36(3):1-8.LIU Qingyou,XU Tao.Domestic status and thoughts on the development ideas of deepwater drilling heave compensation system[J].Journal of Southwest Petroleum University:Science&Technology Edition,2014,36(3):1-8.
[8]ROBICHAUX L R,HATLESKOG J T.Semi-active heave compensation system for marine vessels:US,5209302[P].1993-11-05.
[9]HAAJ,VANGEN S,TYAPIN I,et al.The effect of friction in passive and active heave compensation of crown block mounted compensators[C]∥Proceedings of the 2012 IFAC Workshop on Automatic Control in Offshore Oil and Gas Production.Trondheim,Norway:Norwegian University of Science and Technology,2012.
[10]National Oilwell Varco.Drawworks catalog[EB/OL].[2015-02-11].http:∥www.nov.com/Segments/Rig_Systems/Offshore/Hoisting/Drawworks/AHD_Drawworks/AHD_Drawworks.aspx.
[11]Active heave drilling drawworks system goes to work[EB/OL].[2014-09-01].http:∥www.offshore-mag.com/articles/print/volume-59/issue-4/news/general-interest/acti ve-heave-drillingdrawworks-system-goes-to-work.html.
[12]黄鲁蒙,张彦廷,刘美英,等.海洋浮式钻井平台绞车升沉补偿系统设计[J].石油学报,2013,34(3):569-573.HUANG Lumeng,ZHANG Yanting,LIU Meiying,et al.Design for a drawworks heave compensation system of floating drilling platform[J].Acta Petrolei Sinica,2013,34(3):569-573.
[13]FIVELSTAD O,VERHOEF R,OGG J,et al.Dual active heave drilling drawworks:from concept to operational life[R].SPE168019,2014.
[14]张彦廷,黄鲁蒙,孟德超,等.海洋钻机补偿绞车能耗计算与实验测试[J].石油学报,2015,36(5):620-625.ZHANG Yanting,HUANG Lumeng,MENG Dechao,et al.Energy consumption calculation and experimental test for heave compensation drawworks of offshore rig[J].Acta Petrolei Sinica,2015,36(5):620-625.
[15]WU Wei,HU Jibin,JING Chongbo,et al.Investigation of energy efficient hydraulic hybrid propulsion system for automobiles[J].Energy,2014,73:497-505.
[16]ZHAO Lijun,GE Zhuhong,LUO Nianning,et al.Operation control strategy of series-parallel hydraulic hybrid vehicle[J].High Technology Letters,2014,20(1):97-102.
[17]赵鹏宇,陈英龙,周华.油液混合动力工程机械系统及控制策略研究综述[J].浙江大学学报:工学版,2016,50(3):1-11.ZHAO Pengyu,CHEN Yinglong,ZHOU Hua.Overview of hydraulic hybrid engineering machinery system and control strategy[J].Journal of Zhejiang University:Engineering Science,2016,50(3):1-11.
[18]Fujian Huisman Steel Manufacturing Limited Company.Vessel Designs:Huisman Product Brochure[EB/OL].[2013-09-04].http:∥www.huisman-cn.com/Cms_Data/Contents/Huisman/Folders/Magazines/~contents/6G72BYSKRZ8PSM7D/Brochure-Vessel-Design-2013-1.pdf
[19]侯喜茹,柳贡慧,梁景伟,等.基于Matlab/Simulink模糊工具箱的井眼轨迹模糊控制仿真[J].石油学报,2006,27(3):108-111.HOU Xiru,LIU Gonghui,LIANG Jingwei,et al.Fuzzy control simulation of wellbore trajectory based on Matlab/Simulink fuzzy tool box[J].Acta Petrolei Sinica,2006,27(3):108-111.
[20]黄鲁蒙,张彦廷,刘振东,等.海洋升沉模拟系统设计与控制算法研究[J].机床与液压,2015,43(23):72-75.HUANG Lumeng,ZHANG Yanting,LIU Zhendong,et al.Design of ocean heave motion simulation system and study of control algorithm[J].Machine Tool&Hydraulics,2015,43(23):72-75.
[21]张彦廷,黄鲁蒙,孙选建,等.半主动式补偿绞车的液压试验系统[J].液压与气动,2016(4):38-43.ZHANG Yanting,HUANG Lumeng,SUN Xuanjian,et al.Hydraulic experimental system for semi-active heave compensation drawworks[J].Chinese Hydraulics&Pneumatics,2016(4):38-43.