抑制油气井钻柱黏滑振动控制器设计与应用
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摘要
油气井钻进过程中,钻柱系统深入地下几千米,容易引发钻柱黏滑振动现象,进而损坏钻井设备、降低钻进效率及危害钻井安全。为了抑制钻柱黏滑振动,提高系统抗干扰能力,建立了钻柱双自由度集中参数模型及非线性摩擦扰动模型,设计一种状态观测器,提出了速度补偿反馈控制方案。在仿真系统中验证了控制方案的可行性;仿真结果表明,设计的控制器可以使波动的钻头转速逐步收敛于输入参考值,并且闭环控制系统表现出良好的动态性能;基于速度补偿反馈控制器设计了钻柱黏滑振动控制系统,并在钻进现场完成测试实验。实验表明,设计的控制系统可以有效地抑制钻柱黏滑振动,从而进一步提高钻进效率、保障钻进安全。
In drilling field, the undesired stick-slip vibration of a drill string is easily induced, which can damage drilling equipment, reduce drilling efficiency and compromise drilling safety. In order to suppress the undesired stick-slip vibration of the drill string, a control system with a speed compensation feedback controller was proposed. A two degrees of freedom lumped parameter model was established for the drill string system and a nonlinear friction torque model was built for the external disturbance. Based on the 2 DOF model, a state observer and a speed compensation feedback controller were designed separately. The feasibility of the control strategy was verified by using MATLAB. The simulation results show that the drill bit speed gradually converges to the input reference value under the action of the designed controller, and the closed-loop control system shows good dynamic performance. The control system was applied in the actual drilling field. The experimental tests demonstrate that the designed control system can effectively suppress the stick-slip vibration of the drill string and it could be implemented in the drilling field.
In drilling field, the undesired stick-slip vibration of a drill string is easily induced, which can damage drilling equipment, reduce drilling efficiency and compromise drilling safety. In order to suppress the undesired stick-slip vibration of the drill string, a control system with a speed compensation feedback controller was proposed. A two degrees of freedom lumped parameter model was established for the drill string system and a nonlinear friction torque model was built for the external disturbance. Based on the 2 DOF model, a state observer and a speed compensation feedback controller were designed separately. The feasibility of the control strategy was verified by using MATLAB. The simulation results show that the drill bit speed gradually converges to the input reference value under the action of the designed controller, and the closed-loop control system shows good dynamic performance. The control system was applied in the actual drilling field. The experimental tests demonstrate that the designed control system can effectively suppress the stick-slip vibration of the drill string and it could be implemented in the drilling field.
引文
[ 1 ] SERRARENS A F A,VAN DE MOLENGRAFT M J G,KOK J J,et al.H∞ control for suppressing stick-slip in oil well drillstrings[J].IEEE Control System,1998,18 (2):19-30.
[ 2 ] 刘永升,高德利,王镇全,等.斜直井眼中钻柱横向动态运动非线性模型研究[J].振动与冲击,2017,36(24):1-6.LIU Yongsheng,GAO Deli,WANG Zhenquan,et al.Nonlinear dynamic model of drill-string transverse motion in a deviated well[J].Journal of Vibration and Shock,2017,36(24):1-6.
[ 3 ] PAVKOVIC D,DEUR J,LISAC A.A torque estimator-based control strategy for oil-well drill-string torsional vibrations active damping including an auto-tuning algorithm[J].Control Engineering Practice,2011,19 (8):836-850.
[ 4 ] JANSEN J D,VAN DEN STEEN L.Active damping of self-excited torsional vibrations in oil well drillstrings[J].Journal of Sound and Vibration,1995,179 (4):647-668.
[ 5 ] 付蒙,李江红,吴亚锋,等.钻柱黏滑振动特性仿真与产生机理分析[J].西工大学报,2016,34 (3):467-472.FU Meng,LI Jianghong,WU Yafeng,et al.Characteristic simulation and mechanisms analysis for drill-strings stick-slip vibration [J].Journal of Northwestern Polytechnical University,2016,34 (3):467-472.
[ 6 ] 祝效华,汤历平,童华.高频扭转冲击钻进的减振与提速机理研究[J].振动与冲击,2012,31(20):75-78.ZHU Xiaohua,TANG Liping,TONG Hua.Rock breaking mechanism of a high frequency torsional impact drilling [J].Journal of Vibration and Shock,2012,31(20):75-78.
[ 7 ] BRETT J F.The genesis of torsional drillstring vibrations[J].SPE Drill Engineering,1992,7 (4):168-174.
[ 8 ] TUCKER R W,WANG C.On the effective control of torsional vibrations in drilling systems[J].Journal of Sound and Vibration,1999,224(1):101-122.
[ 9 ] ABDULGALIL F,SIGUERDIDIJANE H.Nonlinear control design for suppressing stick-slip oscillations in oil well drillstrings[C]//In Proceedings of 5th Asian Control Conference.Melbourne:IEEE,2004.
[10] AL-HIDDABI S A,SAMANTA B,SEIBI A.Non-linear control of torsional and bending vibrations of oilwell drillstrings[J].Journal of Sound and Vibration,2003,265(2):401-415.
[11] NAVARRO-LóPEZE M,CORTéS D.Sliding-mode control of a multi-DOF oil well drillstring with stick-slip oscillations[C]∥Proceedings of the 2007 American Control Conference.New York:IEEE,2007.
[12] LIU Y.Suppressing stick-slip oscillations in underactuated multibody drill-strings with parametric uncertainties using sliding-mode control[J].Control Theory & Application Let,2015,9 (1):91-102.
[13] PUEBLA H,ALVAREZ-RAMIREZ J.Suppression of stick-slip in drillstrings:a control approach based on modeling error compensation[J].Journal of Sound and Vibration,2008,310 (4/5) :881-901.
[14] KARNOPP D.Computer simulation of stick-slip friction in mechanical dynamic systems[J].Journal of Dynamic Systems,Measurement and Control,Transactions of the ASME,1985,107:100-103.
[15] Z?H M,BRANDEBURG G.The extended damping optimum[J].Automation Technology,1987,35(1):279-286.
[ 2 ] 刘永升,高德利,王镇全,等.斜直井眼中钻柱横向动态运动非线性模型研究[J].振动与冲击,2017,36(24):1-6.LIU Yongsheng,GAO Deli,WANG Zhenquan,et al.Nonlinear dynamic model of drill-string transverse motion in a deviated well[J].Journal of Vibration and Shock,2017,36(24):1-6.
[ 3 ] PAVKOVIC D,DEUR J,LISAC A.A torque estimator-based control strategy for oil-well drill-string torsional vibrations active damping including an auto-tuning algorithm[J].Control Engineering Practice,2011,19 (8):836-850.
[ 4 ] JANSEN J D,VAN DEN STEEN L.Active damping of self-excited torsional vibrations in oil well drillstrings[J].Journal of Sound and Vibration,1995,179 (4):647-668.
[ 5 ] 付蒙,李江红,吴亚锋,等.钻柱黏滑振动特性仿真与产生机理分析[J].西工大学报,2016,34 (3):467-472.FU Meng,LI Jianghong,WU Yafeng,et al.Characteristic simulation and mechanisms analysis for drill-strings stick-slip vibration [J].Journal of Northwestern Polytechnical University,2016,34 (3):467-472.
[ 6 ] 祝效华,汤历平,童华.高频扭转冲击钻进的减振与提速机理研究[J].振动与冲击,2012,31(20):75-78.ZHU Xiaohua,TANG Liping,TONG Hua.Rock breaking mechanism of a high frequency torsional impact drilling [J].Journal of Vibration and Shock,2012,31(20):75-78.
[ 7 ] BRETT J F.The genesis of torsional drillstring vibrations[J].SPE Drill Engineering,1992,7 (4):168-174.
[ 8 ] TUCKER R W,WANG C.On the effective control of torsional vibrations in drilling systems[J].Journal of Sound and Vibration,1999,224(1):101-122.
[ 9 ] ABDULGALIL F,SIGUERDIDIJANE H.Nonlinear control design for suppressing stick-slip oscillations in oil well drillstrings[C]//In Proceedings of 5th Asian Control Conference.Melbourne:IEEE,2004.
[10] AL-HIDDABI S A,SAMANTA B,SEIBI A.Non-linear control of torsional and bending vibrations of oilwell drillstrings[J].Journal of Sound and Vibration,2003,265(2):401-415.
[11] NAVARRO-LóPEZE M,CORTéS D.Sliding-mode control of a multi-DOF oil well drillstring with stick-slip oscillations[C]∥Proceedings of the 2007 American Control Conference.New York:IEEE,2007.
[12] LIU Y.Suppressing stick-slip oscillations in underactuated multibody drill-strings with parametric uncertainties using sliding-mode control[J].Control Theory & Application Let,2015,9 (1):91-102.
[13] PUEBLA H,ALVAREZ-RAMIREZ J.Suppression of stick-slip in drillstrings:a control approach based on modeling error compensation[J].Journal of Sound and Vibration,2008,310 (4/5) :881-901.
[14] KARNOPP D.Computer simulation of stick-slip friction in mechanical dynamic systems[J].Journal of Dynamic Systems,Measurement and Control,Transactions of the ASME,1985,107:100-103.
[15] Z?H M,BRANDEBURG G.The extended damping optimum[J].Automation Technology,1987,35(1):279-286.