超深水超深钻井作业钻柱三维运动补偿系统的研究
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摘要
钻井平台是海上石油开采和科学钻探必备设施之一。在海水、风浪等因素作用下,钻井平台产生六自由度运动。浮动钻井平台作业经验表明,无论钻机性能的高低,都必须配备有钻柱运动补偿器,才能保证稳定的钻压(WOB),提高深海钻井效率。
目前,广泛使用的钻柱运动补偿系统是针对钻井平台的运动而设计的。在浅海钻井作业时,钻井平台的运动是引起钻压波动的主要原因,消除平台运动的影响可使钻压稳定,以最优的钻压进行钻井作业。但在深海钻井的条件下,海水对钻柱的作用不容忽略,仅消除钻井平台运动对钻压的影响,达不到深海钻井作业钻压的要求。
针对深海钻井作业的特点,本文提出了三维钻柱运动补偿系统。该系统在深海钻井作业环境可以保证钻压的稳定,并能对钻压进行调节。为了验证所提出补偿方案的可行性和控制策略的可靠性,本文利用仿真和实验研究来验证补偿装置液压系统和控制策略的可靠性,为钻柱运动补偿系统的开发提供理论和实践基础。
本文总体目标是在理论分析的基础上,构筑钻柱运动补偿的半物理仿真试验系统,并进行实验验证。通过结构方案和参数的设计、钻柱的非线性分析、补偿系统的数学建模、控制器的设计以及补偿系统的仿真和实验研究,从理论和实验上实现对钻压补偿的研究,证明补偿方案是可行的,研究结果是合理的。根据上述的研究过程,本论文的主要内容分为六章,各章研究重点如下：
第一章回顾钻柱运动补偿系统的发展历程、研究现状以及存在不足之处,分析了目前各种钻柱运动补偿系统在深海钻井作业的不足情况,提出了本文的研究内容。
第二章确定钻柱补偿液压方案及补偿系统的相关参数。针对深海钻压补偿的特点和要求,提出了采用复合补偿缸对钻柱进行补偿的优化方案,结合具体工作海况,本文给出了钻柱补偿装置的钻井作业参数；根据具体的工作海况确定深海钻柱运动补偿的各项指标,设计相应的补偿方案；根据所确定的方案设计了相关的参数。
第三章分析深海钻井作业时海水对钻柱及钻压的影响。通过对钻柱补偿系统进行必要的假设和简化,利用有限元分析方法对钻柱进行非线性分析,从理论上证明钻柱三维补偿可以达到补偿的目的,为补偿装置的参数设计提供参考。
第四章建立钻柱补偿系统的数学模型。针对半主动补偿的特点,首先建立三位四通比例阀控制液压缸数学模型和蓄能器与液压缸被动补偿的数学模型,然后在两者的基础上,推导出钻压半主动补偿的数学模型,为系统仿真和补偿控制器的设计提供参考依据。
第五章对钻柱运动补偿系统自适应控制器的设计及补偿的仿真研究。补偿系统采取流量补偿和自适应控制的复合控制策略,使补偿系统适应复杂的工作海况。同时,根据研究的需要,利用AMESim仿真软件对钻柱补偿做进一步的研究,提高补偿系统分析的准确性、钻柱补偿方案及补偿策略的可行性。
第六章实现了对钻柱补偿系统的半物理仿真实验研究。本章利用物质和几何相似性原理,根据所提出的方案和控制策略,建立钻压补偿系统半物理仿真模型。利用Simulink/xPC对实验系统进行半物理仿真研究,在实验过程中,结合第五章自适应控制策略,进行仿真实验研究,结果证明了补偿方案的可行性和控制策略良好的控制效果。
最后,对全文的研究内容进行了总结,并给出本文的研究结论、创新之处以及对未来的展望。
Drilling platform is an essential facility of oil production and scientific drilling in offshore, it has the movement of six degrees of freedom which caused by water, winder and other factors. Experience of the offshore drilling operations has shown that no matter how the level of performance of rig was, to ensure the stability of weight on bit (WOB) and improve the efficiency of deep-sea drilling, it must be equipped with the motion compensator when drilling in the sea.
Currently, the motion compensation system of drill string is designed for the movement of drilling platform. When drilling in shallow water, the movement of platform is the main reason which caused the fluctuations of WOB, so the WOB will be stable and the efficiency of drilling will be improved by eliminating the impact of movement of platform, and improve the efficiency of offshore drilling. However, the role of water has on the WOB can not be ignored under the deep-sea drilling conditions, it will be significantly reduced the compensation accuracy of WOB. Therefore, it is necessary to take a appropriate compensation control scheme to improve the precision of compensation.
For the characteristics of deep-sea drilling, three-dimensional motion compensation system of drill string is put forward in this study, which will guarantee the stability of WOB in the drilling operating environment of deep-sea. To verify the feasibility of compensation and reliability of control strategies, it is essential that take on the research of simulation and experiment, which will provide theoretical and practical basis for the development of motion compensation system of drill string.
The overall goal is to build a semi-physical simulation system of motion compensation of drill string based on theoretical analysis in this thesis, through the design of compensation scheme and parameters, nonlinear analysis of drill string, mathematical modeling of compensation system, the design of controller, the simulation and experimental studies of compensation system, the WOB compensation system is taken by the theory and experiment, it is proved that that compensation program is feasible and the results are reasonable. According to the research process above, the main contents of this paper is divided into six chapters, the specific focus of each chapter is as follows:
ChapterⅠreviews the development process of drill string motion compensation system, research and its inadequacies, analysis of the inadequacies of current motion compensation system in deep-sea, and then the content of this study is proposed.
ChapterⅡdiscusses the most basic part of drill string motion compensation system, the design of compensation program of drill string and its parameters. for the characteristics and requirements of deep-sea drilling operation and pressure compensation. The indicators of drill string motion compensation system of deep-sea, the appropriate compensation programs are put forward; the parameters of drill string compensation system according to the sea conditions with the specific work are determined:Finally. the relevant parameters of compensation program is established.
ChapterⅢanalyzes the effect of water has on the drill string in deep-sea, which provides the reference of the design of compensation system. Through the necessary assumptions and simplifications of compensation system, the nonlinear analysis of drill string is taken on by the use of the finite element method.
ChapterⅣdiscusses how to set up the mathematical model of motion compensation systems. Firstly, the mathematical model of the 4/3-way proportional valve controlled hydraulic cylinder is established, and then the mathematical model of accumulator and hydraulic cylinder is put forward, on the basis of the active and passive compensation system. the mathematical model of semi-active compensation system is put forward.
ChapterⅤfocuses on the design of controller of compensation system and the simulation of system, the composite control strategy of flow compensation and adaptive control is taken to improve control accuracy.
ChapterⅥachieves the experiments of the compensation system for semi-physical simulation. By the use of Simulink/xPC control system and the adaptive control strategy, the semi-physical simulation model of compensation system is established.
Finally, it is the summary of the paper, which gives the conclusions, innovations and vision for the future.
目前,广泛使用的钻柱运动补偿系统是针对钻井平台的运动而设计的。在浅海钻井作业时,钻井平台的运动是引起钻压波动的主要原因,消除平台运动的影响可使钻压稳定,以最优的钻压进行钻井作业。但在深海钻井的条件下,海水对钻柱的作用不容忽略,仅消除钻井平台运动对钻压的影响,达不到深海钻井作业钻压的要求。
针对深海钻井作业的特点,本文提出了三维钻柱运动补偿系统。该系统在深海钻井作业环境可以保证钻压的稳定,并能对钻压进行调节。为了验证所提出补偿方案的可行性和控制策略的可靠性,本文利用仿真和实验研究来验证补偿装置液压系统和控制策略的可靠性,为钻柱运动补偿系统的开发提供理论和实践基础。
本文总体目标是在理论分析的基础上,构筑钻柱运动补偿的半物理仿真试验系统,并进行实验验证。通过结构方案和参数的设计、钻柱的非线性分析、补偿系统的数学建模、控制器的设计以及补偿系统的仿真和实验研究,从理论和实验上实现对钻压补偿的研究,证明补偿方案是可行的,研究结果是合理的。根据上述的研究过程,本论文的主要内容分为六章,各章研究重点如下：
第一章回顾钻柱运动补偿系统的发展历程、研究现状以及存在不足之处,分析了目前各种钻柱运动补偿系统在深海钻井作业的不足情况,提出了本文的研究内容。
第二章确定钻柱补偿液压方案及补偿系统的相关参数。针对深海钻压补偿的特点和要求,提出了采用复合补偿缸对钻柱进行补偿的优化方案,结合具体工作海况,本文给出了钻柱补偿装置的钻井作业参数；根据具体的工作海况确定深海钻柱运动补偿的各项指标,设计相应的补偿方案；根据所确定的方案设计了相关的参数。
第三章分析深海钻井作业时海水对钻柱及钻压的影响。通过对钻柱补偿系统进行必要的假设和简化,利用有限元分析方法对钻柱进行非线性分析,从理论上证明钻柱三维补偿可以达到补偿的目的,为补偿装置的参数设计提供参考。
第四章建立钻柱补偿系统的数学模型。针对半主动补偿的特点,首先建立三位四通比例阀控制液压缸数学模型和蓄能器与液压缸被动补偿的数学模型,然后在两者的基础上,推导出钻压半主动补偿的数学模型,为系统仿真和补偿控制器的设计提供参考依据。
第五章对钻柱运动补偿系统自适应控制器的设计及补偿的仿真研究。补偿系统采取流量补偿和自适应控制的复合控制策略,使补偿系统适应复杂的工作海况。同时,根据研究的需要,利用AMESim仿真软件对钻柱补偿做进一步的研究,提高补偿系统分析的准确性、钻柱补偿方案及补偿策略的可行性。
第六章实现了对钻柱补偿系统的半物理仿真实验研究。本章利用物质和几何相似性原理,根据所提出的方案和控制策略,建立钻压补偿系统半物理仿真模型。利用Simulink/xPC对实验系统进行半物理仿真研究,在实验过程中,结合第五章自适应控制策略,进行仿真实验研究,结果证明了补偿方案的可行性和控制策略良好的控制效果。
最后,对全文的研究内容进行了总结,并给出本文的研究结论、创新之处以及对未来的展望。
Drilling platform is an essential facility of oil production and scientific drilling in offshore, it has the movement of six degrees of freedom which caused by water, winder and other factors. Experience of the offshore drilling operations has shown that no matter how the level of performance of rig was, to ensure the stability of weight on bit (WOB) and improve the efficiency of deep-sea drilling, it must be equipped with the motion compensator when drilling in the sea.
Currently, the motion compensation system of drill string is designed for the movement of drilling platform. When drilling in shallow water, the movement of platform is the main reason which caused the fluctuations of WOB, so the WOB will be stable and the efficiency of drilling will be improved by eliminating the impact of movement of platform, and improve the efficiency of offshore drilling. However, the role of water has on the WOB can not be ignored under the deep-sea drilling conditions, it will be significantly reduced the compensation accuracy of WOB. Therefore, it is necessary to take a appropriate compensation control scheme to improve the precision of compensation.
For the characteristics of deep-sea drilling, three-dimensional motion compensation system of drill string is put forward in this study, which will guarantee the stability of WOB in the drilling operating environment of deep-sea. To verify the feasibility of compensation and reliability of control strategies, it is essential that take on the research of simulation and experiment, which will provide theoretical and practical basis for the development of motion compensation system of drill string.
The overall goal is to build a semi-physical simulation system of motion compensation of drill string based on theoretical analysis in this thesis, through the design of compensation scheme and parameters, nonlinear analysis of drill string, mathematical modeling of compensation system, the design of controller, the simulation and experimental studies of compensation system, the WOB compensation system is taken by the theory and experiment, it is proved that that compensation program is feasible and the results are reasonable. According to the research process above, the main contents of this paper is divided into six chapters, the specific focus of each chapter is as follows:
ChapterⅠreviews the development process of drill string motion compensation system, research and its inadequacies, analysis of the inadequacies of current motion compensation system in deep-sea, and then the content of this study is proposed.
ChapterⅡdiscusses the most basic part of drill string motion compensation system, the design of compensation program of drill string and its parameters. for the characteristics and requirements of deep-sea drilling operation and pressure compensation. The indicators of drill string motion compensation system of deep-sea, the appropriate compensation programs are put forward; the parameters of drill string compensation system according to the sea conditions with the specific work are determined:Finally. the relevant parameters of compensation program is established.
ChapterⅢanalyzes the effect of water has on the drill string in deep-sea, which provides the reference of the design of compensation system. Through the necessary assumptions and simplifications of compensation system, the nonlinear analysis of drill string is taken on by the use of the finite element method.
ChapterⅣdiscusses how to set up the mathematical model of motion compensation systems. Firstly, the mathematical model of the 4/3-way proportional valve controlled hydraulic cylinder is established, and then the mathematical model of accumulator and hydraulic cylinder is put forward, on the basis of the active and passive compensation system. the mathematical model of semi-active compensation system is put forward.
ChapterⅤfocuses on the design of controller of compensation system and the simulation of system, the composite control strategy of flow compensation and adaptive control is taken to improve control accuracy.
ChapterⅥachieves the experiments of the compensation system for semi-physical simulation. By the use of Simulink/xPC control system and the adaptive control strategy, the semi-physical simulation model of compensation system is established.
Finally, it is the summary of the paper, which gives the conclusions, innovations and vision for the future.
引文
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