CN104035371A - System of restraining drill pipe stick-slip vibration based on auto-disturbance rejection method and method - Google Patents

Abstract

The invention discloses a system of restraining drill pipe stick-slip vibration based on an auto-disturbance rejection method and a method. The method comprises steps: 1) the main given rotation speed of a motor is given by a frequency converter through a PLC control system, the main given rotation speed is transmitted to a controlled object, and the actual rotation speed of the motor is obtained; 2) the frequency converter transmits the actual rotation speed of the motor to a control unit; 3) a human-computer interaction device transmits the drill pipe and drill tool combination information to the control unit; 4) the control unit carries out optimization operation on the acquired actual rotation speed of the motor and the drill pipe and drill tool combination information, an auxiliary given optimization rotation speed is obtained, and amplitude limiting is carried out on the auxiliary given optimization rotation speed by using the maximal rotation speed; and 5) the control unit transmits the auxiliary given optimization rotation speed after amplitude limiting to the frequency converter via a CAN bus, the auxiliary given optimization rotation speed is overlapped with the main motor given rotation speed, and the overlapped rotation speed controls the rotation speed of a driving motor. The method can estimate the disturbing quantity of the system, the actual rotation speed and the actual torque of the motor can be displayed in real time, and the purpose of restraining drill pipe stick-slip vibration can be achieved.

Description

A kind of system and method that suppresses the vibration of drilling rod stick-slip based on active disturbance rejection method

Technical field

The invention belongs to the technical field such as petroleum drilling, geologic prospecting, relate to a kind of system and method that suppresses the vibration of drilling rod stick-slip based on active disturbance rejection method, bus communication technology and human-computer interaction technology.

Background technology

In Process of Oil Well Drilling, because the motion of complex formation, drilling rod is uncertain, easily there is drilling rod vibration, comprise transverse vibration, axial vibration and the stick-slip vibration of drilling rod.Wherein, stick-slip vibration is the torque oscillation causing due to the moment of friction on drill bit and stratum, bit speed or stop or turn, moment rotating speed very large, easily cause the performance deterioration of drilling rod and drill bit; This phenomenon not only affects drilling efficiency and also threatens the safety of drilling well, therefore needs to take rational method to suppress stick-slip vibration.

For stick-slip vibration, vibration damping approach and measure mainly contain: (1) increases top rotating speed; (2) increase system equivalence torsional rigidity; (3) increase system equivalent damping; (4) top moment of torsion negative feedback.

Develop at present some abroad and suppressed the method and system that stick-slip is vibrated.

Navarro-Lo ' pez in 2004 and Suarez-Cortez propose at drilling rod bottom mounting dampers; 2000, Richardson and K ü ttel proposed to install hydraulic torque drive system on make-up of string.But these methods have all increased complicacy and the cost of drilling rod system, and do not there is versatility while using.

Halsey in 1988, Kyllingstad and Kylling have proposed the degenerative method of drilling rod moment of torsion; Canudas-de-Wit et al in 2005 has proposed drilling well vibration jinx Drilling Oscillation Killer (D-OSKIL), and it utilizes weight on drill bit as additional control parameter.That these methods have and immature, result of use is not very good yet.The domestic current research in field is also relatively short of, so the research and development of this respect have good engineering using value.

Summary of the invention

The object of the invention is for the normal stick-slip oscillation phenomenon occurring in petroleum drilling, a kind of system and method that suppresses the vibration of drilling rod stick-slip based on active disturbance rejection method is provided, adopt system of the present invention, can obtain exactly actual drilling rod parameter, show in real time motor actual speed and motor actual torque curve and numerical value, the driving rotating speed that rotating speed order changes drive motor be can send, thereby torque oscillation and the speed oscillation of drilling rod and make-up of string suppressed.This system solved in prior art hardware connect complicated, system works is unstable, realize the undesirable problem of effect.

In order to realize technique scheme, the present invention takes following technical solution:

A system that suppresses the vibration of drilling rod stick-slip based on active disturbance rejection method, comprising:

---controlled device, comprise the gear case that drive motor connects, and the drilling rod being driven by gear case and make-up of string, for realizing petroleum drilling;

---frequency converter, comprise PLC control system, the startup of PLC control system control drive motor, stop and the duty of speed governing, and set the main given rotating speed of motor, the current state of drive motor is fed back to control module by frequency converter;

---control module, comprise Active surge damper, control for the current state to drive motor, suppress torque oscillation and the speed oscillation of drilling rod and make-up of string;

---human-computer interaction device, comprise ARM chip, complete the data management of control module, man-machine manipulation;

---CAN bus, for realizing the free communication of frequency converter and control module;

Described frequency converter is connected with drive motor, and drive motor is connected with make-up of string with the drilling rod being driven by gear case, and frequency converter is by CAN bus connection control unit, and control module connects human-computer interaction device by serial ports.

Further, described automatic disturbance rejection controller comprises Nonlinear Tracking Differentiator, extended state observer, nonlinear combination unit, disturbance compensation unit and feedback of status unit; Nonlinear Tracking Differentiator is connected with nonlinear combination unit, and nonlinear combination unit is connected with disturbance compensation unit, and disturbance compensation unit is connected with frequency converter with feedback of status unit respectively; Feedback of status unit is connected respectively extended state observer with frequency converter, and extended state observer connects respectively Nonlinear Tracking Differentiator and disturbance compensation unit; Frequency converter connects controlled device.

Correspondingly, the present invention and then provided the control method that active disturbance rejection method suppresses the system of drilling rod stick-slip vibration, the method comprises the steps:

1) frequency converter provides the main given rotating speed of motor of setting by PLC control system, transfers to controlled device, drives drilling rod to run up;

2) frequency converter transfers to control module by CAN bus by motor actual speed;

3) simultaneously, human-computer interaction device by drilling rod and structure of downhole assembly communication to control module;

4) control module is optimized computing to the motor actual speed of obtaining and drilling rod and structure of downhole assembly information, obtains auxiliary given optimization rotating speed, and auxiliary given optimization rotating speed is carried out to amplitude limit with maximum (top) speed;

5) control module by CAN bus just the auxiliary given optimization rotating speed after amplitude limit transfer to frequency converter, superimposed with the main given rotating speed of motor, stack rotating speed control drive motor, and then control the rotary drilling of drilling rod and make-up of string, suppresses the vibration of drilling rod stick-slip;

6) simultaneously, human-computer interaction device is preserved in real time and is shown motor actual speed and motor actual torque data.

Further, the optimization computing of described control module realizes by following method:

A) build Nonlinear Tracking Differentiator, the main given rotating speed of tracking motor, and extract the main given rotating speed pursuit gain of motor v ₁with the main given rotating speed differential value of motor v ₂;

B) nonlinear combination unit is by main motor given rotating speed pursuit gain v ₁with the main given rotating speed differential value of motor v ₂carry out obtaining auxiliary given rotating speed u after nonlinear combination ₀;

C) feedback of status unit provides a feedback gain b ₀, by auxiliary given rotating speed u ₀obtain respectively controlled device state estimator z with drill speed y through extended state observer ₁, drill speed differential z ₂, disturbance estimator z ₃;

D) drill speed estimator z ₁, drill speed differential estimator z ₂respectively with the main given rotating speed pursuit gain of motor v ₁with the main given rotating speed differential value of motor v ₂differ from, difference inputs to nonlinear combination unit and obtains auxiliary given rotating speed u ' ₀;

E) disturbance compensation unit is by auxiliary given rotating speed u ' ₀in conjunction with disturbance estimator z ₃obtain motor and expect rotating speed u ₁with auxiliary given optimization rotating speed u.

Further, described Nonlinear Tracking Differentiator extracts the main given rotating speed pursuit gain of motor v ₁with the main given rotating speed differential value of motor v ₂realize by building Nonlinear Tracking Differentiator model:

$\left\{\begin{array}{c}{v}_1(k+1)=v_1\left(k\right)+{\mathrm{hv}}_2\left(k\right)\\ v_2(k+1)=v_2\left(k\right)+\mathrm{hfh}(v_1,v_2,r,h_1)\end{array}\right.---\left(1\right)$

In formula, h is integration step, and k is sampling period number of times, and r is velocity factor, h ₁for filtering factor, v ₁and v (k) ₂(k) the main given rotating speed pursuit gain of motor and the main given rotating speed differential value of motor while representing respectively the k time sampling, fh is time-optimal control function;

Further, described extended state observer obtains drill speed estimator z ₁, drill speed differential estimator z ₂with disturbance estimator z ₃realize by following formula:

$\left\{\begin{array}{c}e\left(k\right)=z_1\left(k\right)-y\left(k\right)\\ z_1(k+1)=z_1\left(k\right)+h(z_2\left(k\right)-{\mathrm{\β}}_{01}e\left(k\right))\\ z_2(k+1)=z_2\left(k\right)+h(z_3\left(k\right)-{\mathrm{\β}}_{02}e\left(k\right)+b_{0}u)\\ z_3(k+1)=z_3\left(k\right)+h(-{\mathrm{\β}}_{03}e\left(k\right))\end{array}\right.---\left(2\right)$

In formula, b ₀for adjustable compensating factor, k is sampling period number of times, drill speed when y (k) is the k time sampling, rotating speed deviation when e (k) is the k time sampling, β ₀₁, β ₀₂, β ₀₃for being respectively the adjustable parameter of extended state observer, z ₁(k), z ₂(k), z ₃(k) drill speed estimator, drill speed differential estimator and disturbance estimator while being respectively the k time sampling.

Further, described nonlinear combination unit is by main motor given rotating speed pursuit gain v ₁with the main given rotating speed differential value of motor v ₂carry out obtaining auxiliary given rotating speed u after nonlinear combination ₀realize by following formula:

u′ ₀(k)＝k _ifal(v _i(k)z _i(k),0.5,6 ₂)+k _zfal(v ₂(k)-z ₂(k),0.25,6 ₂) (3)

Wherein, $\mathrm{fal}(e,\mathrm{\&alpha;},\mathrm{\&delta;})=\left\{\begin{array}{cc}{\left|e\right|}^{\mathrm{\&alpha;}}\mathrm{sign}\left(e\right)& \left|e\right|>{\mathrm{\&delta;}}_2\\ \frac{e}{{{{\mathrm{\&delta;}}_2^1}^{-\mathrm{\&alpha;}}}^{}}& \left|e\right|<{\mathrm{\&delta;}}_2\end{array}\right.---\left(4\right)$

In formula, fal (e, α, δ) is for suppressing the nonlinear function of error, k ₁, k ₂be respectively combination coefficient, e is rotating speed deviation, δ ₂for the extent of the error of fal function, α is change in gain rate, u ' ₀(k) the auxiliary given rotating speed while being the k time sampling.

Further, to obtain the method for auxiliary given optimization rotating speed u as follows in described disturbance compensation unit:

1. by auxiliary given rotating speed u ' ₀and disturbance estimator z ₃obtain motor and expect rotating speed u ₁:

$u_1\left(k\right)=u_0^{\&prime;}\left(k\right)-\frac{z_3\left(k\right)}{b_0}---\left(5\right)$

In formula, u ₁(k) motor while being the k time sampling is expected rotating speed;

2. expect rotating speed u by motor ₁with the main given rotating speed v of motor ₀obtain auxiliary given optimization rotating speed u:

u(k)＝u ₁(k)-v ₀(k) (6)

In formula, auxiliary given optimization rotating speed when u (k) is the k time sampling.

With respect to prior art, feature of the present invention is:

(1) system of the present invention is the ground control technology based on top drive drilling technology, and hardware configuration is simple, just can realize the vibration of inhibition drilling rod stick-slip without adding any bottom equipment;

(2) the present invention has adopted automatic disturbance rejection controller, and it is seamless integrated that PLC control system is driven on core control program and existing frequency converter top, and its calculation process speed is fast, has good real-time performance;

(3) the present invention has adopted automatic disturbance rejection controller to be optimized computing, and the main given rotating speed stack of the auxiliary given optimization rotating speed obtaining and motor co-controlling drive motor, can suppress the vibration of drilling rod stick-slip effectively;

(4) controller active disturbance rejection algorithm does not rely on object model, can estimate disturbance quantity, has good anti-interference and robustness;

(5) there is human-computer interaction interface, simple operation, dirigibility is high;

(6) system communication is stable, has good anti-interference.

Brief description of the drawings

Fig. 1 is hardware configuration and overall system design figure;

Fig. 2 is stick-slip control system active disturbance rejection algorithm principle figure;

Fig. 3 is the control curve of drilling rod stick-slip control system drilling rod moment of torsion;

Fig. 4 is the control curve of drilling rod stick-slip control system drill speed.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

As shown in Figure 1, the system that suppresses the vibration of drilling rod stick-slip based on active disturbance rejection method of the present invention, comprising:

Controlled device, comprises the gear case that drive motor connects, and the drilling rod being driven by gear case and make-up of string, for realizing petroleum drilling; Frequency converter, comprises PLC control system, the startup of PLC control system control drive motor, stops and the duty of speed governing, and sets the main given rotating speed of motor, and the current state of drive motor is fed back to control module by frequency converter; Control module, comprises automatic disturbance rejection controller, for the current state of drive motor is controlled to adjustment, suppresses torque oscillation and the speed oscillation of drilling rod and make-up of string; Human-computer interaction device, comprises ARM chip, completes the data management of control module, man-machine manipulation, can obtain thus the structural information of drilling rod and make-up of string, can also preserve in real time and show the data such as motor speed and Motor torque; CAN bus, for realizing the free communication of frequency converter and control module.Frequency converter is connected with drive motor, and drive motor is connected with make-up of string with the drilling rod being driven by gear case, and frequency converter is by CAN bus connection control unit, and control module connects human-computer interaction device by serial ports.

Wherein, control module is the core apparatus of control system, mainly adopts active disturbance rejection algorithm to realize by automatic disturbance rejection controller.Automatic disturbance rejection controller comprises Nonlinear Tracking Differentiator, extended state observer, nonlinear combination unit, disturbance compensation unit and feedback of status unit; Nonlinear Tracking Differentiator obtains the main given rotating speed pursuit gain of motor v according to the main given rotating speed of the motor of inverter PLC control default ₁with the main given rotating speed differential value of motor v ₂, by v ₁and v ₂obtain auxiliary given rotating speed u by nonlinear combination unit ₀; Auxiliary given rotating speed u ₀obtain drill speed estimator z through extended state observer again through feedback of status unit and drill speed y ₁, drill speed differential estimator z ₂with disturbance estimator z ₃, z ₁, z ₂obtain auxiliary given rotating speed u ' through nonlinear combination unit ₀; Auxiliary given rotating speed u ' ₀with disturbance estimator z ₃obtain auxiliary given optimization rotating speed u through disturbance compensation unit, and u is carried out to amplitude limit with maximum (top) speed, just the auxiliary given optimization rotating speed after amplitude limit transfers to frequency converter, the superposition value co-controlling drilling rod of the auxiliary given optimization rotating speed after the main given rotating speed of motor and amplitude limit and the rotary drilling of make-up of string, suppress the vibration of drilling rod stick-slip.As shown in Figure 2.

Under the present invention, mask body has provided the control method of the system of active disturbance rejection method inhibition drilling rod stick-slip vibration, and step is as follows:

1) frequency converter provides the main given rotating speed of motor of setting by PLC control system, transfers to controlled device, drives drilling rod to run up;

2) frequency converter transfers to control module by CAN bus by motor actual speed;

3) simultaneously, human-computer interaction device by drilling rod and structure of downhole assembly communication to control module;

4) control module is optimized computing to the motor actual speed of obtaining and drilling rod and structure of downhole assembly information, obtains auxiliary given optimization rotating speed, and auxiliary given optimization rotating speed is carried out to amplitude limit with maximum (top) speed.The optimization computing of control module realizes by following method:

A) build Nonlinear Tracking Differentiator, the main given rotating speed of tracking motor, and extract the main given rotating speed pursuit gain of motor v ₁with the main given rotating speed differential value of motor v ₂, method is as follows:

1. build Nonlinear Tracking Differentiator model:

$\left\{\begin{array}{c}{v}_1(k+1)=v_1\left(k\right)+{\mathrm{hv}}_2\left(k\right)\\ v_2(k+1)=v_2\left(k\right)+\mathrm{hfh}(v_1,v_2,r,h_1)\end{array}\right.---\left(1\right)$

In formula, h is integration step, and k is sampling period number of times, and r is velocity factor, h ₁for filtering factor, v ₁and v (k) ₂(k) the main given rotating speed pursuit gain of motor and the main given rotating speed differential value of motor while representing respectively the k time sampling, fh is time-optimal control function;

2. obtain time-optimal control function f h by following formula, function calculating formula is suc as formula (2):

$\left\{\begin{array}{c}\mathrm{fh}=-\mathrm{rsat}(g,\mathrm{\&delta;})\\ {\mathrm{\&delta;}}_1=h_1\mathrm{\&delta;}\\ \mathrm{\&delta;}=h_{1}r\\ y={\mathrm{\&upsi;}}_1-{\mathrm{\&upsi;}}_0+h_1{\mathrm{\&upsi;}}_2\\ g=\begin{array}{cc}{\mathrm{\&upsi;}}_2-0.5\mathrm{sign}\left(y\right)r(h_1-\sqrt{\frac{8\left|y\right|}{r}+h_1^2})& \left|y\right|>{\mathrm{\&delta;}}_1\\ {\mathrm{\&upsi;}}_2+y/h_1& \left|y\right|<{\mathrm{\&delta;}}_1\end{array}\\ \mathrm{sat}(g,\mathrm{\&delta;})=\left\{\begin{array}{cc}\mathrm{sign}\left(g\right)& \left|g\right|>\mathrm{\&delta;}\\ \mathrm{g\&delta;}& \left|g\right|<\mathrm{\&delta;}\end{array}\right.\end{array}\right.---\left(2\right)$

In formula, v ₀for the main given rotating speed of motor, δ ₁for the extent of the error of time-optimal control function f h, sign (g) is sign function, and sat (g, δ) is saturation function, the independent variable that g, δ are saturation function, the intermediate variable that y is g;

B) nonlinear combination unit is by main motor given rotating speed pursuit gain v ₁with the main given rotating speed differential value of motor v ₂carry out obtaining auxiliary given rotating speed u after nonlinear combination ₀;

C) feedback of status unit provides a feedback gain b ₀, by auxiliary given rotating speed u ₀obtain respectively drill speed estimator z with the drill speed value y of frequency converter output through extended state observer ₁, drill speed differential estimator z ₂with disturbance estimator z ₃, method is as follows:

$\left\{\begin{array}{c}e\left(k\right)=z_1\left(k\right)-y\left(k\right)\\ z_1(k+1)=z_1\left(k\right)+h(z_2\left(k\right)-{\mathrm{\&beta;}}_{01}e\left(k\right))\\ z_2(k+1)=z_2\left(k\right)+h(z_3\left(k\right)-{\mathrm{\&beta;}}_{02}e\left(k\right)+b_{0}u)\\ z_3(k+1)=z_3\left(k\right)+h(-{\mathrm{\&beta;}}_{03}e\left(k\right))\end{array}\right.---\left(3\right)$

In formula, b ₀for adjustable compensating factor, k is sampling period number of times, drill speed when y (k) is the k time sampling, rotating speed deviation when e (k) is the k time sampling, β ₀₁, β ₀₂, β ₀₃for being respectively the adjustable parameter of extended state observer, z ₁(k), z ₂(k), z ₃(k) drill speed estimator, drill speed differential estimator and disturbance estimator while being respectively the k time sampling;

D) z ₁, z ₂respectively with v ₁and v ₂differ from, difference inputs to nonlinear combination unit and obtains auxiliary given rotating speed u ' ₀, method is as follows:

u′ ₀(k)＝k _ifal(v _i(k)z _i(k),0.5,6 ₂)+k _zfal(v ₂(k)-z ₂(k),0.25,6 ₂) (4)

Wherein, $\mathrm{fal}(e,\mathrm{\&alpha;},\mathrm{\&delta;})=\left\{\begin{array}{cc}{\left|e\right|}^{\mathrm{\&alpha;}}\mathrm{sign}\left(e\right)& \left|e\right|>{\mathrm{\&delta;}}_2\\ \frac{e}{{{{\mathrm{\&delta;}}_2^1}^{-\mathrm{\&alpha;}}}^{}}& \left|e\right|<{\mathrm{\&delta;}}_2\end{array}\right.---\left(5\right)$

In formula, fal (e, α, δ) is for suppressing the nonlinear function of error, k ₁, k ₂be respectively combination coefficient, e is rotating speed deviation, δ ₂for the extent of the error of fal function, α is change in gain rate, u ' ₀(k) the auxiliary given rotating speed while being the k time sampling.

E) disturbance compensation unit is by auxiliary given rotating speed u ' ₀with z ₃make difference and obtain auxiliary given optimization rotating speed u, method is as follows:

1. by auxiliary given rotating speed u ' ₀and disturbance estimator z ₃obtain motor and expect rotating speed u ₁:

$u_1\left(k\right)=u_0^{\&prime;}\left(k\right)-\frac{z_3\left(k\right)}{b_0}---\left(6\right)$

In formula, u ₁(k) motor while being the k time sampling is expected rotating speed;

2. expect rotating speed u by motor ₁with the main given rotating speed v of motor ₀obtain auxiliary given optimization rotating speed u:

U (k)=u _work(k)-v _o(k) (7)

In formula, auxiliary given optimization rotating speed when u (k) is the k time sampling;

5) control module by CAN bus just the auxiliary given optimization rotating speed after amplitude limit transfer to frequency converter, superimposed with the main given rotating speed of motor, stack rotating speed control drive motor, and then control the rotary drilling of drilling rod and make-up of string, suppresses the vibration of drilling rod stick-slip;

6) simultaneously, human-computer interaction device is preserved in real time and is shown the data such as motor actual speed and motor actual torque.

Advantage of the present invention can further illustrate by following emulation experiment:

1. simulated conditions

Based on above analysis, build plant model, and set up the realistic model of drilling rod stick-slip control.Frequency converter is input as the main given rotating speed of motor before 100s, simulates stick-slip vibration mode, is input as the stack rotating speed of the auxiliary given optimization rotating speed after the main given rotating speed of motor and amplitude limit after 100s.Wherein, the main given rotating speed of motor is n=1800rpm, and the maximum (top) speed of auxiliary given optimization rotating speed is n _max=200rpm.

2. simulation result

Utilize above simulated conditions to set up control system model, the main given rotating speed v of motor ₀be input to Nonlinear Tracking Differentiator and obtain v ₁and v ₂, drill speed y is input to extended state observer and obtains z ₁, z ₂, z ₃, v ₁and z ₁relatively poorer, v ₂and z ₂relatively poorer, two deviation signals that obtain are carried out nonlinear combination, controlled amount u ₀, z ₃and v ₀obtain auxiliary given optimization rotating speed u, u is carried out to amplitude limit with maximum (top) speed, by the auxiliary given optimization rotating speed u after amplitude limit and the main given rotating speed v of motor ₀superpose, stack rotating speed is sent to frequency converter, and then control drive motor.

After emulation, as shown in Figure 3, drill speed control curve as shown in Figure 4 for drilling rod moment of torsion control curve.

From figure, result can be found out, drilling rod moment of torsion and bit speed just enter steady state (SS) after 50s, and this controller can suppress stick-slip vibration rapidly and accurately as seen, and dynamic property and steady-state behaviour are good.

The above, be only the embodiment that the present invention is directed to the present invention's application, can make those skilled in the art more fully understand the present invention, but not the present invention be done to any restriction.According to technical solution of the present invention, above-described embodiment can be enumerated a lot of examples.Every according to the given scope of technical solution of the present invention with to any simple modifications and changes made for any of the above embodiments, all belong to the protection domain of technical solution of the present invention.A large amount of experimental results show, the scope proposing at the claims in the present invention book all can reach object of the present invention.

Claims (8)

1. a system that suppresses the vibration of drilling rod stick-slip based on active disturbance rejection method, is characterized in that, comprising:

---controlled device, comprise the gear case that drive motor connects, and the drilling rod being driven by gear case and make-up of string, for realizing petroleum drilling;

---frequency converter, comprise PLC control system, the startup of PLC control system control drive motor, stop and the duty of speed governing, and set the main given rotating speed of motor, the current state of drive motor is fed back to control module by frequency converter;

---control module, comprise Active surge damper, control for the current state to drive motor, suppress torque oscillation and the speed oscillation of drilling rod and make-up of string;

---human-computer interaction device, comprise ARM chip, complete the data management of control module, man-machine manipulation;

---CAN bus, for realizing the free communication of frequency converter and control module;

Described frequency converter is connected with drive motor, and drive motor is connected with make-up of string with the drilling rod being driven by gear case, and frequency converter is by CAN bus connection control unit, and control module connects human-computer interaction device by serial ports.

2. system according to claim 1, is characterized in that, described automatic disturbance rejection controller comprises Nonlinear Tracking Differentiator, extended state observer, nonlinear combination unit, disturbance compensation unit and feedback of status unit; Nonlinear Tracking Differentiator is connected with nonlinear combination unit, and nonlinear combination unit is connected with disturbance compensation unit, and disturbance compensation unit is connected with frequency converter with feedback of status unit respectively; Feedback of status unit is connected respectively extended state observer with frequency converter, and extended state observer connects respectively Nonlinear Tracking Differentiator and disturbance compensation unit; Frequency converter connects controlled device.

3. the control method that suppresses the system of drilling rod stick-slip vibration based on active disturbance rejection method described in claim 1, is characterized in that, the method comprises the steps:

1) frequency converter provides the main given rotating speed of motor of setting by PLC control system, transfers to controlled device, drives drilling rod to run up;

2) frequency converter transfers to control module by CAN bus by motor actual speed;

3) simultaneously, human-computer interaction device by drilling rod and structure of downhole assembly communication to control module;

4) control module is optimized computing to the motor actual speed of obtaining and drilling rod and structure of downhole assembly information, obtains auxiliary given optimization rotating speed, and auxiliary given optimization rotating speed is carried out to amplitude limit with maximum (top) speed;

5) control module by CAN bus just the auxiliary given optimization rotating speed after amplitude limit transfer to frequency converter, superimposed with the main given rotating speed of motor, stack rotating speed control drive motor, and then control the rotary drilling of drilling rod and make-up of string, suppresses the vibration of drilling rod stick-slip;

6) simultaneously, human-computer interaction device is preserved in real time and is shown motor actual speed and motor actual torque data.

4. method according to claim 3, is characterized in that, the optimization computing of described control module realizes by following method:

A) build Nonlinear Tracking Differentiator, the main given rotating speed of tracking motor, and extract the main given rotating speed pursuit gain of motor v ₁with the main given rotating speed differential value of motor v ₂;

B) nonlinear combination unit is by main motor given rotating speed pursuit gain v ₁with the main given rotating speed differential value of motor v ₂carry out obtaining auxiliary given rotating speed u after nonlinear combination ₀;

C) feedback of status unit provides a feedback gain b ₀, by auxiliary given rotating speed u ₀obtain respectively drill speed estimator z with drill speed y through extended state observer ₁, drill speed differential estimator z ₂with disturbance estimator z ₃;

D) drill speed estimator z ₁, drill speed differential estimator z ₂respectively with the main given rotating speed pursuit gain of motor v ₁with the main given rotating speed differential value of motor v ₂differ from, difference inputs to nonlinear combination unit and obtains auxiliary given rotating speed u ' ₀;

E) disturbance compensation unit is by auxiliary given rotating speed u ' ₀in conjunction with disturbance estimator z ₃obtain motor and expect rotating speed u ₁with auxiliary given optimization rotating speed u.

5. method according to claim 4, is characterized in that, describedly extracts the main given rotating speed pursuit gain of motor v by Nonlinear Tracking Differentiator ₁with the main given rotating speed differential value of motor v ₂method as follows:

1. build Nonlinear Tracking Differentiator model:

$\left\{\begin{array}{c}{v}_1(k+1)=v_1\left(k\right)+{\mathrm{hv}}_2\left(k\right)\\ v_2(k+1)=v_2\left(k\right)+\mathrm{hfh}(v_1,v_2,r,h_1)\end{array}\right.---\left(1\right)$

In formula, h is integration step, and k is sampling period number of times, and r is velocity factor, h ₁for filtering factor, v ₁and v (k) ₂(k) the main given rotating speed pursuit gain of motor and the main given rotating speed differential value of motor while being respectively the k time sampling, fh is time-optimal control function;

2. obtain time-optimal control function f h by following formula, function calculating formula is suc as formula (2):

$\left\{\begin{array}{c}\mathrm{fh}=-\mathrm{rsat}(g,\mathrm{\&delta;})\\ {\mathrm{\&delta;}}_1=h_1\mathrm{\&delta;}\\ \mathrm{\&delta;}=h_{1}r\\ y={\mathrm{\&upsi;}}_1-{\mathrm{\&upsi;}}_0+h_1{\mathrm{\&upsi;}}_2\\ g=\begin{array}{cc}{\mathrm{\&upsi;}}_2-0.5\mathrm{sign}\left(y\right)r(h_1-\sqrt{\frac{8\left|y\right|}{r}+h_1^2})& \left|y\right|>{\mathrm{\&delta;}}_1\\ {\mathrm{\&upsi;}}_2+y/h_1& \left|y\right|<{\mathrm{\&delta;}}_1\end{array}\\ \mathrm{sat}(g,\mathrm{\&delta;})=\left\{\begin{array}{cc}\mathrm{sign}\left(g\right)& \left|g\right|>\mathrm{\&delta;}\\ \mathrm{g\&delta;}& \left|g\right|<\mathrm{\&delta;}\end{array}\right.\end{array}\right.---\left(2\right)$

In formula, v ₀for the main given rotating speed of motor, δ ₁for the extent of the error of time-optimal control function f h, sign (g) is sign function, and sat (g, δ) is saturation function, the independent variable that g, δ are saturation function, the intermediate variable that y is g.

6. method according to claim 4, is characterized in that, described extended state observer obtains drill speed estimator z ₁, drill speed differential estimator z ₂with disturbance estimator z ₃realize by following formula:

$\left\{\begin{array}{c}e\left(k\right)=z_1\left(k\right)-y\left(k\right)\\ z_1(k+1)=z_1\left(k\right)+h(z_2\left(k\right)-{\mathrm{\&beta;}}_{01}e\left(k\right))\\ z_2(k+1)=z_2\left(k\right)+h(z_3\left(k\right)-{\mathrm{\&beta;}}_{02}e\left(k\right)+b_{0}u)\\ z_3(k+1)=z_3\left(k\right)+h(-{\mathrm{\&beta;}}_{03}e\left(k\right))\end{array}\right.---\left(3\right)$

In formula, b ₀for adjustable compensating factor, drill speed when y (k) is the k time sampling, rotating speed deviation when e (k) is the k time sampling, β ₀₁, β ₀₂, β ₀₃for being respectively the adjustable parameter of extended state observer, z ₁(k), z ₂(k), z ₃(k) drill speed estimator, drill speed differential estimator and disturbance estimator while being respectively the k time sampling.

7. method according to claim 4, is characterized in that, described nonlinear combination unit is by main motor given rotating speed pursuit gain v ₁with the main given rotating speed differential value of motor v ₂carry out obtaining auxiliary given rotating speed u ' after nonlinear combination ₀realize by following formula:

u′ ₀(k)＝k _ifal(v _i(k)z _i(k),0.5,6 ₂)+k _zfal(v ₂(k)-z ₂(k),0.25,6 ₂) (4)

Wherein, $\mathrm{fal}(e,\mathrm{\&alpha;},\mathrm{\&delta;})=\left\{\begin{array}{cc}{\left|e\right|}^{\mathrm{\&alpha;}}\mathrm{sign}\left(e\right)& \left|e\right|>{\mathrm{\&delta;}}_2\\ \frac{e}{{{{\mathrm{\&delta;}}_2^1}^{-\mathrm{\&alpha;}}}^{}}& \left|e\right|<{\mathrm{\&delta;}}_2\end{array}\right.---\left(5\right)$

In formula, fal (e, α, δ) is for suppressing the nonlinear function of error, k ₁, k ₂be respectively combination coefficient, e is rotating speed deviation, δ ₂for the extent of the error of fal function, α is change in gain rate, u ' ₀(k) the auxiliary given rotating speed while being the k time sampling.

8. method according to claim 4, is characterized in that, the method that described disturbance compensation unit obtains auxiliary given optimization rotating speed u is as follows:

1. by auxiliary given rotating speed u ' ₀and disturbance estimator z ₃obtain motor and expect rotating speed u ₁:

$u_1\left(k\right)=u_0^{\&prime;}\left(k\right)-\frac{z_3\left(k\right)}{b_0}---\left(6\right)$

In formula, u ₁(k) motor while being the k time sampling is expected rotating speed;

2. expect rotating speed u by motor ₁with the main given rotating speed v of motor ₀obtain auxiliary given optimization rotating speed u:

u(k)＝u ₁(k)-v ₀(k) (7)

In formula, auxiliary given optimization rotating speed when u (k) is the k time sampling.