CN109162692A - A kind of soft torque control system and method - Google Patents
A kind of soft torque control system and method Download PDFInfo
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- CN109162692A CN109162692A CN201810995632.4A CN201810995632A CN109162692A CN 109162692 A CN109162692 A CN 109162692A CN 201810995632 A CN201810995632 A CN 201810995632A CN 109162692 A CN109162692 A CN 109162692A
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- 238000005553 drilling Methods 0.000 claims abstract description 221
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
- E21B44/04—Automatic control of the tool feed in response to the torque of the drive ; Measuring drilling torque
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Abstract
The invention discloses a kind of soft torque control system and methods, comprising: sensor acquires the actual speed and actual torque of motor；Controller, the actual speed and actual torque of drilling rod driving device is calculated in actual speed and actual torque based on motor, and the actual speed and actual torque of the actual speed and actual torque and mathematical model acquisition drill bit based on drilling rod driving device, and the difference of the setting value and actual value to drill speed carries out PID arithmetic, is adjusted the speed and the electric current adjusted value of executive device；Speed regulation and executive device, connect with controller, are adjusted for the drilling speed to drill bit.The difference of system provided by the invention, setting value and actual value to drill speed carries out PID control, so that the torque of drilling rod is stablized, effectively drilling rod can be avoided stick-slip phenomenon occur, the generation for reducing bouncing of drilling tool, bit freezing, improves drilling quality and efficiency, has substantial economics to oil drilling industry.
Description
Technical field
The present invention relates to field of oil drilling more particularly to a kind of soft torque control system and methods.
Background technique
In oil drilling work progress, drive drilling rod to drive bit by drilling rod driving device, along with brill
The gravity of bar and drill bit is realized and rotates downward movement.Exist between drilling rod and the borehole wall, drill bit and stratum during this
Interaction, thus can generate various non-linear frictions, to also result in various vibrations, main includes axial, transverse direction and torsion
Rotational oscillation is dynamic, and in addition there are also some abnormal vibrations, wherein there is a kind of referred to as stick slip vibration, it is high to the harm of drilling well.Drilling rod
Stick slip vibration be a kind of twist motion that destructiveness is extremely powerful as caused by strong twist motion and underground frictional resistance.It is this
Vibration is showed themselves in that in certain depth, works as brill since the factors such as drill bit frictional force, drilling speed and bit pressure act on according to drilling condition
Bar keeps rotation and drill bit may the stand in jewel hole.Since drilling rod driving device fails to recognize that drill bit has stopped revolving
Turn, so drilling rod rotation can continue, causes drilling rod as having tightened clockwork spring, torque is finally set up on drilling rod.It bores at this time
Bar is similar to a torsionspring, and when reaching certain torque value, the frictional force for allowing drill bit to stop is overcome, at this point, turning round
Drilling rod torsional moment can discharge, cause bit speed to increase suddenly.When stick-slip phenomenon sufficiently develops, can make drill bit and drilling rod from
Stopping moment accelerating to 5-6 times of surface of drill stem revolving speed completely.This process can occur repeatedly, and then drill speed will be as one
Sawtooth wave equally generates biggish fluctuation, and pushing up drive or rotary tray motor torque can also follow the fluctuation of drill speed to generate a class
It is similar to the larger fluctuation section of sawtooth wave, it might even be possible to which the torque variation range for reaching 50% needs to pass through brill when situation is serious
The brake gear cooperation of rod driving device carrys out the phenomenon that crawl discharges torque, thus easily causes bouncing of drilling tool, bit freezing, causes drilling rod
Drilling rod is pulled or even twisted off to fatigue, causes drilling failure.In addition, it can also damage other underground components such as rotary steering system,
With drilling measuring equipment (MWD), lead to not directed drilling.
The current common methods for alleviating stick-slip have: (1) improving drilling tool rotary rpm 10-20 and turn；(2) if improve revolving speed without
Effect reduces by 10% bit pressure；(3) in the case where stick-slip ratio is more serious, stop drilling, by drilling tool lift-off shaft bottom to discharge accumulation
Energy, then transfer to shaft bottom, with low bit pressure high-revolving pattern recovery drilling.Gradually increased in drilling process bit pressure and
Revolving speed is to seek the configuration of optimal drilling parameter, thus when reaching brill and the balance of drilling tool stick-slip.
Present solutions have certain effect in terms of solving stick-slip phenomenon, but these schemes itself have following lack
Fall into: these ways require frequently to debug bit pressure and revolving speed to avoid stick-slip phenomenon, must also if encountering severe stick-slip
Drilling tool is above mentioned, the energy of accumulation is discharged, then starts to restore to creep into again with zero speed again, when these processes require to spend
Between, and there is also various risks, such as vibration, and Cutter to be caused to burst apart in the process, causes downhole instrument failure etc..
In addition, heterogeneity stratum can be frequently encountered in drilling process, since stratum is discontinuous, alternate variation is too fast, until gluing
When sliding phenomenon, the artificial drilling parameter that adjusts may not can avoid stick-slip phenomenon.
Summary of the invention
The purpose of the present invention is to solve deficiencies of the prior art, provide a kind of soft torque control system and
Method.
To solve the above problems, the first aspect of the present invention provides a kind of soft torque control system, comprising: collector,
For acquiring the actual speed and actual torque of motor；Controller is connect with collector, for based on motor actual speed and
The actual speed and actual torque of drilling rod driving device is calculated in actual torque, and the reality based on drilling rod driving device turns
Speed and actual torque and mathematical model obtain the practical drilling speed and actual torque of drill bit, and to the setting value and brill of drill bit drilling speed
The difference of the practical drilling speed of head carries out PID arithmetic, is adjusted the speed and the electric current adjusted value of executive device；Speed regulation and executive device,
It connect with controller, the drilling speed of drill bit is adjusted for the electric current adjusted value based on speed regulation and executive device.
Further, collector includes: speed probe and torque sensor；Torque sensor is installed on the power electric of motor
On cable, for detecting motor actual torque；Torque sensor is installed on motor shaft, for acquiring motor actual speed.
Further, system further include: long-range management station, the transmission ratio for input reducer is to controller, so that control
The actual speed of motor and transmission ratio are divided by by device processed obtains the actual speed of drilling rod driving device；And controller is by motor
Actual torque is multiplied to obtain the actual torque of drilling rod driving device with transmission ratio.
Further, long-range management station, parameter needed for being also used to input modeling to controller；Controller is built for being based on
Parameter needed for mould carries out mathematical modeling, obtains mathematical model.
Further, actual speed and actual torque and mathematical model based on drilling rod driving device obtain the reality of drill bit
Border drilling speed and actual torque, and PID arithmetic is carried out to the difference of the setting value of drill bit drilling speed and the practical drilling speed of the drill bit, it obtains
It must adjust the speed and the electric current adjusted value of executive device includes: that the setting value of motor speed and the actual speed of motor make the difference, obtain electricity
The rotating speed difference of machine revolving speed, and the difference of motor speed is subjected to PID calculating, obtain the given value of current value of motor；Drilling rod is enabled to drive
Setting value of the setting value of dynamic device rotary speed as drill bit drilling speed, the actual speed inputting mathematical model of drilling rod driving device is obtained
Obtain the actual value of drill bit drilling speed；Drill bit drilling speed setting value and drill bit drilling speed actual value carry out the difference for asking difference to obtain drill bit drilling speed,
And drill bit drilling speed difference is subjected to PID calculating, the electric current for obtaining motor adds given value；The given value of current value of motor and motor
Electric current adds given value addition and the actual current value of motor makes the difference acquisition current of electric difference；Current of electric difference is carried out
PID is calculated, and is adjusted the speed and the electric current adjusted value of executive device.
Further, system further include: remote I/O acquisition module is connect with speed probe and torque sensor respectively,
It is transmitted for the actual torque and motor actual speed of motor will to be received, and by CAN communication mode or Modbus communication mode
To controller.
Further, controller is provided with alarm module；Alarm module includes buzzer, for analyzing when the controller
When stick-slip phenomenon occurs in drilling rod, carries out alarm and pop-up is shown.
The second aspect of the present invention provides a kind of soft torque control method, comprising: acquires the actual speed and reality of motor
Border torque；The actual speed and actual torque of drilling rod driving device is calculated in actual speed and actual torque based on motor,
And the actual speed and reality of the actual speed and actual torque and mathematical model acquisition drill bit based on drilling rod driving device
Torque, and the difference of the actual speed of the setting value and drill bit to drill speed carries out PID arithmetic, is adjusted the speed and executive device
Electric current adjusted value dress and is executed at speed regulation according to the adjustable speed regulation of the electric current adjusted value and revolving speed and the torque of executive device
Revolving speed and torque according to speed regulation and executive device is set to be adjusted drill bit drilling speed.
Further, by long-range management station, the transmission ratio of input reducer to controller, by the actual speed of motor with
Transmission ratio, which is divided by, obtains the actual speed of drilling rod driving device；The actual torque of motor is multiplied to obtain drilling rod driving with transmission ratio
The actual torque of device.
Further, also pass through long-range management station, parameter needed for input models to controller；Controller, based on modeling institute
It needs parameter to carry out mathematical modeling, obtains mathematical model.
Further, actual speed and actual torque and mathematical model based on drilling rod driving device obtain the reality of drill bit
Border revolving speed and actual torque, and the difference of the actual speed of the setting value and drill bit to drill speed carries out PID arithmetic, is adjusted
The electric current adjusted value of speed and executive device, comprising: the setting value of motor speed and the actual speed of motor make the difference, and obtain motor and turn
The rotating speed difference of speed, and the difference of motor speed is subjected to PID calculating, obtain the given value of current value of motor；Enable drilling rod driving dress
Setting value of the setting value of revolving speed as drill bit drilling speed is set, the actual speed inputting mathematical model of drilling rod driving device is bored
The actual value of head drilling speed；Drill bit drilling speed setting value and drill bit drilling speed actual value carry out the difference for asking difference to obtain drill bit drilling speed, and will
Drill bit drilling speed difference carries out PID calculating, and the electric current for obtaining motor adds given value；The given value of current value of motor and the electric current of motor
Additional given value, which is added to make the difference with the actual current value of motor, obtains current of electric difference；PID meter is carried out to current of electric difference
It calculates, adjust the speed and the electric current adjusted value of executive device, adjusted the speed and turn of executive device according to the electric current adjusted value is adjustable
Speed and torque, speed regulation and executive device are adjusted drill bit drilling speed according to the revolving speed and torque of speed regulation and executive device.
Further, method further include: the actual torque inputting mathematical model of drilling rod driving device is obtained into torque-on-bit
Actual value；Mathematical treatment is carried out to the actual value of torque-on-bit, obtains the variation tendency of the torque-on-bit；According to the brill
The variation tendency of head torque, adjusts drill speed pid control parameter.
Above-mentioned technical proposal of the invention has following beneficial technical effect:
(1) system provided by the invention is obtained practical drill bit drilling speed by using mathematical model, and is bored based on practical drill bit
Speed carries out PID control, so that the revolving speed of drill bit is not in zigzag fluctuation, it is possible to prevente effectively from there is drill bit stick-slip phenomenon,
To reduce the generation of bouncing of drilling tool, bit freezing, to improve drilling quality and efficiency, oil drilling industry is imitated with great economy
Benefit.
(2) system provided by the invention is equal from the frequent speed and drilling rod, mud for adjusting drilling rod driving device by driller
It frees in the cumbersome work of the parameters such as slurry, drill bit, bottom drilling assembly and bit pressure, transfers to controller to be controlled, significantly
Alleviate the labor intensity of worker.
(3) system provided by the invention uses the speed of PID control drill bit, and bit speed is on the one hand enabled to not go out
It now fluctuates widely, effective protection drill bit and drilling life of bit can be extended, the torque of drilling rod is on the other hand enabled to become
In stabilization, effective protection drilling rod and the service life for extending drilling rod.
(4) system provided by the invention increases controller on the basis of former drilling machine, and accesses the drilling rod driving of former drilling machine
Device does not need to make former control system too big change.
(5) system provided by the invention is an independent control system, participate in control and exit control it is easy to operate, and
Exiting control will not have any impact to drilling machine original control system.
Detailed description of the invention
Fig. 1 is the system construction drawing provided according to an embodiment of the present invention；
Fig. 2 schematically shows software control flow chart in the system of an embodiment of the present invention；
Fig. 3 is the method flow diagram of PID control according to an embodiment of the present invention；
Fig. 4 is a kind of soft torque control method flow diagram that a further embodiment of this invention provides.
Appended drawing reference:
1: controller；2: long-range management station；3: speed regulation device；4: remote I/O collector；5: motor；6: retarder；7: boring
Bar；8: drill bit；9: speed probe；10: torque sensor.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.In addition, as long as technical characteristic involved in invention described below different embodiments is each other
Not constituting conflict can be combined with each other.
Fig. 1 is the system construction drawing that first embodiment provides according to the present invention；As shown in Figure 1, torque control system packet
It includes: controller 1, long-range management station 2, collector and speed regulation and executive device.Wherein, collector includes speed probe 9 and turns round
Square sensor 10；Torque sensor 10 is installed on the power cable of motor, for detecting motor actual torque；Speed probe
9 are installed on motor shaft, for acquiring motor actual speed.
Long-range management station 2, the transmission ratio for input reducer 6 is to controller 1, so that controller 1 is by the reality of motor
Revolving speed and transmission ratio, which are divided by, obtains the actual speed of drilling rod driving device；The actual torque of motor is multiplied with transmission ratio and is bored
The actual torque of rod driving device.Drilling rod driving device can be top drive or turntable.
Long-range management station 2, parameter needed for being also used to input modeling to controller 1.Long-range management station 2 can pass through Ethernet
Communication modes communicate information to controller 1.The parameter that modeling needs includes: that (drilling rod can also be called brill for the quantity of drilling rod
Column), one of the inside/outside diameter size of drilling rod and length, drill assembly parameter and bit parameter or a variety of.
Controller 1 is connect with collector by remote I/O acquisition module 4, and speed probe 9 and torque sensor 10 are distinguished
Remote I/O acquisition module 4 is linked by cable, and remote I/O acquisition module 4 is by the actual torque and motor 5 of the motor 5 received
Actual speed controller 1 is transferred to by CAN communication mode or Modbus communication mode, be used for torque logic control.Pass through
CAN communication mode it is possible to prevente effectively from actual speed and actual torque signal as caused by long distance transmission distortion, simultaneously
Also ensure real-time.
Parameter needed for controller 1 receives the modeling that long-range management station 2 sends carries out mathematical modeling, obtains mathematical modulo
Type.Controller 1 can calculate the reality of drill bit according to mathematical model by the actual speed and actual torque of drilling rod driving device
Border revolving speed and actual torque.
Design has PID control program in controller 1, and PID control program specifically includes process below:
The setting value of motor speed and the actual speed of motor make the difference, and obtain the rotating speed difference of motor speed, and will be described
The difference of motor speed carries out PID calculating, obtains the given value of current value of motor；
The speed setting value n of motorElectricity is setIt is input to controller 1, so that the transmission ratio parameter of itself and retarder 6 is divided by and is bored
The setting value n of rod driving device revolving speedTurn to set.Enable the setting value n of drilling rod rotational speed of driving unitTurn to setAs the setting value of drill bit drilling speed,
By the actual speed n of drilling rod driving deviceTurn realThe actual value of inputting mathematical model acquisition drill bit drilling speed；
Drill bit drilling speed setting value and drill bit drilling speed actual value carry out the difference for asking difference to obtain drill bit drilling speed, and by drill bit drilling speed
Difference carries out PID calculating, and the electric current for obtaining motor adds given value；
The given value of current value of motor is added to make the difference with the actual current value of motor after given value is added with the electric current of motor and be obtained
Obtain current of electric difference；
PID calculating is carried out to current of electric difference, is adjusted the speed and the electric current adjusted value of executive device, according to the electric current tune
Whole to be worth adjustable speed regulation and revolving speed and the torque of executive device, speed regulation and executive device are according to speed regulation and the revolving speed of executive device
Drill bit drilling speed is adjusted with torque.
Optionally, mathematical model are as follows: between the actual torque and revolving speed and drill torque and speed of drilling rod driving device
Mathematical model, this mathematical model can be called drilling rod and bottom brill group combination equivalent mathematical model, or be called rod rotation speed
And torque transfer mathematical model.
It can be communicated by PROFIBUS-DP mode between controller 1 and speed regulation and executive device.
Speed regulation and executive device include: speed regulation device 3, motor 5, retarder 6, drilling rod 7 and drill bit 8.
Controller 1 will adjust the speed and the electric current adjusted value of executive device is output in the speed regulation device 3 of speed regulation and executive device,
Speed regulation device 3 adjusts its own revolving speed and torque according to this speed regulation and the electric current adjusted value of executive device.By speed regulation and
The adjustment of executive device revolving speed and torque has adjusted the revolving speed and torque of motor 5, and the revolving speed and torque of motor 5 are adjusted,
The revolving speed and torque of retarder 6 are further adjusted, so as to adjust the torque and revolving speed of drilling rod driving device, to successively adjust
The whole torque of drilling rod and the torque and revolving speed of revolving speed and drill bit, so that the torque and stabilization of speed of drilling rod, improve
The service life of drilling rod and drill bit.
Further, the data of motor 5 are also sent to controller 1 in real time by speed regulation device 3, so that controller 1 carries out PID
Control and display.Speed regulation device 3 can be frequency converter, can also be DC Transmission cabinet, and what this depended primarily on actual selection is to hand over
Galvanic electricity machine or direct current generator.
Above controller 1 is also used to the actual value of the Motor torque according to sensor real-time detection, obtains Motor torque
Variation tendency obtains the curve of Motor torque.
Above controller 1 is also used to the curve according to Motor torque, judges whether drilling rod stick-slip phenomenon occurs；When motor is turned round
The curve of square is zigzag, then illustrates that drilling rod is likely to occur stick-slip phenomenon, at this point, controller carries out PID control to the brill of drill bit
Speed is adjusted.
In one example, controller 1 includes display screen, and display screen can show that the current revolving speed of motor 5, motor are current
Whether torque, drill bit drilling speed curve, torque-on-bit curve and current motor are one of in running order or a variety of.Work as electricity
When machine torque curve is zigzag, illustrate that drilling rod is likely to occur stick-slip phenomenon.At this moment, controller 1 starts based on the reality of motor 5
The actual speed and actual torque of drilling rod driving device is calculated in revolving speed and actual torque；Revolving speed based on drilling rod driving device
The practical drilling speed and actual torque of drill bit are obtained with torque and mathematical model, and to the setting value of drill bit drilling speed and the drill bit
Practical drilling speed difference carry out PID calculating, the speed of drill bit is adjusted.So that the revolving speed of drill bit is not in zigzag
Fluctuation.
In one example, controller is additionally provided with alarm module, and alarm module includes buzzer, when controller analyzes
When drill bit is likely to occur stick-slip phenomenon, carries out alarm and pop-up is shown.The staff at scene can be made to handle in time.
In one example, long-range management station 2 includes display screen, for remotely showing the current revolving speed of motor 5, motor 5
Whether current torque, drill bit drilling speed curve, torque-on-bit curve and current motor 5 are one of in running order or more
Kind.The display screen of long-range management station 2 is the screen with touch function；The design of LED of long-range management station has a key exit function
Key, for exiting soft torque control system.System provided by the invention is an independent control system, participates in control and moves back
Control out it is easy to operate, and exit control will not have any impact to drilling machine original control system.
Obviously, described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Above-mentioned technical proposal of the invention has following beneficial technical effect:
(1) system provided by the invention obtains practical bit speed by using mathematical model, and carries out PID based on it
Control, so that the revolving speed of drill bit is not in zigzag fluctuation, it is possible to prevente effectively from there is drill bit stick-slip phenomenon, to reduce jump
It bores, the generation of bit freezing, to improve drilling quality and efficiency, there are substantial economics for oil drilling industry.
(2) system provided by the invention is equal from the frequent speed and drilling rod, mud for adjusting drilling rod driving device by driller
It frees in the cumbersome work of the parameters such as slurry, drill bit, bottom drilling assembly and bit pressure, transfers to controller to be controlled, significantly
Alleviate the labor intensity of worker.
(3) system provided by the invention uses the speed of PID control drill bit, and bit speed is on the one hand enabled to not go out
It now fluctuates widely, effective protection drill bit and drilling life of bit can be extended, the torque of drilling rod is on the other hand enabled to become
In stabilization, effective protection drilling rod and the service life for extending drilling rod.
(4) system provided by the invention increases controller on the basis of former drilling machine, and the drilling rod for accessing former drilling machine drives dress
It sets very simple.
(5) system provided by the invention is an independent control system, participate in control and exit control it is easy to operate, and
Exiting control will not have any impact to drilling machine original control system.
Fig. 2 schematically shows the software control flow chart of first embodiment of the invention.
As shown in Fig. 2, in long-range management station 2 input drilling rod parameter (drill string parameters can also be called), retarder parameter,
Bit parameter, drill assembly parameter etc..Wherein, retarder parameter can be the transmission ratio of retarder.Long-range management station 2 passes through
These data are sent to controller 1 by ethernet communication program, and remotely show these parameters.
Torque sensor 10 and speed probe 9 send out the actual speed of the actual torque of collected motor 5 and motor 5
Give remote I/O acquisition module 4, remote I/O acquisition module 4 is by information in a manner of CAN communication or Modbus communication modes are sent to
Controller 1.
It is provided with data processor in controller 1, when controller 1 receives the actual speed and actual torque of motor 5,
And the multiple parameters that remote Manager 2 is sent, start to carry out data processing, can be the processes such as normalization.Data are at
Torque optimization operation program is input to after reason program.Torque optimization operation can be is transported by the mathematical model and PID of its own
Program is calculated, the additional given value of current of electric is obtained.And the additional given value of current of electric is sent to torque optimal control journey
Sequence.Regulating effect is judged by drill bit actual torque simultaneously, further according to the adjustment logic set in controller 1, to optimize PID
Parameter.Torque optimal control program mainly converts to the additional given value of current of electric, is adjusted the speed and executive device
Acceptable data type, while torque optimization participation control opportunity is controlled.Torque optimal control program also passes through
PROFIBUS-DP communication modes will adjust the speed and the electric current adjusted value of executive device is sent to speed regulation and executing agency, adjusts the speed and holds
Revolving speed and torque of the speed regulation device 3 according to the electric current adjusted value of speed regulation and executive device adjustment motor 5 in row mechanism, motor 5
By the adjustment of revolving speed and torque to retarder 6, and then adjust the drilling speed of drill bit 8.
Fig. 3 is the method flow diagram of the PID control of first embodiment according to the present invention.
As shown in figure 3, the present embodiment drilling rod driving device is described in detail PID control method by taking turntable as an example.
Firstly, actual speed n of the controller according to motorIt is electric realThe actual speed n of turntable is calculated with actual torqueTurn realAnd reality
Border torque TTurntable。
Enable (TTurntable-TDrilling rod)/SJTurntable=nTurn real, S is Laplace operator, JTurntableFor the rotary inertia of turntable, JTurntableIt can be by producer
It provides or is calculated.It therefore can be in the hope of the actual torque T of drilling rod according to above-mentioned formulaDrilling rod。
Controller obtains Motor torque variation diagram according to the motor torque values acquired in real time by sensor, according to the variation
Figure judges whether drill bit stick-slip phenomenon occurs, if zigzag is presented in Motor torque variation, it is existing to illustrate that drill bit is likely to occur stick-slip
As.Once the amplitude of variation is more than preset range, controller starts to carry out the adjusting of following steps.
The setting value n of motor speedElectricity is setWith the actual speed n of motorIt is electric realIt makes the difference, obtains the rotating speed difference of motor speed, and
The difference of motor speed is subjected to PID calculating, obtains the given value of current value of motor；
The speed setting value n of motorSetting valueThe transmission ratio parameter for being input to controller 1 and retarder 6, which is divided by, to be obtained turntable and turns
The setting value of speed.
Enable the setting value n of rotary speedTurn to setSetting value n as drill bit drilling speedIt is drilled with, by the actual speed inputting mathematical of turntable
The actual value n of model acquisition drill bit drilling speedIt bores real；
Drill bit drilling speed setting value nIt is drilled withWith drill bit drilling speed actual value nIt bores realThe difference for asking difference to obtain drill bit drilling speed is carried out, and will be bored
Head drilling speed difference carries out PID calculating, and the electric current for obtaining motor adds given value；
The given value of current value of motor is added to make the difference with the actual current value of motor after given value is added with the electric current of motor and be obtained
Obtain current of electric difference；
PID calculating is carried out to current of electric difference, is adjusted the speed and the electric current adjusted value of executive device, according to the electric current tune
It is whole to be worth adjustable speed regulation and revolving speed and the torque of executive device.
Finally speed regulation and executive device are adjusted drill bit drilling speed according to the revolving speed and torque of speed regulation and executive device.
Controller carries out Mathematical treatment to the actual value of torque-on-bit, obtains the tendency chart of torque-on-bit, according to this change
Change trend judges whether torque-on-bit is adjusted reasonable, if the variation tendency is serrated, illustrates that torque-on-bit is adjusted not
Rationally.At this point, controller is according to preset logic optimization PID adjustment parameter, and then optimizing regulation effect, wherein PID adjusts ginseng
Number is proportionality coefficient, differential coefficient and integral coefficient.Optionally, controller can to the actual value progress Mathematical treatment of torque-on-bit
To be derivation processing.
Optionally, if controller discovery the torque of drill bit, the torque of drilling rod, drilling rod driving device torque these three number
Value is substantially approximate, then illustrates that drill bit stick-slip phenomenon is eliminated, controller automatically exits from PID control.
Controller can accomplish the self-learning function of system according to the control method of above-mentioned PID, can constantly analyze reality
Control effect, self identification, continues to optimize pid parameter, to keep control strategy more excellent.
Fig. 4 is a kind of soft torque control method flow diagram that first embodiment of the invention provides.As shown in figure 4,
This method comprises: step S101- step S103.
Step S101 acquires the actual speed and actual torque of motor.
Specifically, torque sensor is installed on the power cable of motor, for detecting motor actual torque；Revolution speed sensing
Device is installed on motor shaft, for acquiring motor actual speed.Speed probe and torque sensor are accessed by cable respectively
To remote I/O acquisition module, remote I/O acquisition module passes through the actual speed of the actual torque of the motor received and motor
CAN communication mode or Modbus communication mode are transferred to controller 1, are used for torque logic control.
Step S102, actual speed and actual torque based on motor be calculated drilling rod driving device actual speed and
Actual torque, and the actual speed based on drilling rod driving device and actual torque and mathematical model obtain the reality turn of drill bit
Speed and actual torque, and the actual speed of the setting value and drill bit to drill speed difference carry out PID arithmetic, adjusted the speed and
The electric current adjusted value of executive device.
Specifically, by long-range management station, for the transmission ratio of input reducer to controller, controller turns the reality of motor
Speed is divided by with transmission ratio obtains the actual speed of drilling rod driving device；It is multiplied the actual torque of motor to obtain drilling rod with transmission ratio
The actual torque of driving device.Also pass through long-range management station, parameter needed for input models to controller；Controller, based on modeling
Required parameter carries out mathematical modeling, obtains mathematical model.
Further specifically, actual speed and actual torque and mathematical model based on drilling rod driving device obtain drill bit
Actual speed and actual torque, and the actual speed of the setting value and drill bit to drill speed difference carry out PID arithmetic, obtain
It must adjust the speed and the electric current adjusted value of executive device, comprising:
The setting value of motor speed and the actual speed of motor make the difference, and obtain the rotating speed difference of motor speed, and by motor
The difference of revolving speed carries out PID calculating, obtains the given value of current value of motor；
It enables the setting value of drilling rod rotational speed of driving unit as the setting value of drill bit drilling speed, the reality of drilling rod driving device is turned
Fast inputting mathematical model obtains the actual value of drill bit drilling speed；
Drill bit drilling speed setting value and drill bit drilling speed actual value carry out the difference for asking difference to obtain drill bit drilling speed, and by drill bit drilling speed
Difference carries out PID calculating, and the electric current for obtaining motor adds given value；
The given value of current value of motor is added with the additional given value of the electric current of motor and makes the difference acquisition with the actual current value of motor
Current of electric difference；
PID calculating is carried out to current of electric difference, is adjusted the speed and the revolving speed and torque control value of executive device.
Step S103, revolving speed and torque control value based on speed regulation and executive device are adjusted the drilling speed of drill bit.
Speed regulation and executive device include: speed regulation device, motor, retarder, drilling rod and drill bit.
The revolving speed and torque control value of the speed regulation and executive device are output to speed regulation and the speed regulation of executive device by controller
In device, speed regulation device is adjusted the revolving speed of motor according to the electric current adjusted value of this speed regulation and executive device, and passes through
The effect of retarder adjusts the drilling speed of drill bit, by adjusting the drilling speed of drill bit, further has adjusted drilling speed and the torsion of drilling rod
Square, to accomplish the control to drilling rod driving device torque, so that the torque of drilling rod driving device is stablized.
Above-mentioned technical proposal of the invention has following beneficial technical effect:
(1) system provided by the invention obtains practical bit speed by using mathematical model, and carries out PID control to it
System, so that the revolving speed of drill bit is not in zigzag fluctuation, it is possible to prevente effectively from there is drill bit stick-slip phenomenon, to reduce jump
It bores, the generation of bit freezing, to improve drilling quality and efficiency, there are substantial economics for oil drilling industry.
(2) system provided by the invention is equal from the frequent speed and drilling rod, mud for adjusting drilling rod driving device by driller
It frees in the cumbersome work of the parameters such as slurry, drill bit, bottom drilling assembly and bit pressure, transfers to controller to be controlled, significantly
Alleviate the labor intensity of worker.
(3) system provided by the invention uses the speed of PID control drill bit, and bit speed is on the one hand enabled to not go out
It now fluctuates widely, effective protection drill bit and drilling life of bit can be extended, the torque of drilling rod is on the other hand enabled to become
In stabilization, effective protection drilling rod and the service life for extending drilling rod.
(4) system provided by the invention increases controller on the basis of former drilling machine, and the drilling rod for accessing former drilling machine drives dress
It sets that system is very simple, does not need to make former control system any big change.
(5) system provided by the invention is an independent control system, participate in control and exit control it is easy to operate, and
Exiting control will not have any impact to drilling machine original control system.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
Claims (11)
1. a kind of soft torque control system characterized by comprising
Sensor, for acquiring the actual speed and actual torque of motor (5)；
The reality of drilling rod driving device is calculated in controller (1), actual speed and actual torque for being based on the motor (5)
Border revolving speed and actual torque, and the actual speed based on drilling rod driving device and actual torque and mathematical model obtain drill bit
Practical drilling speed and actual torque, and PID fortune is carried out to the difference of the setting value of drill bit drilling speed and the practical drilling speed of the drill bit
It calculates, is adjusted the speed and the electric current adjusted value of executive device；
Speed regulation and executive device, connect with the controller (1), for the electric current adjusted value based on speed regulation and executive device to brill
The drilling speed of head is adjusted.
2. a kind of soft torque control system according to claim 1, which is characterized in that the sensor includes: that revolving speed passes
Sensor (9) and torque sensor (10)；
Torque sensor (10) is installed on the power cable of motor, for detecting motor actual torque；Speed probe (9) peace
Loaded on motor shaft, for acquiring motor actual speed.
3. a kind of soft torque control system according to claim 1, which is characterized in that further include:
Long-range management station (2), the transmission ratio for input reducer (6) gives the controller (1), so that the controller (1)
The actual speed of the motor (5) and the transmission ratio are divided by and obtain the actual speed of the drilling rod driving device；And institute
Controller (1) is stated to be multiplied the actual torque of the motor (5) with the transmission ratio to obtain the reality of the drilling rod driving device
Torque.
4. a kind of soft torque control system according to claim 3, which is characterized in that
The long-range management station (2), parameter needed for being also used to input modeling to the controller (1)；
The controller (1) obtains mathematical model for carrying out mathematical modeling based on parameter needed for the modeling.
5. a kind of soft torque control system according to claim 4, which is characterized in that the reality based on drilling rod driving device
Revolving speed and actual torque and mathematical model obtain the practical drilling speed and actual torque of drill bit, and to the setting value of drill bit drilling speed with
The difference of the practical drilling speed of the drill bit carries out PID arithmetic, is adjusted the speed and the electric current adjusted value of executive device, comprising:
The setting value of motor speed and the actual speed of the motor make the difference, and obtain the rotating speed difference of motor speed, and will be described
The difference of motor speed carries out PID calculating, obtains the given value of current value of motor；
Enable the setting value of drilling rod rotational speed of driving unit as the setting value of drill bit drilling speed, the actual speed of drilling rod driving device is defeated
Enter the actual value that mathematical model obtains drill bit drilling speed；
Drill bit drilling speed setting value and drill bit drilling speed actual value carry out the difference for asking difference to obtain drill bit drilling speed, and by drill bit drilling speed difference
PID calculating is carried out, the electric current for obtaining motor adds given value；
The given value of current value of the motor is added given value with the electric current of the motor and is added and the actual current value of the motor
It makes the difference and obtains current of electric difference；
PID calculating is carried out to the current of electric difference, is adjusted the speed and the electric current adjusted value of executive device.
6. soft torque control system according to claim 2, which is characterized in that further include:
Remote I/O acquisition module (4) is connect, for receiving respectively with the speed probe (9) and torque sensor (10)
It states the actual torque and motor actual speed of motor (5), and is transferred to by CAN communication mode or Modbus communication mode described
Controller (1).
7. soft torque control system according to claim 1, which is characterized in that the controller (1) is provided with alarm mould
Block；The alarm module includes that buzzer and pop-up are shown, for showing when stick-slip occurs in the controller (1) analysis drilling rod (7)
As when, carry out warning note.
8. a kind of soft torque control method characterized by comprising
Acquire the actual speed and actual torque of motor；
The actual speed and actual torque of drilling rod driving device is calculated in actual speed and actual torque based on the motor,
And the actual speed and reality of the actual speed and actual torque and mathematical model acquisition drill bit based on drilling rod driving device
Torque, and the difference of the actual speed of the setting value and drill bit to drill speed carries out PID arithmetic, is adjusted the speed and executive device
Electric current adjusted value；
Electric current adjusted value based on the speed regulation and executive device is adjusted the drilling speed of drill bit.
9. according to the method described in claim 8, it is characterized by further comprising:
Pass through long-range management station, the transmission ratio of input reducer；
The actual speed of the motor and the transmission ratio are divided by and obtain the actual speed of the drilling rod driving device；
The actual torque of the motor is multiplied to obtain the actual torque of the drilling rod driving device with the transmission ratio.
10. method according to claim 9, which is characterized in that actual speed and actual torque based on drilling rod driving device
And mathematical model obtains the actual speed and actual torque of drill bit, and the actual speed of the setting value and drill bit to drill speed
Difference carry out PID arithmetic, adjusted the speed and the electric current adjusted value of executive device, comprising:
The setting value of motor speed and the actual speed of the motor make the difference, and obtain the rotating speed difference of motor speed, and will be described
The difference of motor speed carries out PID calculating, obtains the given value of current value of motor；
Enable the setting value of drilling rod rotational speed of driving unit as the setting value of drill bit drilling speed, the actual speed of drilling rod driving device is defeated
Enter the actual value that mathematical model obtains drill bit drilling speed；
Drill bit drilling speed setting value and drill bit drilling speed actual value carry out the difference for asking difference to obtain drill bit drilling speed, and by drill bit drilling speed difference
PID calculating is carried out, the electric current for obtaining motor adds given value；
The given value of current value of the motor is added given value with the electric current of the motor and is added and the actual current value of the motor
It makes the difference and obtains current of electric difference；
PID calculating is carried out to the current of electric difference, is adjusted the speed and the electric current adjusted value of executive device.
11. according to the method described in claim 10, it is characterized by further comprising:
The actual torque inputting mathematical model of drilling rod driving device is obtained to the actual value of torque-on-bit；
Mathematical treatment is carried out to the actual value of torque-on-bit, obtains the variation tendency of the torque-on-bit；
According to the variation tendency of the torque-on-bit, drill speed pid control parameter is adjusted.
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| CN201810995632.4A CN109162692A (en) | 2018-08-29 | 2018-08-29 | A kind of soft torque control system and method |
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Application publication date: 20190108 |