CN111897228B - Model-free self-adaptive control method and system for water well drilling machine slewing device - Google Patents
Model-free self-adaptive control method and system for water well drilling machine slewing device Download PDFInfo
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Abstract
The invention discloses a model-free self-adaptive control method and system for a water well drilling machine turning device. The system takes a hydraulic motor as a slewing device, and obtains the rotation angle of the hydraulic motor through an angle sensor; establishing a state space equation of a water well drilling machine rotation system; performing dynamic linearization processing of a compact format to obtain a data model; calculating a pseudo partial derivative estimation law; designing a model-free self-adaptive controller; the output of the controller is applied to the load-sensitive proportional valve, and the rotation angular velocity of the hydraulic motor can be further adjusted by adjusting the opening of the valve port of the load-sensitive proportional valve. Aiming at the characteristics of multiple parameters and strong coupling of a hydraulic system of a well drilling machine, the invention considers the complex nonlinear dynamic characteristics of a rotary system, adopts a model-free self-adaptive control method, and can complete the design of a controller by only utilizing online and offline data. The method has stronger anti-interference performance and robustness and better adaptability to the uncertain working condition of the water well drilling machine.
Description
Technical Field
The invention belongs to the technical field of automatic control of engineering machinery, and particularly relates to a model-free self-adaptive control method and system for a water well drilling machine slewing device.
Background
The water well drilling machine is a main device for carrying out water well drilling construction tasks. Well drilling rigs typically include a rotary system and a propulsion system for cutting and breaking rock. The rotary power head is driven by the rotary motor to perform rotary motion, the water well drilling machine performs reciprocating impact motion, and the rotary motion and the impact motion are transmitted to the drill bit through the drill rod and the connecting sleeve; the impact movement generated by the well drilling machine can crush the rock, and the back movement kinetic energy generated by the rotary motor can grind the crushed rock into smaller particles; the high pressure air provided by the compressor can blow out tiny particles, silt, sediment and the like from the holes to form holes. In the working process of the well drilling machine, various geology and environment can be met, and the well drilling machine with good performance can overcome various geology conditions and environments. Because of the change of the geological appearance of the water well drilling machine during working, the resistance encountered by the propulsion and rotation hydraulic system is also changeable, and if the propulsion and rotation system cannot automatically overcome changeable load, the working efficiency of the water well drilling machine is directly affected.
At present, the rotation control of the water well drilling machine is mainly realized through manual control, which depends on the working experience of operators, and improper propelling force and rotation speed can lead to faults such as rod separation, rod breakage, even shutdown and the like of a water well drilling machine, thereby greatly influencing the construction efficiency. In recent years, scholars at home and abroad propose a PID control method to improve the rotation control performance of a well drilling machine. However, in the drilling system of the water well drilling machine, because the well bottom working condition is complex, especially when the system is controlled under the unknown condition, the traditional PID control method needs an operator to continuously adjust parameters to control the drilling machine speed, which has influence on the performance of the system and can generate phenomena such as overshoot. In addition, well drilling rigs are typically complex nonlinear systems, and rig control systems are subject to factors such as complexity, nonlinearity, modeling errors, structural aging and wear of the rig system itself, and actual operational environmental debilitation in the actual control system. Because of these factors, it is difficult to build a more accurate mathematical model and the robustness is poor. Thus, model-based control methods are challenged in addressing such issues.
Aiming at the model uncertainty, unmodeled dynamics, external sediment and other interference factors existing in the water well drilling machine slewing device, a robust model-free self-adaptive control strategy based on data driving is provided. The method is used for realizing the motion control of the water well drilling machine slewing system. For model-free adaptive control (model free adaptive control, MFAC), literature (Hou Zhongsheng, jin Shangtai. Model-free adaptive control: theory and application) uses input/output data of a controlled system to directly perform controller design and analysis, thereby realizing parameter adaptive control and structure adaptive control of an unknown nonlinear controlled system. The model-free self-adaptive control method has good portability, and only the controlled system is required to provide input and output data, and the accuracy of a data model is not relied on. The model-free self-adaptive control is used in a rotary system of a water well drilling machine, and a new research thought and method are provided for complex multi-interference water well drilling tasks.
SUMMARY OF THE PATENT FOR INVENTION
The invention provides a model-free self-adaptive control method and system for a water well drilling machine rotating device, aiming at model uncertainty, unmodeled dynamics, external sediment and other interference factors of the water well drilling machine rotating system, solves the problem of poor robustness in the prior art, realizes optimal control of the drilling machine rotating system in complex working conditions, and improves drilling efficiency.
In order to solve the technical problems, the invention adopts the following technical proposal:
a model-free adaptive control method for a water well drilling rig slewing device, the method comprising the steps of:
(1) Signal acquisition and setting:
obtaining a rotation angle y of the hydraulic motor by an angle sensor;
(2) Establishing a kinetic equation of a water well drilling machine rotation system:
wherein x is 1 ＝θ m ，x 1 Is the corner of the hydraulic motor; x is x 2 Is the angular velocity of the hydraulic motor; x is x 3 Is the angular acceleration of the hydraulic motor; u is the control signal input; y is the output of the control system; k (k) p Is the amplification factor; i.e v The output current is converted by a proportional amplifier; u (u) v An output voltage of the angular velocity sensor; x is x v Valve core displacement of the load-sensitive proportional valve; q (Q) v Valve port flow for a load sensitive proportional valve; c (C) d The valve port flow coefficient of the load sensitive proportional valve; w (W) v Area gradient for load sensitive proportional valve; p (P) s Rated pressure for the system; p (P) L For system load pressure; k (k) q Gain for valve flow; k (k) c Is a valve flow-pressure coefficient; d (D) m Is the displacement of the hydraulic motor; θ m Is the corner of the hydraulic motor; c (C) tm Is the total leakage coefficient of the hydraulic motor; p (P) L For system load pressure; v (V) t The total compression volume of two cavities and a connecting pipeline of the hydraulic motor; beta e The effective elastic modulus of the oil liquid; j (J) t Equivalent total inertia of the motor shaft; b (B) m Is a viscous damping coefficient; g is the torque spring rate of the load; t (T) L Is the external load moment;
(3) Performing compact dynamic linearization processing to obtain a data model:
for the kinetic equation, when Δu (k) +.0, there is a pseudo-partial derivative θ (k) such that
Δy(k+1)＝θ(k)Δu(k)；
Wherein, the I theta (k) I is less than or equal to Q, and Q is a positive constant;
Δy(k+1)＝y(k+1)-y(k)，Δu(k)＝u(k)-u(k-1)；
wherein y (k) is the system output at time k, and u (k) is the system input at time k;
(4) Calculating a pseudo partial derivative estimation law:
wherein eta is E (0, 1)]Is a step factor, mu > 0 is a weight factor,is a pseudo partial derivative estimate of theta (k),a pseudo partial derivative estimate for θ (k-1);
(5) Designing a model-free self-adaptive controller:
consider the following control criteria function,
J[u(k)]＝|y * (k+1)-y(k+1)| 2 +λ|u(k)-u(k-1)| 2 ；
let lambda be the weight factor, y * (k+1) is a desired output signal; and (3) bringing the data model dynamically linearized in the step (3) into an input criterion function, deriving u (k), and enabling the derivative result to be equal to zero, thereby obtaining a control algorithm:
wherein ρ ε (0, 1) is the step size factor and λ > 0 is the weight factor;
(6) Because of the complexity of the hydraulic system, the water well drilling machine rotation system is driven by the hydraulic motor, and the angle sensor outputs the detected rotation angle y (k-1) of the hydraulic motor of the water well drilling machine in the k-1 stage as a feedback voltage signal u f The voltage signal Deltau (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional amplifier, the proportional amplifier converts the voltage signal into a current signal capable of driving the valve core of the load sensitive proportional valve to displace, the load sensitive proportional valve can adjust the flow of the oil inlet and the oil return port of the hydraulic motor, and the rotation speed of the hydraulic motor can be further adjusted through the hydraulic transmission mechanism.
Further, the specific content of the step (3) is as follows:
(31) Establishing a discrete time nonlinear system:
Δy(k+1)＝f(y(k),…,y(k-m y ),u(k),…,u(k-m u ))
wherein u (k) epsilon R and y (k) epsilon R are respectively the input and the output of the system at the moment k; m is m u ，m y Is two unknown positive integers; f (…):is a nonlinear function unknown to the system;
(32) The above system satisfies the following conditions:
the system exists and continues with respect to the partial derivative of u (k);
the system meets the generalized Lipschitz condition, and when … delta u (k) is not equal to 0, the system has delta y (k+1) not more than Q delta u (k);
wherein y is * (k+1) is a system-bounded desired output signal, u * (k) An input signal that is system-bounded; Δy (k+1) is the output change at two adjacent times, and Δu (k) is the input change at two adjacent times; therefore Δy (k+1) =y (k+1) -y (k), Δu (k) =u (k) -u (k-1); q is a positive constant;
(33) From the kinetic equation, the following two equations can be obtained:
ξ(k)＝f(y(k),y(k-1),y(k-2),u(k-1))-f(y(k-1),y(k-2),y(k-3),u(k-1))；
since |Δu (k) | is not equal to 0, the equation ζ (k) =η (k) u (k) has a solution η (k); let θ (k) =b+η (k); Δy (k+1) =θ (k) Δu (k), B is the partial derivative of f (…), and θ (k) |+.q can be obtained.
Further, the specific content of the step (4) is as follows:
(41) Establishing a weighted pseudo-partial derivative estimation criterion function:
(42) Extremum the criterion function with respect to θ (k), a pseudo partial derivative estimation law can be obtained:
further, referring to fig. 4, the structure of the water well drilling rig turning system is shown: the temperature setting module (4) of the electronic injection diesel engine is connected with the main body module (1) of the electronic injection diesel engine through the temperature conversion module (5); the electronic injection diesel engine cylinder number setting module (8), the electronic injection diesel engine starting signal module (9) and the electronic injection diesel engine speed setting module (10) are connected with the electronic injection diesel engine main body module (1) through the engine controller module (2); the electronic injection diesel engine main body module (1) is connected with the speed change gear box module (7); the speed change gear box module (7) is connected with the speed reduction gear box speed setting module (11); the speed-reducing gearbox speed setting module (11) is directly connected with the gear pump module (13); the gear pump module (13) is connected with the overflow valve module (15) through the high-pressure oil filter module (14), and the overflow valve module (15) and an oil outlet of the gear pump module (13) are connected with the same oil tank module (1) (12); the gear pump module (13) is connected with the P port of the load sensitive proportional valve module (18) through the high-pressure oil filter module (14) and the hydraulic control one-way valve (16) module; the load-sensitive proportional valve module (18) is provided with an oil supply port P, an oil return port T and output ports A and B, wherein the output ports A and B are respectively connected with an oil inlet and an oil return port of the hydraulic motor module (21), and the oil return port T is connected with the oil tank module 2 (17); the hydraulic motor module (21) is connected with the angle sensor module (22) and the angle giving module (23); the angle sensor module (22) and the expected voltage given signal module (24) are connected with the load sensitive proportional valve module controller (25), and the proportional amplifier module (26) is used for controlling the load sensitive proportional valve module (18); and two sides of the load-sensitive proportional valve module (18) are respectively connected with the overflow valve module 2 (19) and the overflow valve module 3 (20).
Further, the control process of the water well drilling rig slewing system comprises the following steps: the electronic injection diesel engine main body module (1) drives the gear pump module (13) to serve as a power mechanism to provide power for the hydraulic motor module (21) through the speed change gear box module (7); the high-pressure oil filter module (14) filters high-pressure oil pumped by the gear pump module (13); the overflow valve module (15) can be used as a protection device to avoid equipment damage caused by excessive oil pressure; the load-sensitive proportional valve module (18) can be used as a throttle valve to control the flow of hydraulic oil at the oil inlet of the hydraulic motor module (21), and can be used as a direction control valve to control the forward and backward movement of the hydraulic motor module (21); the hydraulic control one-way valve module (16) is connected with the outlet of the gear pump module (13) through the high-pressure oil filter module (14) to prevent oil from flowing back and keep a locking state; in the controller part, the angle sensor module (22) converts the rotation angle of the hydraulic motor module (21) into a voltage signal, the voltage signal is input into the controller with a given expected voltage signal, the controller calculates and outputs a corresponding control signal, the control signal is applied to the proportional amplifier module (26), the tiny voltage signal is amplified into a current signal capable of driving the valve core of the load sensitive proportional valve module (18) to displace, and then the flow of an oil inlet and an oil return port of the hydraulic motor module (21) is controlled, so that the rotation speed of the hydraulic motor module (21) is controlled.
A model-free self-adaptive control system of a water well drilling machine turning device is characterized in that: comprising the following steps:
the signal acquisition module is used for obtaining the rotation angle y of the hydraulic motor through an angle sensor;
the dynamics equation building module is used for building a state space equation of the water well drilling machine rotation system:
wherein x is 1 ＝θ m ，x 1 Is the corner of the hydraulic motor; x is x 2 Is the angular velocity of the hydraulic motor; x is x 3 Is the angular acceleration of the hydraulic motor; u is the control signal input; y is the output of the control system; k (k) p Is the amplification factor; i.e v The output current is converted by a proportional amplifier; u (u) v An output voltage of the angular velocity sensor; x is x v Valve core displacement of the load-sensitive proportional valve; q (Q) v Valve port flow for a load sensitive proportional valve; c (C) d The valve port flow coefficient of the load sensitive proportional valve; w (W) v Area gradient for load sensitive proportional valve; p (P) s Rated pressure for the system; p (P) L For system load pressure; k (k) q Gain for valve flow; k (k) c Is a valve flow-pressure coefficient; d (D) m Is the displacement of the hydraulic motor; θ m Is the corner of the hydraulic motor; c (C) tm Is the total leakage coefficient of the hydraulic motor; p (P) L For system load pressure; v (V) t The total compression volume of two cavities and a connecting pipeline of the hydraulic motor; beta e The effective elastic modulus of the oil liquid; j (J) t Equivalent total inertia of the motor shaft; b (B) m Is a viscous damping coefficient; g is the torque spring rate of the load; t (T) L Is the external load moment;
the data model obtaining module is used for carrying out dynamic linearization processing of a compact format to obtain a data model: for the kinetic equation, when Δu (k) +.0, there is a pseudo-partial derivative θ (k) such that:
Δy(k+1)＝θ(k)Δu(k)；
wherein Δy (k+1) =y (k+1) -y (k), Δu (k) =u (k) -u (k-1); the value of the absolute value of theta (k) is less than or equal to Q, and Q is a positive constant; y (k) is the system output at time k, u (k) is the system input at time k;
the pseudo partial derivative estimator is used for calculating a pseudo partial derivative estimation law of the water well drilling rig slewing system:
wherein eta is E (0, 1)]Is a step factor, mu > 0 is a weight factor,is a pseudo partial derivative estimate of theta (k),a pseudo partial derivative estimate for θ (k-1);
the model-free self-adaptive controller design module of the water well drilling machine rotation system is used for designing the model-free self-adaptive controller of the water well drilling machine rotation system: the method specifically comprises the following steps: u (k) calculation unit for bringing the data model into a criterion function:
J[u(k)]＝|y * (k+1)-y(k+1)| 2 +λ|u(k)-u(k-1)| 2 ；
deriving u (k), and setting the derived value to be zero to obtain:
in the formula, let u MFAC (k)＝u(k)，u MFAC (k-1)＝u(k-1)；
The method comprises the following steps:
wherein λ is a weight factor for controlling the variation of the input amount; y is * (k+1) is a desired hydraulic motor rotation angle signal; ρ ε (0, 1)]Is a step factor;
because of the complexity of the hydraulic system, the water well drilling machine rotation system is driven by the hydraulic motor, and the angle sensor outputs the detected rotation angle y (k-1) of the hydraulic motor of the water well drilling machine in the k-1 stage as a feedback voltage signal u f The voltage signal Deltau (k-1) is calculated by a controller to output a corresponding control signal, the control signal is applied to a proportional amplifier, and the proportional amplifier converts the voltage signal into a voltage signal which can drive a load sensitive proportional valveThe current signal of core displacement, the flow of the oil inlet and the oil return opening of the hydraulic motor can be adjusted by the load sensitive proportional valve, and the rotation speed of the hydraulic motor can be further adjusted by the hydraulic transmission mechanism.
Compared with the prior art, the invention has the advantages and positive effects that: the invention relates to a model-free self-adaptive control method and a model-free self-adaptive control system for a water well drilling machine turning device, wherein an angle sensor is used for collecting the rotation angle y of a hydraulic motor of a water well drilling machine turning system; establishing a kinetic equation of a water well drilling machine rotation system; a data model of the well drilling machine revolving system is obtained by adopting a tight format dynamic linearization method; calculating a pseudo partial derivative estimation law of a well drilling rig rotation system; designing a model-free self-adaptive controller of a water well drilling machine rotation system; because of the complexity of the hydraulic system, the water well drilling machine rotation system is driven by the hydraulic motor, and the angle sensor outputs the detected rotation angle y (k-1) of the hydraulic motor of the water well drilling machine in the k-1 stage as a feedback voltage signal u f The voltage signal Deltau (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional amplifier, the proportional amplifier converts the voltage signal into a current signal capable of driving the valve core of the load sensitive proportional valve to displace, the load sensitive proportional valve can adjust the flow of the oil inlet and the oil return port of the hydraulic motor, and the rotation speed of the hydraulic motor can be further adjusted through the hydraulic transmission mechanism. The model-free self-adaptive controller has good portability, and only needs to control the system to provide input output quantity, so that the model-free self-adaptive controller has good adaptability to the system with complex system and difficult modeling. Therefore, the control method and the control system of the embodiment inhibit oscillation caused by uncertain factors in the drilling process of the water well drilling machine through the model-free self-adaptive controller of the water well drilling machine rotating system, have stronger anti-interference performance and robustness, and are more in line with the actual working conditions of the water well drilling machine.
Other features and advantages of the present invention will become apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of an embodiment of a model-free adaptive control method for a water well rig slewing device;
FIG. 2 is a block diagram of a model-free adaptive control method for a water well drilling rig slewing device according to the present invention;
FIG. 3 is a block diagram of a prior art PID control system;
FIG. 4 is a schematic diagram of a well rig slewing device;
FIG. 5 is an angular velocity output curve when the load is zero;
FIG. 6 is an output angular velocity output curve for a load of 600N;
FIG. 7 is an angular velocity output curve at abrupt load change;
FIG. 8 is a graph of trace for different controllers with a spool displacement of 0.003 m;
FIG. 9 is a graph of trace for different controllers with a spool displacement of 0.006 m;
FIG. 10 is a trace plot of spool displacement under different controllers during abrupt load changes;
the reference numerals in fig. 4: the system comprises a main body module of a 1-electric injection diesel engine, a controller module of a 2-engine, an exhaust emission module of a 3-electric injection diesel engine, a temperature given module of a 4-electric injection diesel engine, a temperature conversion module of 5-speed change module, a speed given module of a 6-reduction gearbox, a speed given module of a 7-speed change gearbox, a cylinder number given module of an 8-electric injection diesel engine, a starting signal module of a 9-electric injection diesel engine, a speed given module of a 10-electric injection diesel engine, a speed given module of a 11-speed given module of the reduction gearbox, a 12-oil tank module 1, a 13-gear pump module, a 14-high pressure oil filter, a 15-relief valve module 1, a 16-hydraulic control one-way valve module, a 17-oil tank module 2, a 18-load sensitive proportional valve, a 19-relief valve module 2, a 20-relief valve module 3, a 21-hydraulic motor module, a 22-angle sensor module, a 23-angle given module, a 24-expected voltage given signal module, a 25-load sensitive proportional valve controller and a 26-proportional amplifier module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present patent more apparent, the present patent will be described in further detail with reference to the accompanying drawings and examples.
The invention provides a model-free self-adaptive control method and a model-free self-adaptive control system for a water well drilling machine rotating device, aiming at the uncertain model, unmodeled dynamic state, external sediment and other interference factors of the water well drilling machine rotating system. In the well drilling machine rotation system, a hydraulic motor is used as a rotation device, and a model-free self-adaptive control system of the well drilling machine rotation device is described in detail.
Referring to fig. 1, the model-free adaptive control system for the water well drilling rig turning device of the embodiment specifically comprises the following steps:
step S1: signal acquisition and setting:
obtaining a rotation angle y of a hydraulic motor of a water well drilling machine rotation system by an angle sensor;
step S2: establishing a mathematical model by a kinetic equation of a well drilling rig rotation system:
(S21) record k p Is the amplification factor; i.e v Is the converted output current; u (u) v An output voltage of the angular velocity sensor; x is x v Valve core displacement of the load-sensitive proportional valve; the proportional amplifier gain is:
the gain of the load sensitive proportional valve is as follows:
(S22) record Q v Valve port flow for a load sensitive proportional valve; c (C) d The valve port flow coefficient of the load sensitive proportional valve; w (W) v Area gradient for load sensitive proportional valve; p (P) s Rated pressure for the system; p (P) L For system load pressure; the valve port flow of the load sensitive proportional valve is as follows:
(S23) Q under the condition of neglecting the leakage coefficient outside the motor L ＝Q v ，Q L Is the load flow;
record k q Gain for valve flow; k (k) c Is a valve flow-pressure coefficient; the linearization processing of the nonlinear valve port flow relation is as follows:
Q v ＝K q x v -K c P L ； (4)
(S24)D m is the displacement of the hydraulic motor; θ m Is the corner of the hydraulic motor; c (C) tm Is the total leakage coefficient of the hydraulic motor; p (P) L For system load pressure; v (V) t The total compression volume of two cavities and a connecting pipeline of the hydraulic motor; beta e The effective elastic modulus of the oil liquid; the hydraulic motor flow continuous equation is:
(S25) record J t For the equivalent total inertia of the motor shaft, B m Is a viscous damping coefficient; g is the torque spring rate of the load, T L Is the external load moment; the dynamic moment balance equation of the hydraulic motor is as follows:
(S26) let x 1 ＝θ m ，x 1 Is the corner of the hydraulic motor; x is x 2 Is the angular velocity of the hydraulic motor; x is x 3 Is the angular acceleration of the hydraulic motor; the state space equation of the water well drilling machine rotation system can be obtained as follows:
step S3: performing compact dynamic linearization processing to obtain a data model:
(S31) establishing a discrete-time nonlinear system:
Δy(k+1)＝f(y(k),…,y(k-m y ),u(k),…,u(k-m u )) (8)
wherein u (k) epsilon R and y (k) epsilon R are respectively the input and the output of the system at the moment k; m is m u ，m y Is two unknown positive integers; f (…):is a nonlinear function unknown to the system;
(S32) the discrete-time nonlinear system satisfies the following condition:
the system exists and continues with respect to the partial derivative of u (k);
the system meets the generalized Lipschitz condition, and when |delta u (k) | is not equal to 0, the system has |delta y (k+1) | not more than Q|delta u (k) |;
wherein y is * (k+1) is a system-bounded desired output signal, u * (k) A desired input signal that is system bounded; Δy (k+1) is the output change at two adjacent times, and Δu (k) is the input change at two adjacent times, so Δy (k+1) =y (k+1) -y (k), Δu (k) =u (k) -u (k-1); q is a positive constant;
(S33) the following two formulas can be obtained by the kinetic equation:
since |Δu (k) | is not equal to 0, the equation ζ (k) =η (k) u (k) has a solution η (k);
let θ (k) =b+η (k); the method can obtain the following steps:
Δy(k+1)＝θ(k)Δu(k) (11)
wherein, the I theta (k) I is less than or equal to Q, and Q is a positive constant; b is the partial derivative of f (…);
step S4: calculating a pseudo partial derivative estimation law:
(S41) establishing a weighted pseudo-partial derivative estimation criterion function:
(S42) extremum the criterion function with respect to θ (k), and a pseudo partial derivative estimation law can be obtained:
wherein eta is E (0, 1)]Is a step factor, mu > 0 is a weight factor,is a pseudo partial derivative estimate of theta (k),a pseudo partial derivative estimate for θ (k-1);
step S5: designing a model-free self-adaptive controller:
consider the following control criteria function,
J[u(k)]＝|y * (k+1)-y(k+1)| 2 +λ|u(k)-u(k-1)| 2 (14)
wherein λ is a weight factor, y * (k+1) is a desired output signal;
bringing equation (10) in step S3 into the input criterion function, deriving u (k), and letting it equal zero, the control algorithm is obtained:
in the formula, let u MFAC (k)＝u(k)，u MFAC (k-1) =u (k-1), resulting in:
wherein λ is a weight factor for controlling the variation of the input amount; y is * (k+1) is a desired output signal;
ρ ε (0, 1) is the step size factor;
step S6: the rotation speed adjusting module of the water well drilling machine rotation system is characterized in that the water well drilling machine rotation system is driven by a hydraulic motor due to the complexity of a hydraulic system, and an angle sensor outputs the rotation angle y (k-1) of the hydraulic motor of the water well drilling machine in the k-1 stage, which is obtained through detection, as a feedback voltage signal u f The voltage signal Deltau (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional amplifier, the proportional amplifier converts the voltage signal into a current signal capable of driving the valve core of the load sensitive proportional valve to displace, the load sensitive proportional valve can adjust the flow of the oil inlet and the oil return port of the hydraulic motor, and the rotation speed of the hydraulic motor can be further adjusted through the hydraulic transmission mechanism.
According to the model-free self-adaptive control method for the water well drilling machine turning device, the rotation angle y of the hydraulic motor of the water well drilling machine turning system is collected through an angle sensor; establishing a kinetic equation of a water well drilling machine rotation system; a data model of the well drilling machine revolving system is obtained by adopting a tight format dynamic linearization method; calculating a pseudo partial derivative estimation law of a well drilling rig rotation system; designing a model-free self-adaptive controller of a water well drilling machine rotation system; because of the complexity of the hydraulic system, the water well drilling machine rotation system is driven by the hydraulic motor, and the angle sensor outputs the detected rotation angle y (k-1) of the hydraulic motor of the water well drilling machine in the k-1 stage as a feedback voltage signal u f The voltage signal Deltau (k-1) is controlledThe controller calculates and outputs corresponding control signals, the control signals are applied to the proportional amplifier, the proportional amplifier converts voltage signals into current signals capable of driving the valve core of the load sensitive proportional valve to displace, the load sensitive proportional valve can adjust the flow of the oil inlet and the oil return port of the hydraulic motor, and the rotation speed of the hydraulic motor can be adjusted through the hydraulic transmission mechanism. The model-free self-adaptive controller has good portability, and only needs to control the system to provide input output quantity, so that the model-free self-adaptive controller has good adaptability to the system with complex system and difficult modeling. Therefore, the control method and the control system of the embodiment inhibit oscillation caused by uncertain factors in the drilling process of the water well drilling machine through the model-free self-adaptive controller of the water well drilling machine rotating system, have stronger anti-interference performance and robustness, and are more in line with the actual working conditions of the water well drilling machine.
The control method of the embodiment is a control method of the water well drilling machine turning device based on a model-free self-adaptive control algorithm, can effectively solve the control problem of the water well drilling machine turning system, has good solving effects on the problems of output errors and overshoot caused by uncertain models, unmodeled dynamics, external silt and other interference factors of the water well drilling machine turning system, can improve the control precision of the water well drilling machine under complex working conditions, and meets the requirements of the water well drilling machine turning system on robustness and anti-interference.
Referring to fig. 4, the structure of the water well drilling rig turning system is shown: the temperature setting module (4) of the electronic injection diesel engine is connected with the main body module (1) of the electronic injection diesel engine through the temperature conversion module (5); the electronic injection diesel engine cylinder number setting module (8), the electronic injection diesel engine starting signal module (9) and the electronic injection diesel engine speed setting module (10) are connected with the electronic injection diesel engine main body module (1) through the engine controller module (2); the electronic injection diesel engine main body module (1) is connected with the speed change gear box module (7); the speed change gear box module (7) is connected with the speed reduction gear box speed setting module (11); the speed-reducing gearbox speed setting module (11) is directly connected with the gear pump module (13); the gear pump module (13) is connected with the overflow valve module (15) through the high-pressure oil filter module (14), and the overflow valve module (15) and an oil outlet of the gear pump module (13) are connected with the same oil tank module (1) (12); the gear pump module (13) is connected with the P port of the load sensitive proportional valve module (18) through the high-pressure oil filter module (14) and the hydraulic control one-way valve (16) module; the load-sensitive proportional valve module (18) is provided with an oil supply port P, an oil return port T and output ports A and B, wherein the output ports A and B are respectively connected with an oil inlet and an oil return port of the hydraulic motor module (21), and the oil return port T is connected with the oil tank module 2 (17); the hydraulic motor module (21) is connected with the angle sensor module (22) and the angle giving module (23); the angle sensor module (22) and the expected voltage given signal module (24) are connected with the load sensitive proportional valve module controller (25), and the proportional amplifier module (26) is used for controlling the load sensitive proportional valve module (18); and two sides of the load-sensitive proportional valve module (18) are respectively connected with the overflow valve module 2 (19) and the overflow valve module 3 (20).
Referring to fig. 4, the control process of the water well drilling machine rotation system is as follows: the electronic injection diesel engine main body module (1) drives the gear pump module (13) to serve as a power mechanism to provide power for the hydraulic motor module (21) through the speed change gear box module (7); the high-pressure oil filter module (14) filters high-pressure oil pumped by the gear pump module (13); the overflow valve module (15) can be used as a protection device to avoid equipment damage caused by excessive oil pressure; the load-sensitive proportional valve module (18) can be used as a throttle valve to control the flow of hydraulic oil at the oil inlet of the hydraulic motor module (21), and can be used as a direction control valve to control the forward and backward movement of the hydraulic motor module (21); the hydraulic control one-way valve module (16) is connected with the outlet of the gear pump module (13) through the high-pressure oil filter module (14) to prevent oil from flowing back and keep a locking state; in the controller part, the angle sensor module (22) converts the rotation angle of the hydraulic motor module (21) into a voltage signal, the voltage signal is input into the controller with a given expected voltage signal, the controller calculates and outputs a corresponding control signal, the control signal is applied to the proportional amplifier module (26), the tiny voltage signal is amplified into a current signal capable of driving the valve core of the load sensitive proportional valve module (18) to displace, and then the flow of an oil inlet and an oil return port of the hydraulic motor module (21) is controlled, so that the rotation speed of the hydraulic motor module (21) is controlled.
In this example, the core parameters of the equipment in the well drilling rig system are valued as shown in table 1.
Table 1 core parameters of the control device in the well rig swing system.
The specific operation of the control system is already described in detail in the above control method, and will not be described here again. The PID control system in the prior art and the model-free self-adaptive control well drilling rig slewing system of the embodiment are analyzed.
And a model-free self-adaptive controller of the well drilling rig rotation system is established in an MATLAB/Simulink simulation environment, and the equipment parameters in the drilling rig rotation system are shown in a table 1. According to the debugging condition of an actual system, the values eta, mu, rho, lambda, beta and K of the parameters of the model-free self-adaptive controller are designed 1 And properly selecting parameter K of MFAC control and PID control of comparison group P 、K i 、K d 。
Fig. 5 is a graph of angular velocity tracking at zero load. When the load is zero, the comparison system adds a model-free self-adaptive controller and a PID controller, and when the controller is not added, the system outputs a curve of the angular velocity and a curve of the expected angular velocity. As shown in the figure, the system always has fluctuation when a controller is not added, and the stability cannot be achieved; when the PID controller is added, since the initial load is zero, the initial adjustment of the controller has a large oscillation, the system stability time is 0.16s, but the overshoot is 5 rad/s; the MFAC controller can reach system stability at 0.15s and can ensure no overshoot in the response process.
Fig. 6 is a graph of angular velocity tracking at a load of 600N. As shown in fig. 6, the system cannot reach full stability without the addition of a controller; when a PID controller is added, the system stability time is 0.17s, but the overshoot is 2.5rad/s, and the PID controller has a large oscillation due to the change of the initial load value of the system; the MFAC controller can reach system stability at 0.16s and can ensure no overshoot in the response process.
Fig. 7 is a graph of angular velocity tracking for a sudden change in load from 600N to 1000N. As shown in fig. 7, when the load suddenly increases, the addition of the PID controller has better regulation performance than the MFAC controller without addition; the MFAC controller fluctuates more than the PID controller before settling when the load suddenly increases, but stabilizes in a shorter time than the PID controller without overshooting. It can be seen from the combination of fig. 5, fig. 6 and fig. 7 that the model-free adaptive control-based water well drilling machine slewing system significantly improves the response speed and robustness of the control system.
Fig. 8 is a trace curve under different controllers for a spool displacement of 0.003 m. As shown in the figure, when a controller is not added, the valve core displacement tracking curve always fluctuates and cannot reach stability; the valve core displacement regulated by the PID controller is stable at 0.16s, but overshoot of 0.0005m exists; MFAC is able to reach system stability at 0.15s and without overshoot.
FIG. 9 is a trace plot for different controllers for a spool displacement of 0.006 m. As shown in the figure, when a controller is not added, the valve core displacement tracking curve always fluctuates and cannot reach stability; the valve core displacement regulated by the PID controller is stable at 0.15s, but overshoot of 0.0003m exists; MFAC was able to reach system stability at 0.14s with an overshoot of 0.00015 m.
FIG. 10 is a trace plot under different controllers for a sudden change in spool displacement. When the valve core displacement is suddenly changed from 0.003m to 0.006m in 0.1s, the valve core displacement tracking curve always fluctuates when a controller is not added, and the expected valve core displacement is difficult to reach; the valve core displacement regulated by the PID controller is stable at 0.15s, but overshoot of 0.0005m exists; MFAC is able to reach system stability at 0.14s without overshoot. The MFAC control has better control performance under the complex working condition of the drilling machine operation.
The invention provides a model-free self-adaptive control method and a model-free self-adaptive control system for a water well drilling machine rotating device, aiming at the uncertain model, unmodeled dynamic state, external sediment and other interference factors of the water well drilling machine rotating system. In the well drilling machine rotation system, a hydraulic motor is used as a rotation device, and a model-free self-adaptive control system of the well drilling machine rotation device is described in detail. The proposed water well drilling machine rotation system controller is essentially a data-driven control method, which considers the problems of complex modeling such as uncertain structure and parameters of the water well drilling machine rotation system, and approximates nonlinear uncertain items in a model thereof on line based on input and output data; under the dynamic linearization technology, a model-free self-adaptive control method for the complex nonlinear system is provided; replacing a discrete nonlinear system with a series of dynamic linearization models near the current operating point trajectory by a slewing system, and simultaneously estimating pseudo partial derivatives in the dynamic linearization models on line by only using I/O data of a dynamic positioning system, thereby compensating errors generated due to model uncertainty; finally, different rotation speeds are obtained according to different conditions based on the complex working condition of the water well drilling machine rotation system.
The model-free self-adaptive control method for the water well drilling rig slewing device is provided by the embodiment, and the consistency and the boundedness of tracking errors of the water well drilling rig slewing system are ensured by adjusting the pseudo partial derivative on line. The simulation experiment compares the control performance of the PID control system in the prior art with that of the model-free self-adaptive water well drilling machine rotating system, and the result shows that the model-free self-adaptive control water well drilling machine rotating system can reach stability more quickly and has stronger anti-interference performance when the load is unchanged; when the load suddenly increases, the model-free adaptive control can reach the expected rotation speed more stably than the PID control. The model-free self-adaptive control has good portability due to the characteristic of independent model, and can obtain good control output as long as the input output quantity of the system is provided. The model-free self-adaptive control method of the well drilling rig slewing system has stronger robustness to uncertainty of model parameters of the slewing system and disturbance of unknown working conditions, has higher controllability and stability of an algorithm, and can realize tracking control of the well drilling rig slewing system under the unknown working conditions.
The above examples are only for illustrating the technical solution of the present patent and are not limiting; although the invention has been described in detail with reference to the foregoing examples, it will be apparent to one skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (6)
1. The model-free self-adaptive control method for the water well drilling machine turning device is characterized by comprising the following steps of:
(1) Signal acquisition and setting:
obtaining a rotation angle y of the hydraulic motor by an angle sensor;
(2) Establishing a kinetic equation of a water well drilling machine rotation system:
wherein x is 1 ＝θ m ，x 1 Is the corner of the hydraulic motor; x is x 2 Is the angular velocity of the hydraulic motor; x is x 3 Is the angular acceleration of the hydraulic motor; u is the control signal input; y is the output of the control system; k (k) p Is the amplification factor; i.e v The output current is converted by a proportional amplifier; u (u) v An output voltage of the angular velocity sensor; x is x v Valve core displacement of the load-sensitive proportional valve;Q v valve port flow for a load sensitive proportional valve; c (C) d The valve port flow coefficient of the load sensitive proportional valve; w (W) v Area gradient for load sensitive proportional valve; p (P) s Rated pressure for the system; p (P) L For system load pressure; k (k) q Gain for valve flow; k (k) c Is a valve flow-pressure coefficient; d (D) m Is the displacement of the hydraulic motor; θ m Is the corner of the hydraulic motor; c (C) tm Is the total leakage coefficient of the hydraulic motor; p (P) L For system load pressure; v (V) t The total compression volume of two cavities and a connecting pipeline of the hydraulic motor; beta e The effective elastic modulus of the oil liquid; j (J) t Equivalent total inertia of the motor shaft; b (B) m Is a viscous damping coefficient; g is the torque spring rate of the load; t (T) L Is the external load moment;
(3) Performing compact dynamic linearization processing to obtain a data model:
for the kinetic equation, when Δu (k) +.0, there is a pseudo-partial derivative θ (k) such that
Δy(k+1)＝θ(k)Δu(k)；
Wherein, the I theta (k) I is less than or equal to Q, and Q is a positive constant;
Δy(k+1)＝y(k+1)-y(k)，Δu(k)＝u(k)-u(k-1)；
wherein y (k) is the system output at time k, and u (k) is the system input at time k;
(4) Calculating a pseudo partial derivative estimation law:
wherein eta is E (0, 1)]Is a step factor, mu > 0 is a weight factor,estimated value of pseudo partial derivative for θ (k,)>A pseudo partial derivative estimate for θ (k-1);
(5) Designing a model-free self-adaptive controller:
consider the following control criteria function,
J[u(k)]＝|y * (k+1)-y(k+1)| 2 +λ|u(k)-u(k-1)| 2 ；
let lambda be the weight factor, y * (k+1) is a desired output signal; and (3) bringing the data model dynamically linearized in the step (3) into an input criterion function, deriving u (k), and enabling the derivative result to be equal to zero, thereby obtaining a control algorithm:
wherein ρ ε (0, 1) is the step size factor and λ > 0 is the weight factor;
(6) Because of the complexity of the hydraulic system, the water well drilling machine rotation system is driven by the hydraulic motor, and the angle sensor outputs the detected rotation angle y (k-1) of the hydraulic motor of the water well drilling machine in the k-1 stage as a feedback voltage signal u f The voltage signal Deltau (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional amplifier, the proportional amplifier converts the voltage signal into a current signal capable of driving the valve core of the load sensitive proportional valve to displace, the load sensitive proportional valve can adjust the flow of the oil inlet and the oil return port of the hydraulic motor, and the rotation speed of the hydraulic motor can be further adjusted through the hydraulic transmission mechanism.
2. The method according to claim 1, characterized in that: the specific content of the step (3) is as follows:
(31) Establishing a discrete time nonlinear system:
Δy(k+1)＝f(y(k),…,y(k-m y ),u(k),…,u(k-m u ))
wherein u (k) epsilon R and y (k) epsilon R are respectively the input and the output of the system at the moment k; m is m u ，m y Is two unknown positive integers;is a nonlinear function unknown to the system;
(32) The above system satisfies the following conditions:
the system exists and continues with respect to the partial derivative of u (k);
the system meets the generalized Lipschitz condition, and when |delta u (k) | is not equal to 0, the system has |delta y (k+1) | not more than Q|delta u (k) |;
wherein y is * (k+1) is a system-bounded desired output signal, u * (k) An input signal that is system-bounded; Δy (k+1) is the output change at two adjacent times, and Δu (k) is the input change at two adjacent times; therefore Δy (k+1) =y (k+1) -y (k), Δu (k) =u (k) -u (k-1); q is a positive constant;
(33) From the kinetic equation, the following two equations can be obtained:
ξ(k)＝f(y(k),y(k-1),y(k-2),u(k-1))-f(y(k-1),y(k-2),y(k-3),u(k-1))；
since |Δu (k) | is not equal to 0, the equation ζ (k) =η (k) u (k) has a solution η (k); let θ (k) =b+η (k); Δy (k+1) =θ (k) Δu (k), B is the partial derivative of f (…), and θ (k) |+.q can be obtained.
3. The method according to claim 1, characterized in that: the specific content of the step (4) is as follows:
(41) Establishing a weighted pseudo-partial derivative estimation criterion function:
(42) Extremum the criterion function with respect to θ (k), a pseudo partial derivative estimation law can be obtained:
4. the model-free self-adaptive control method for the water well drilling rig turning device according to claim 2, wherein the method comprises the following steps: the control device structure of the water well drilling machine slewing system is as follows: the temperature setting module (4) of the electronic injection diesel engine is connected with the main body module (1) of the electronic injection diesel engine through the temperature conversion module (5); the electronic injection diesel engine cylinder number setting module (8), the electronic injection diesel engine starting signal module (9) and the electronic injection diesel engine speed setting module (10) are connected with the electronic injection diesel engine main body module (1) through the engine controller module (2); the electronic injection diesel engine main body module (1) is connected with the speed change gear box module (7); the speed change gear box module (7) is connected with the speed reduction gear box speed setting module (11); the speed-reducing gearbox speed setting module (11) is directly connected with the gear pump module (13); the gear pump module (13) is connected with the overflow valve module (15) through the high-pressure oil filter module (14), and the overflow valve module (15) and an oil outlet of the gear pump module (13) are connected with the same oil tank module (1) (12); the gear pump module (13) is connected with the P port of the load sensitive proportional valve module (18) through the high-pressure oil filter module (14) and the hydraulic control one-way valve (16) module; the load-sensitive proportional valve module (18) is provided with an oil supply port P, an oil return port T and output ports A and B, wherein the output ports A and B are respectively connected with an oil inlet and an oil return port of the hydraulic motor module (21), and the oil return port T is connected with the oil tank module 2 (17); the hydraulic motor module (21) is connected with the angle sensor module (22) and the angle giving module (23); the angle sensor module (22) and the expected voltage given signal module (24) are connected with the load sensitive proportional valve module controller (25), and the proportional amplifier module (26) is used for controlling the load sensitive proportional valve module (18); and two sides of the load-sensitive proportional valve module (18) are respectively connected with the overflow valve module 2 (19) and the overflow valve module 3 (20).
5. The model-free self-adaptive control method for the water well drilling rig slewing device according to claim 2, wherein the method comprises the following steps: the control process of the well drilling rig slewing system comprises the following steps: the electronic injection diesel engine main body module (1) drives the gear pump module (13) to serve as a power mechanism to provide power for the hydraulic motor module (21) through the speed change gear box module (7); the high-pressure oil filter module (14) filters high-pressure oil pumped by the gear pump module (13); the overflow valve module (15) can be used as a protection device to avoid equipment damage caused by excessive oil pressure; the load-sensitive proportional valve module (18) can be used as a throttle valve to control the flow of hydraulic oil at the oil inlet of the hydraulic motor module (21), and can be used as a direction control valve to control the forward and backward movement of the hydraulic motor module (21); the hydraulic control one-way valve module (16) is connected with the outlet of the gear pump module (13) through the high-pressure oil filter module (14) to prevent oil from flowing back and keep a locking state; in the controller part, the angle sensor module (22) converts the rotation angle of the hydraulic motor module (21) into a voltage signal, the voltage signal is input into the controller with a given expected voltage signal, the controller calculates and outputs a corresponding control signal, the control signal is applied to the proportional amplifier module (26), the tiny voltage signal is amplified into a current signal capable of driving the valve core of the load sensitive proportional valve module (18) to displace, and then the flow of an oil inlet and an oil return port of the hydraulic motor module (21) is controlled, so that the rotation speed of the hydraulic motor module (21) is controlled.
6. A model-free self-adaptive control system of a water well drilling machine turning device is characterized in that: comprising the following steps:
the signal acquisition module is used for obtaining the rotation angle y of the hydraulic motor through an angle sensor;
the dynamics equation building module is used for building a state space equation of the model-free self-adaptive control method of the water well drilling machine slewing device:
wherein x is 1 ＝θ m ，x 1 Is the corner of the hydraulic motor; x is x 2 Is the angular velocity of the hydraulic motor; x is x 3 Is the angular acceleration of the hydraulic motor; u is the control signal input; y is the output of the control system; k (k) p Is the amplification factor; i.e v The output current is converted by a proportional amplifier; u (u) v An output voltage of the angular velocity sensor; x is x v Valve core displacement of the load-sensitive proportional valve; q (Q) v Valve port flow for a load sensitive proportional valve; c (C) d The valve port flow coefficient of the load sensitive proportional valve; w (W) v Area gradient for load sensitive proportional valve; p (P) s Rated pressure for the system; p (P) L For system load pressure; k (k) q Gain for valve flow; k (k) c Is a valve flow-pressure coefficient; d (D) m Is the displacement of the hydraulic motor; θ m Is the corner of the hydraulic motor; c (C) tm Is the total leakage coefficient of the hydraulic motor; p (P) L For system load pressure; v (V) t The total compression volume of two cavities and a connecting pipeline of the hydraulic motor; beta e The effective elastic modulus of the oil liquid; j (J) t Equivalent total inertia of the motor shaft; b (B) m Is a viscous damping coefficient; g is the torque spring rate of the load; t (T) L Is the external load moment;
the data model obtaining module is used for carrying out dynamic linearization processing of a compact format to obtain a data model: for the kinetic equation, when Δu (k) +.0, there is a pseudo-partial derivative θ (k) such that:
Δy(k+1)＝θ(k)Δu(k)；
wherein Δy (k+1) =y (k+1) -y (k), Δu (k) =u (k) -u (k-1); the value of the absolute value of theta (k) is less than or equal to Q, and Q is a positive constant; y (k) is the system output at time k, u (k) is the system input at time k;
the pseudo partial derivative estimator is used for calculating a pseudo partial derivative estimation law of the water well drilling rig slewing system:
wherein eta is E (0, 1)]Is a step factor, mu > 0 is a weight factor,estimated value of pseudo partial derivative for θ (k,)>A pseudo partial derivative estimate for θ (k-1);
the model-free self-adaptive controller design module of the water well drilling machine turning device is used for designing the model-free self-adaptive controller of the water well drilling machine turning device: the method specifically comprises the following steps: u (k) calculation unit for bringing the data model into a criterion function:
J[u(k)]＝|y * (k+1)-y(k+1)| 2 +λ|u(k)-u(k-1)| 2 ；
deriving u (k), and setting the derived value to be zero to obtain:
in the formula, let u MFAC (k)＝u(k)，u MFAC (k-1)＝u(k-1)；
The method comprises the following steps:
wherein λ is a weight factor for controlling the variation of the input amount; y is * (k+1) is a desired hydraulic motor rotation angle signal; ρ ε (0, 1)]Is a step factor;
because of the complexity of the hydraulic system, the water well drilling machine rotation system is driven by the hydraulic motor, and the angle sensor outputs the detected rotation angle y (k-1) of the hydraulic motor of the water well drilling machine in the k-1 stage as a feedback voltage signal u f The voltage signal Deltau (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional amplifier, and the proportional amplifierThe voltage signal is converted into a current signal capable of driving the valve core of the load-sensitive proportional valve to displace, the load-sensitive proportional valve can adjust the flow of the oil inlet and the oil return port of the hydraulic motor, and the rotation speed of the hydraulic motor can be further adjusted through the hydraulic transmission mechanism.
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