基于键合图理论的斜直井管柱上扣/卸扣系统设计与仿真

针对斜直井齿轮齿条钻机的管柱自动处理问题，采用顶驱和轨道钳联合作业的方式，设计了一套能够实现管柱紧扣、冲扣和旋扣等动作的自动化作业装置及其液压控制系统。采用键合图理论，建立了动力水龙头旋扣系统和轨道钳系统的键合图模型，并推导出每个键合图模型的系统动态方程。基于20-sim仿真平台，对键合图模型进行了动态仿真分析，通过对比分析，验证了各键合图模型的合理性，为斜直井石油钻机上扣/卸扣机构系统的研制提供技术支持和理论指导。

Modeling and Simulation of String Make-up and Break-out System of Slant Drilling Based on Bond Graph

For string automatic processing problems of the gear rack drilling rig for slant well, through the top drive and track clamp joint practices, an automated device was devised, which could fulfill the need of the make-up and break-out and spinner action, and hydraulic control system was designed. The bond graph theory was applied to design the bond graph model of the power head spin buckle system and the track clamp system, and the state equations of system were derived from bond graph model. In the 20-sim software, the dynamic simulation analysis was carried out and the simulation parameters of the bond graph element were calculated, the rationality of the model was validated through comparative analysis, which provides technical support and theoretical guidance for the research of the make-up and break-out equipment of the oil drilling rig for slant well.