分数阶PID控制对钻柱黏滑振动的抑制

钻柱黏滑振动是导致钻井设备加速磨损、钻井安全性下降以及钻井效率降低的重要原因之一。针对钻柱的扭转运动,建立了钻柱、钻杆、BHA及钻头4自由度钻柱系统扭转模型。该模型考虑了扭转自由度、钻柱阻尼以及岩石与钻头相互作用的高度非线性摩擦;通过对钻柱模型进行仿真试验,分析了钻井参数对黏滑振动的影响;为了抑制钻柱黏滑振动,设计了一种分数阶PID控制器。研究结果表明:分数阶PID控制器能够快速稳定系统,缩短调节时间,有效抑制钻柱黏滑振动,它对黏滑振动的抑制效果明显优于传统PID控制器。研究结果对抑制钻柱黏滑振动研究具有参考意义,对降低钻井工具损害、提高钻井效率以及增强作业安全性有重要的指导意义。

Suppression of Stick-Slip Vibration of Drill String by Fractional-Order PID Control

Stick-slip vibration of drill string is one of the important reasons leading to accelerated wear and premature damage of drilling equipment,reduced drilling safety and reduced drilling efficiency. Aiming at the torsional motion of the drill string,a four-degree-of-freedom drill string system torsional model for drill string,drill pipe,BHA,and drill bit was established. The model takes into account the highly nonlinear friction of torsional degrees of freedom,drill string damping,and rock bit interaction. Through simulation on the drill string model,the effects of drilling parameters on stick-slip vibration are analyzed. A fractional order PID controller is designed to suppress stick-slip vibration. The study results show that the fractional-order PID controller has a significantly better suppression effect on stick-slip vibration than the traditional PID controller,which can quickly stabilize the system,shorten the adjustment time,and effectively suppress the stick-slip vibration. The study results could provide references to the researches on suppressing stick-slip vibration of drill string,and have important guiding significance for reducing the damage of drilling tools,improving drilling efficiency and enhancing the safety of operations.