前馈PID控制器在钻柱运动补偿系统中的应用

针对"深海钻柱运动补偿系统负载大时,钻柱运动补偿系统响应的时间长,使得补偿系统在控制过程中出现滞后、反馈补偿出现振荡"等问题,设计了钻柱运动补偿系统中的前馈PID控制器。根据对负载变化趋势的预测结果,采取前馈补偿的方法来减小补偿系统负载变化对钻压产生的影响,提高了系统的响应速度;同时,引入PID反馈控制消除补偿系统在前馈控制过程中产生的误差,提高了系统跟踪补偿的精度。研究结果表明,该方法对于大惯性负载的运动补偿装置控制器的设计具有一定的借鉴意义和实用价值。

Application of feedforward PID control in deep-sea drill string motion compensation system

Aiming at the problem that load of drill string motion compensation system is very heavy in deep-sea,which will take a long response time of system,and the process of compensation movement occurred delaying and oscillating,the feedward PID controller of drill string motion compensation system was put forward,on the basis of the forecast output of the trend of load,a feed forward compensation control method was used to reduce the effects of the changement of the load,improve the respons time of system.Meanwhile,a PID feed back control method was used to reduce the errors which caused by others reason,improve the control accuration of the system.The research results show that this method has some guidance and practical value to the design of controller of high inertia loads of motion compensation device in deep-sea.