立柱式排管机回转角度高精度测量与自动化控制研究

自动化管柱处理装备的规模应用已成为石油钻井装备的发展趋势。回转运动是立柱式排管机、钻台机械手、二层台机械手、自动井架工等自动化管柱处理装置的重要运动形式。目前,立柱式排管机回转角度的测量主要依赖人工控制,精度低,自动化程度很低。基于高精度测量传感器、液压摆线马达、液压伺服比例系统、PLC控制系统等建立了回转角度高精度测量与控制系统。系统所采集的角度信号传输给控制器后,按既定算法,控制比例伺服阀动作,完成精确的定位与控制。该系统可精确地自动控制立柱式排管机的旋转。蓄能器的应用提高了能量的利用效率,降低了成本。采用立柱式排管机回转角度高精度测量与控制技术,提高了自动化程度、作业安全和作业效率,对钻井施工有重要意义。

Research on High-precise Measurement and Automatic Controlof Rotation Angle of Column Pipe Racking Device

The wide application of automatic pipe handling devices has become the trend of oil drilling equipment. Rotary motion is an important movement of column pipe racking device, drill floor manipulator, racking board manipulator, automatic iron derrickman and other automatic pipe handling devices. The measurement of the rotation angle of the column pipe racking device mainly relies on manual control, with low accuracy and low automation. The high-precision measurement and control system of slewing angle was established based on the high-precise measurement sensor, hydraulic cycloid motor, hydraulic servo proportional system, PLC control system and so on. After the collected angle signal is transmitted to the controller, according to the set algorithm, the proportional servo action is controlled to complete the precise positioning and control. The system can accurately and automatically control the rotation of the column pipe racking device. The application of the accumulator can improves the energy utilization efficiency and reduces the cost. The high-precision measurement and control technology of the rotation angle of the column pipe racking device improves the degree of automation, operation safety and operation efficiency, and is of great significance to the drilling construction.