【摘要】：深海資源的探測(cè)和開(kāi)發(fā),需要采用超深水超深井浮式鉆井。升沉補(bǔ)償系統(tǒng)是浮式鉆井的必備設(shè)備之一。絞車(chē)型升沉補(bǔ)償系統(tǒng)是基于直驅(qū)容積控制(DDVC)和液壓變壓器能量回收技術(shù),通過(guò)控制絞車(chē)的運(yùn)動(dòng)來(lái)補(bǔ)償鉆柱的升沉位移。系統(tǒng)中的直驅(qū)容積控制部分具有節(jié)能高效、調(diào)速范圍寬、控制靈活等優(yōu)點(diǎn),但DDVC系統(tǒng)屬于容積控制,系統(tǒng)的響應(yīng)速度慢,控制特性差。所以DDVC液壓系統(tǒng)動(dòng)態(tài)特性的改善是本文研究的重點(diǎn)之一。絞車(chē)型升沉補(bǔ)償系統(tǒng)中,平臺(tái)的升沉運(yùn)動(dòng)就是一個(gè)干擾,補(bǔ)償?shù)哪康木褪潜ＷC鉆壓恒定,常規(guī)的反饋控制屬于誤差出現(xiàn)后才控制的方法,精度不高,響應(yīng)速度慢。無(wú)法使控制機(jī)構(gòu)的補(bǔ)償操作與浮式作業(yè)平臺(tái)升沉運(yùn)動(dòng)同步,不能實(shí)現(xiàn)擾動(dòng)的同步消除即同步升沉補(bǔ)償,補(bǔ)償精度不高。因此,大慣量系統(tǒng)的擾動(dòng)同步消除,提高系統(tǒng)補(bǔ)償精度的問(wèn)題是本論文另一個(gè)關(guān)鍵問(wèn)題。本文主要研究工作如下：1、建立了絞車(chē)型升沉補(bǔ)償系統(tǒng)中直驅(qū)容積控制液壓馬達(dá)系統(tǒng)的數(shù)學(xué)模型,在A(yíng)MESim中建立直驅(qū)泵控馬達(dá)系統(tǒng)仿真模型,并對(duì)該系統(tǒng)的數(shù)學(xué)模型進(jìn)行仿真分析,對(duì)該系統(tǒng)AMESim模型進(jìn)行仿真驗(yàn)證,探究直驅(qū)泵控馬達(dá)的速度響應(yīng)特性。2、為了改善絞車(chē)型升沉補(bǔ)償系統(tǒng)動(dòng)態(tài)特性,提出了變轉(zhuǎn)速-變排量泵控馬達(dá)系統(tǒng)方案和多組不同功率電機(jī)驅(qū)動(dòng)不同排量泵組合控制的直驅(qū)泵控馬達(dá)系統(tǒng)方案。并在MATLAB/Simulink和AMESim中進(jìn)行仿真分析和驗(yàn)證。驗(yàn)證了所提方案的正確性。3、完善了絞車(chē)型升沉補(bǔ)償系統(tǒng)的整體控制方案,提出了基于平臺(tái)運(yùn)動(dòng)速度預(yù)測(cè)的非線(xiàn)性擾動(dòng)補(bǔ)償控制器,對(duì)大鉤的位移進(jìn)行補(bǔ)償,基本實(shí)現(xiàn)了大慣量系統(tǒng)的擾動(dòng)同步消除,提高了系統(tǒng)的補(bǔ)償精度。4、設(shè)計(jì)了直驅(qū)絞車(chē)型升沉補(bǔ)償系統(tǒng)實(shí)驗(yàn)臺(tái),對(duì)該實(shí)驗(yàn)臺(tái)進(jìn)行了結(jié)構(gòu)設(shè)計(jì)和AMESim建模仿真,分析實(shí)驗(yàn)臺(tái)補(bǔ)償特性和響應(yīng)特性。進(jìn)行了伺服電機(jī)的速度響應(yīng)實(shí)驗(yàn),驗(yàn)證所建的伺服電機(jī)模型是正確的。結(jié)合海洋升沉運(yùn)動(dòng)模擬平臺(tái)對(duì)預(yù)測(cè)補(bǔ)償控制器進(jìn)行實(shí)驗(yàn)分析,驗(yàn)證所提的預(yù)測(cè)方案是合理的。
[Abstract]:For the detection and development of deep-sea resources, it is necessary to adopt ultra-deep water ultra-deep well floating drilling. Heave compensation system is one of the necessary equipment for floating drilling. The heave compensation system of winch is based on direct drive volume control (DDVC) and hydraulic transformer energy recovery technology. The lifting displacement of drill string is compensated by controlling the movement of winch. The direct drive volume control part of the system has the advantages of energy saving and high efficiency, wide range of speed regulation, flexible control and so on. However, the DDVC system belongs to volume control, the response speed of the system is slow, and the control characteristic is poor. Therefore, the improvement of dynamic characteristics of DDVC hydraulic system is one of the key points of this paper. In the heave compensation system of winch type, the heave motion of the platform is an interference, the purpose of compensation is to ensure the constant drilling pressure, the conventional feedback control belongs to the method of control after the error appears, the precision is not high, and the response speed is slow. The compensation operation of the control mechanism can not be synchronized with the lift motion of the floating operation platform, and the synchronization elimination of disturbance, namely synchronous lift compensation, can not be realized. The compensation precision is not high. Therefore, the problem of eliminating disturbance synchronously and improving the compensation accuracy of large inertia system is another key problem in this paper. The main research work of this paper is as follows: 1. The mathematical model of the direct drive volume control hydraulic motor system in the heave compensation system of the winch model is established, and the simulation model of the direct drive pump control motor system is established in AMESim. The mathematical model of the system is simulated and analyzed, and the AMESim model of the system is simulated and verified, and the speed response characteristics of the direct drive pump control motor are explored. 2, in order to improve the dynamic characteristics of the heave compensation system of the winch type, The scheme of variable speed-variable displacement pump-controlled motor system and the scheme of direct-drive pump-controlled motor system controlled by multiple groups of different power motors driving different displacement pumps are presented. The simulation analysis and verification are carried out in MATLAB/Simulink and AMESim. The correctness of the proposed scheme is verified. 3, the overall control scheme of the heave compensation system of winch type is improved, and a nonlinear disturbance compensation controller based on platform velocity prediction is proposed to compensate the displacement of the hook. The disturbance synchronous elimination of the large inertia system is basically realized, and the compensation accuracy of the system is improved. 4. The experimental platform of the heave compensation system of the straight drive twist model is designed, and the structure design and AMESim modeling and simulation of the experimental platform are carried out. The compensation characteristics and response characteristics of the experimental platform are analyzed. The speed response experiment of servo motor is carried out to verify that the model of servo motor is correct. Combined with the ocean heave motion simulation platform, the experimental analysis of the predictive compensation controller is carried out to verify that the proposed prediction scheme is reasonable.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：P715.1

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