本文選題：浮式鉆井 + 絞車��； 參考：《中國石油大學(華東)》2015年博士論文

【摘要】：升沉補償裝置是海洋浮式鉆井系統(tǒng)中的重要設備,用來減輕平臺升沉運動對鉆井作業(yè)的不利影響。國外升沉補償系統(tǒng)的研究起步早,一直壟斷著這項技術,國內(nèi)少數(shù)高校及科研院所尚處于理論研究、模擬仿真、原理樣機研制及試驗研究階段。升沉補償裝置按照動力供應方式分為被動式、主動式和半主動式,按照安裝位置與工作原理分為游車大鉤間的升沉補償裝置、天車升沉補償裝置以及絞車升沉補償裝置。相對于其它升沉補償方式,近年來國外開發(fā)的主動式絞車升沉補償裝置具有工作效率高、傳動簡單、結構緊湊、鉆井設備重心低、平臺載荷與占用空間少、補償行程不受限制等優(yōu)點,受到業(yè)內(nèi)的高度重視,國內(nèi)相關企業(yè)也已經(jīng)開始著手進行絞車補償技術的研究。在分析總結國外先進技術的基礎上,論文提出一套新型半主動式絞車升沉補償系統(tǒng)方案,并通過對比評價、理論分析、計算機仿真和試驗研究等多種手段,對該方案進行深入研究,以達到簡化海洋鉆機結構、提高補償性能、降低補償能耗的目的,并提高系統(tǒng)對不同海況及工況的適應性,加速絞車升沉補償裝置的國產(chǎn)化進程。在所開發(fā)的海洋鉆井半主動式絞車升沉補償方案中,利用2K-H型差動行星輪系雙動力輸入、單輸出的特點,分別控制外齒圈和太陽輪實現(xiàn)鉆井過程中的升沉補償運動與自動送鉆運動,使行星架驅動絞車實現(xiàn)邊補償、邊送鉆的復合運動,從而實現(xiàn)了兩種運動的硬件解耦控制;采用電液混合動力驅動,通過被動液壓馬達與液氣蓄能裝置平衡鉆機靜載荷,對負載重力勢能進行周期性回收與釋放,矢量變頻電機克服補償過程中的其余載荷,從而在保證補償精度的前提下,實現(xiàn)了液壓蓄能節(jié)能。半主動式絞車補償系統(tǒng)需要滿足升沉補償、自動送鉆和空鉤作業(yè)等工況要求;此外還能對鉆柱斷脫、管線破裂、失電等突發(fā)事故進行安全響應。以井深10000 m、補償負載350 t、平臺升沉與補償行程7.62 m、升沉周期12 s為設計參數(shù)及技術指標,分析了絞車升沉補償能耗的變化規(guī)律及影響因素。綜合考慮裝機功率、系統(tǒng)能耗、結構強度及鋼絲繩壽命等因素,并參考國外主動式補償絞車產(chǎn)品技術參數(shù),確定了半主動式補償絞車的電液聯(lián)合驅動方案及關鍵結構參數(shù)。新型半主動式絞車補償方案相對于主動補償方式的節(jié)能效果明顯。設計了半主動式補償絞車的關鍵結構,包括絞車、差動行星減速器及液壓控制系統(tǒng)。主動補償電機、被動補償液壓馬達與布置在差動行星減速器外齒圈上的多個輸入軸相連,完成升沉補償及起下鉆等功能;送鉆電機通過大減速比雙級擺線減速器與差動行星減速器太陽輪輸入軸相連,完成自動送鉆及應急起放井架、鉆具等功能。絞車滿足強度及剛度要求;差動行星減速器滿足傳動比、強度及安裝要求;液壓馬達可以在升沉補償、起下鉆、自鎖、浮動等工況之間自由切換。補償絞車整體對稱布置、結構緊湊、安全可靠性強,滿足鉆井工作要求。設計了半主動式補償絞車的運動解耦控制策略,并進行了系統(tǒng)建模與仿真研究。升沉補償采用外環(huán)大鉤位移閉環(huán)與內(nèi)環(huán)電機轉速閉環(huán)的雙層控制方案,自動送鉆采用外環(huán)鉆壓閉環(huán)與內(nèi)環(huán)電機轉速閉環(huán)的雙層控制方案。建立各環(huán)節(jié)的數(shù)學模型,搭建Simulink/AMESim聯(lián)合仿真模型,進行了升沉補償與自動送鉆的運動仿真。研究結果表明:被動式補償效果很差;主動及半主動式補償效率均達到95%以上,隨著鉆井井深的增加,半主動式補償相對于主動式節(jié)能22.1%-52.3%,井深越大,節(jié)能效果越好;自動送鉆過程中井底鉆壓穩(wěn)定,滿足浮式鉆井要求。開展了升沉補償運動控制算法的研究。內(nèi)模算法基于系統(tǒng)數(shù)學模型,只需調(diào)節(jié)濾波器時間常數(shù)就可以調(diào)整系統(tǒng)的動態(tài)性能與魯棒性;當所建立模型與系統(tǒng)實際模型匹配時,內(nèi)模算法對PID參數(shù)的整定方便、準確;模型不匹配時,固定的時間常數(shù)則會嚴重影響控制性能。模糊算法依賴工程經(jīng)驗,控制精度較低,但其魯棒性及抗干擾能力較強。通過對多種控制算法進行對比,最終設計了模糊內(nèi)�？刂破�:建立濾波器時間常數(shù)的模糊推理系統(tǒng),實現(xiàn)在線整定,具有PID參數(shù)整定方便、魯棒性和抗干擾能力強的優(yōu)點。研制了一套1:5縮尺的補償絞車原理樣機,并搭建了原理樣機的試驗系統(tǒng),基于此系統(tǒng)開展試驗研究。試驗結果表明:絞車升沉補償與自動送鉆的控制性能良好,半主動式補償相對于主動式節(jié)能效果明顯,驗證了系統(tǒng)方案的可行性,為實際工程樣機的研制奠定了基礎。
[Abstract]:The heave compensation device is an important equipment in the offshore floating drilling system, which is used to reduce the adverse effect of platform lifting movement on the drilling operation. The research on the compensation system abroad has been early and has been monopolized by this technology. The theoretical research, simulation, simulation, prototype development and experimental research of a few universities and scientific research institutes in China are still in the field. Stage. The heave compensation device is divided into passive, active and semi-active type according to the power supply mode, according to the installation position and working principle, it is divided into the hoisting and sinking compensation device, the heaving and sinking compensation device and the hoist compensation device. The compensation device has the advantages of high efficiency, simple transmission, compact structure, low center of gravity of drilling equipment, low platform load and occupancy space, unrestricted compensation travel and so on. It is highly valued in the industry. The domestic related enterprises have begun to study the compensation technology of the winch. Based on the analysis and summary of advanced foreign technology, A set of new semi active winch hoist compensation system is proposed in this paper. Through comparative evaluation, theoretical analysis, computer simulation and experimental research, the scheme is studied in depth to simplify the structure of the offshore drilling rig, improve the compensation performance, reduce the energy consumption of compensation, and improve the system for different sea conditions and working conditions. In the developed marine drilling semi active winch hoist compensation scheme, using the dual dynamic input of 2K-H differential planetary gear train and the characteristic of single output, the hoist compensation motion and automatic drilling movement in the drilling process are controlled by the outer ring and the sun wheel. The star rack driven winch realizes the side compensation and the compound movement of the drill, thus realizing the decoupling control of the two kinds of motion. By using the electro-hydraulic hybrid drive, the static load of the drilling machine is balanced by the passive hydraulic motor and the liquid gas accumulator, and the load gravity potential energy is periodically returned and released, and the vector frequency conversion motor overcomes the compensation process. The rest of the load, thus guaranteeing the precision of the compensation, realizes the hydraulic energy saving. The semi-active winch compensation system needs to meet the requirements of the hoisting compensation, automatic drilling and air hook operation, in addition to the safety response to the burst of the drill string, the rupture of the pipeline, the loss of electricity and so on. The compensation load is 350 t, with the depth of 10000 m in the well depth. The platform lift and compensation travel 7.62 m and the lifespan 12 s are design parameters and technical indexes. The change law and influence factors of the hoist compensation energy consumption are analyzed. The factors such as the loading power, the system energy consumption, the structural strength and the steel rope life are taken into consideration, and the semi-active formula is determined by reference to the technical parameters of the foreign active compensatory winch products. The electro-hydraulic joint drive scheme and the key structure parameters of the compensation winch. The new semi active winch compensation scheme has an obvious energy saving effect compared with the active compensation method. The key structure of the semi-active compensation winch is designed, including the winch, the differential planetary reducer and the hydraulic control system. The active compensation motor, the passive compensation hydraulic motor and the hydraulic motor are designed. It is arranged in the external gear ring of the differential planetary gear reducer, which is connected by several input axes, and completes the function of heave compensation and drilling, and so on. The drill motor is connected with the input shaft of the differential planetary reducer with the double stage cycloid reducer, and completes the automatic drilling and emergency lifting derrick, drilling tools and other functions. The winch satisfies the strength and stiffness requirements. The differential planetary reducer meets the transmission ratio, strength and installation requirements; the hydraulic motor can switch freely between the lifting and sinking compensation, the drilling, the self locking and the floating. The compensation winch is arranged symmetrically, the structure is compact, the safety and reliability are strong, and the motion decoupling control strategy of the semi-active compensation winch is designed, and the motion decoupling control strategy is designed and entered. The system modeling and simulation study. The hoisting compensation adopts the double control scheme of the outer ring hook displacement closed loop and the inner loop motor speed closed loop. The automatic drill adopts the double control scheme of the outer ring drilling pressure closed loop and the inner loop motor speed closed loop. The mathematical model of each link is set up and the Simulink/AMESim joint simulation model is built, and the heave compensation is carried out. The results show that the passive compensation effect is very poor; the active and semi-active compensation efficiency is above 95%. With the increase of the drilling well depth, the semi-active compensation is relative to the active energy saving 22.1%-52.3%, the greater the depth of well, the better the energy saving effect; the bottom hole drilling pressure is stable in the automatic drilling process, and the floating type is satisfied. The internal model algorithm is based on the system mathematical model. The dynamic performance and robustness of the system can be adjusted only by adjusting the time constant of the filter. When the model is matched with the actual model of the system, the internal model algorithm is convenient and accurate for the tuning of the PID parameters; when the model is not matched, the model is fixed. The fixed time constant will seriously affect the control performance. The fuzzy algorithm relies on the engineering experience, the control precision is low, but its robustness and anti-interference ability are strong. Through the comparison of various control algorithms, the fuzzy internal model controller is finally designed: the fuzzy inference system of the time constant of the filter is established, and the PID parameters are realized online. It has the advantages of convenient setting, robustness and strong anti-interference ability. A set of 1:5 miniature compensatory winch prototype is developed, and the test system of the principle prototype is set up. The test results are carried out based on this system. The experimental results show that the control performance of the hoist compensation and automatic drilling is good, and the semi-active compensation is relative to the active energy saving effect. Guo Mingxian verified the feasibility of the system plan, and laid the foundation for the development of the actual engineering prototype.
【學位授予單位】：中國石油大學(華東)
【學位級別】：博士
【學位授予年份】：2015
【分類號】：TE951

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