摘要
当连续油管在水平段受到过大摩擦阻力而无法达到预定位置或出现自锁时,需要采用牵引器来增加连续油管的极限下入深度,使连续油管达到预定作业位置。针对井下牵引器控制系统的调节速度与误差抑制问题,设计了基于模糊神经网络PID控制策略,调整了其模糊规则;最后,在阶跃响应和正弦信号下进行Simulink仿真,验证其动态性能与静态性能。通过实验分析,结果表明:在阶跃响应下的上升时间为1.8s,系统无超调,调节时间为2s;正弦响应的最大滞后时间在0.3s左右,最大幅值误差在0.05kPa,幅值误差小,快速性好,跟随性能优越。基于模糊神经网络PID控制超调量减少51.3%,调节时间减少3.6s,可以更好的控制牵引器,使连续油管更加稳定准确快速的达到预定作业位置。
When the coiled tubing cannot reach the predetermined position due to excessive friction resistance in the horizontal section or self-locking occurs,it is necessary to use a tractor to increase the limit running depth of the coiled tubing to make the coiled tubing reach the predetermined operating position.Aiming at the problem of regulating speed and error suppression of downhole tractor control system,a PID control strategy based on fuzzy neural network was designed and its fuzzy rules were adjusted.Finally,Simulink simulation experiments were carried out under step response and sinusoidal signal to verify its dynamic and static performance.The experimental analysis shows that the rise time is 1.52s under the step response,the system has no overshoot,and the adjustment time is 1.8s;The maximum lag time of sinusoidal response is about 0.3s,the maximum amplitude error is 0.05kpa,the amplitude error is small,the speed is good,and the following performance is excellent.Based on Fuzzy Neural Network PID control,the overshoot is reduced by 60% and the adjustment time is reduced by 54.5%,which can better control the tractor and make the coiled tubing more stable,accurate and fast to reach the predetermined operation position.
作者
郑杰
白杨杰
任丰伟
窦益华
ZHENG Jie;BAI Yang-jie;REN Feng-wei;DOU Yi-hua(School of Mechanical Engineering,Xi'an Shiyou University,Xi'an Shaanxi 710065,China;Xi'an Special Equipment Inspection Institute,Xi'an Shaanxi 710065,China;Baoji Oilfield Machinery Co.,Ltd.,Baoji Shaanxi 721015,China;National Engineering Research Center for Oil&Gas Drilling Equipment,Baoji Shaanxi 721015,China;School of Power and Energy,Northwestern Polytechnical University,Xi'an Shaanxi 710072,China)
出处
《计算机仿真》
2024年第8期93-98,126,共7页
Computer Simulation
基金
国家自然科学基金(52004215,51674199)
陕西省重点研发计划项目(2022GY-129)。
关键词
连续油管
井下牵引器
控制系统
模糊神经网络
仿真分析
Coiled tubing
Downhole tractors
Control system
Fuzzy neural networks
Simulation analysis
