摘要
针对发生井喷事故时人工抢接止回阀存在的抢接时间长、可靠性差、易造成人员伤亡等问题,设计一种可用于抢接止回阀的自动化装置。为了使自动抢接止回阀装置在发生井喷时能够快速、平稳、精准地进行止回阀的对接,以装置的立柱回转关节和折叠臂关节为对象,采用控制理论和数值分析结合的方法,建立2种关节液压伺服系统的数学模型,研究了模糊PID控制算法,并结合专家经验设计一种模糊控制器。基于MATLAB/Simulink搭建了2种关节的液压伺服系统仿真模型,并在相同参数条件下对模糊PID控制和常规PID控制进行了仿真研究。仿真结果表明:相较于传统PID控制,所提模糊PID控制方法优势在于:当无干扰时,立柱回转关节和折叠臂关节的调节时间分别缩短3.8 s和2.25 s,最大超调量分别降低15%和13.7%;当有干扰时,立柱回转关节和折叠臂关节的震荡超调量分别下降6.2%和3.4%,调节时间分别缩短1.95 s和1 s,模糊PID控制方法使得控制系统的动态响应性能更加优异、抗干扰性能更强。
In view of the manual rush check valve problems of long rushing time,poor reliability and easy to cause casualties in the case of a blowout accident,an automatic device that could be used to rush the check valve was designed.In order to make the automatic rush check valve device could be fast,stable and accurate check valve docking,taking the column rotation joint and the folding arm joint of the device as the object,the method of combining control theory and numerical analysis was adopted,and the mathematical models of two joint hydraulic servo systems were established,the fuzzy PID control algorithm was studied,and a fuzzy controller was designed based on expert experience.Based on MATLAB/Simulink,the simulation model of the hydraulic servo system of the two joints was built,and the fuzzy PID control and the conventional PID control were simulated under the same parameter conditions.The simulation results show that compared with the traditional PID control,the advantages of the designed fuzzy PID control method are that:when there is no interference,the adjustment time of the column rotary joint and the folding arm joint is shortened by 3.8 s and 2.25 s,and the maximum overshoot is reduced by 15%and 13.7%,respectively;when there is interference,the oscillation overshoot of the column rotary joint and the folding arm joint is reduced by 6.2%and 3.4%,respectively,the adjustment time is shortened by 1.95 s and 1 s,respectively.The fuzzy PID control method makes the dynamic response performance of the control system more excellent and the anti-interference performance stronger.
作者
刘先明
严宇
卢文平
卿玉
杭峥
管锋
LIU Xianming;YAN Yu;LU Wenping;QING YU;HANG Zheng;GUAN Feng(School of Mechanical Engineering,Yangtze University,Jingzhou Hubei 434023,China;Material Branch,State Grid Jibei Electric Power Co.,Ltd.,Beijing 100052,China;Well Control Emergency Rescue Response Center,PetroChina Chuanqing Drilling Engineering Co.,Ltd.,Deyang Sichuan 618300,China)
出处
《机床与液压》
北大核心
2024年第20期189-197,共9页
Machine Tool & Hydraulics
基金
湖北省教育厅科学研究计划项目(D20201305)
油气藏地质及开发工程国家重点实验室开放基金项目(PLN202012)。
