Open Access
 Issue JNWPU Volume 37, Number 2, April 2019 291 - 298 https://doi.org/10.1051/jnwpu/20193720291 05 August 2019

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

## 1 钻进系统动力学模型

u=Tm为系统输入, A为状态矩阵, B为系统输入矩阵(向量), C为系统输出矩阵(向量), D为扰动输入矩阵(向量), y=Cx为可测量的输出变量。对于实际钻进系统而言, 只有顶驱转速x1可以测量, 其他状态均不可直接获取。

 图1井下钻进系统双自由度模型

## 2 控制方案设计

 图2控制方案结构图

## 3 仿真分析

### 3.1 状态观测器性能分析

 图3钻头转速的仿真值x3与估计值
 图4角位移差的仿真值x2与估计值
 图5非线性摩擦扭矩的仿真值Tf与估计值

### 3.2 参考值优化算法功能分析

 图6不同钻压下角位移差参考值x2, ref
 图7不同钻压下驱动扭矩的参考值Tem

### 3.3 全维状态控制器性能分析

 图8钻压100 kN时2种控制方案的控制曲线
 图9钻压140 kN时2种控制方案的控制曲线
 图10钻压180 kN时2种控制方案的控制曲线

## 4 井场实验

 图11监测到的顶驱扭矩实际值
 图12钻头转速估计值与监测到的顶驱转速实际值

## 5 结论

1) 提出的状态观测器不仅可以比较准确地估计井下钻进系统的状态, 而且可以估计钻头和岩石间的非线性摩擦扭矩, 诊断钻柱黏滑振动的发生;

2) 根据估计的摩擦扭矩和顶驱目标转速, 参考值优化算法可以实时计算系统所需的驱动扭矩和系统状态的参考值;

3) 与PI控制器相比, 设计的全维状态控制器有效地抑制钻柱的黏滑振动并且拥有更好的动态特性和克服非线性摩擦的能力。

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## All Figures

 图1井下钻进系统双自由度模型 In the text
 图2控制方案结构图 In the text
 图3钻头转速的仿真值x3与估计值 In the text
 图4角位移差的仿真值x2与估计值 In the text
 图5非线性摩擦扭矩的仿真值Tf与估计值 In the text
 图6不同钻压下角位移差参考值x2, ref In the text
 图7不同钻压下驱动扭矩的参考值Tem In the text
 图8钻压100 kN时2种控制方案的控制曲线 In the text
 图9钻压140 kN时2种控制方案的控制曲线 In the text
 图10钻压180 kN时2种控制方案的控制曲线 In the text
 图11监测到的顶驱扭矩实际值 In the text
 图12钻头转速估计值与监测到的顶驱转速实际值 In the text

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