【作者】 王沛军；

【导师】 杜京义；

【作者基本信息】 西安科技大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 修井机是原油开采中常用的作业机械,是维护油井正常生产的重要设备。绞车是用滚筒缠绕钢丝绳以对重物进行提升或下放的起重设备,是修井机的主要组成部分,在修井作业中承担着载荷的起升和下放工作。由于传统修井机仪表众多、操作复杂,增加了修井作业过程中司机的负担,降低了生产效率。针对此问题,我们研制了修井机绞车自控系统,该系统集修井机运行数据、作业数据监测和绞车运行速度控制为一体,提高了修井机的自动化水平。论文围绕修井机绞车自控系统的研制,主要展开了以下几方面的研究:对论文所属的项目进行介绍,阐述了修井机的原理;对绞车运行原理及其传动特性进行分析,并介绍了绞车控制系统发展现状;提出绞车自控系统的设计要求和总体结构。进行绞车自控系统的硬件设计,完成了车载电源、数据采集单元、数据监测单元和速度控制单元等部分的硬件电路设计;并针对现场作业环境,采用多种方法提高系统的可靠性。针对常规PID算法不能对绞车运行中的非线性、强扰动进行有效调节的问题,提出一种采用“Bang-Bang控制+模糊自适应PID控制”的复合控制算法来进行绞车运行速度控制。该算法通过协调快速性与稳定性之间的矛盾来获得良好的控制性能,仿真结果和现场应用均表明,复合控制算法的调节性能较好,其快速性、稳定性以及克服死区等非线性因素的能力均优于常规PID算法。设计了绞车自控系统的应用软件,以硬件为平台,速度控制算法为支撑,实现了修井机运行数据、作业数据的监测和绞车运行速度的控制,完成了绞车自控系统的研制。更多还原

【Abstract】 Workover Rig is used for exploiting the crude oil, It is an important equipment for normal production on the oilfield. Winch is a hoisting machine having drum around which is wound a rope or chain attached to the load being lifted, it is an important part on Workover Rig, bears the task of lifting and lower. There are many instruments on the traditional workover rig, because the instruments are complexly to operate, so the driver is hard when he works, and the efficiency is lower. For this reasons, the Winch Automatic Control System is developed. It integrates the functions of monitoring the process data and controlling the speed of Winch.This paper researches and develops on the Winch Automatic Control System on workover rig, the main tasks are as the follows.Introduce the project which this paper is included, expound the principle of Workover Rig. Analyze the principle of Winch, and the feature of transmission agent. Introduce the status quo of the Winch Control System. Then the structure and function for the Winch Automatic Control System are proposed.The hardware of Winch Automatic Control System is designed, it includs automotive power supply, data acquisition unit, data monitoring unit, and speed control unit. In allusion to the harsh environment when field application, many methods are used for improving the reliability of circuit.Because the traditional PID control can not solve the nonlinear and intensity disturbance, a compound control algorithm with Bang-Bang control and adaptive fuzzy PID is proposed. It coordinates the contradiction between stability and rapidity, could acquire good performance for speed control. Both simulation result and field application indicate that the compound control algorithm is better than traditional PID, not only in stability and rapidity, but also in nonlinear control such as overcoming the dead zone. The application software of Winch automatic control system is designed, it cooperates with hardware and speed control algorithm, implements the function of Winch automatic control system.更多还原