钻柱黏滑振动的模糊自适应PID控制研究

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中图分类号：TE921 文献标识码：A DOI：10.12473/CPM.202412027

Abstract：Thedestructive stick-slip vibration ofthedrilstring in deep drilling willcause serious obstacles to well drillingand production，andhasalways beenachallenge withoutappropriatesolutionduetoits strong nonlinearityand uncertainties.It is urgent todefine simple and effective controllers.To effctively suppress the stickslip vibration，a two-degree-of-freedom（DOF）torsionalvibration modelofdrilstring was builtusing the lumped mass method.Based on this model，and considering the feedforward torque and the angular velocity error，a fuzzy adaptive PID controller was proposed.This controller enables anadaptive adjustmentof PID parameters by constructinganon-linearrelationship between inputandoutput inaccordance with the fuzzytheory，insteadof using anaccurate mathematical model.For purpose of efectiveness validation，the proposed controller wascompared with traditional PIDcontroler，fuzzy controller，andLQRoptimal controller，under the perturbation of driling parameters，using the drillstring parameters of a 5200m example well. It is found that，under the perturbation of multipleparameters suchas desiredspeed，driving torque，and weightonbit（WOB），the traditional PIDcontrollerlacksadaptability，with some weaknesses including slow dynamic response，significant overshoot，andremarkable steady-state error（SSE）.Incontrast，the fuzzyadaptive PIDcontrolerhas achieved real-time adjustmentof parametersand exhibits excellent robustnessand adaptability，making it adapt to uncertain drilingconditions. Theangularvelocitiesoftherotarytableand thebitcanbequicklytrackedandkeptin thedesired value within25～ 30s，suggestingafast dynamic response.The overshootis firmly controlled within 2.5～6.33rad/s，with extremely small SSE.The proposed fuzzyadaptive PID controller has excellent comprehensive performance，and simple design.Itcan effctivelysuppressthe stick-slip vibration behaviorofthedrilstring underawiderange of complex operating conditions，providing technicalsupportand theoretical guidanceforensuring stableand eficientdriling.

Keywords：drilstring；stick-slip vibration；fuzzy adaptive PID；parameter perturbation；control perfor mance；driving torque；SSE

0 引言

随着油气勘探开发向深层-超深层进军，钻柱在愈加复杂的地层结构和摩擦助力影响下扭转振动现象凸显[1-3]。（剩余12837字）