二层台机械手伺服驱动和控制系统开发

为解决极寒地区石油钻机二层台机械手液压驱动装置控制精度低、响应滞后、系统运行特性易受外界环境影响及维护成本高等问题,全新开发了一种二层台机械手伺服驱动和控制系统代替常规液压驱动装置。基于CoDeSys平台开发了伺服装置的多机构协同运动控制程序,并基于常规钻机控制系统所用的PORTAL软件平台开发了上位机操作系统,实现了对外数据的无缝对接和内部变量的实时处理。应用PROFINET总线网络实现了所有控制模块的数据实时、稳定传输。在油田现场应用过程中,安装该系统的二层台机械手加、减速操作与设备动作呈线性关系,动作响应时间短于1 s,控制精度达到±2 mm,完成一个循环周期的工作时间短于43 s,无噪声、无污染。该伺服驱动和控制系统的研发满足了二层台机械手的使用需求,适用于油田作业工况,达到现场工艺要求。

Development of Servo Drive and Control System for Monkey Board Manipulator

The hydraulic drive unit of the monkey board manipulator(MBM)of oil rig in the extremely cold areas is suffered from a series of problems,e.g.low control accuracy,response lag,vulnerable operating performance to environmental impact and high maintenance cost.In order to solve these problems,servo drive and control system was newly developed for MBM to replace the conventional hydraulic drive.Then,the multi-agency coordinated motion control program of the servo device is developed based on the CoDeSys platform,and the host computer operating system was developed based on the PORTAL software platform used in the control system of conventional rig,so as to realize the seamless connection to external data and the real-time processing of internal variables.Real-time and stable data transmission of all control modules was realized by using PROFINET bus network.During the field application in the oilfield,the acceleration and deceleration operation of the MBM installed with this system is in a linear relationship with the action of the equipment.The response time is less than 1 s,the control accuracy is±2 mm and the time for completing a cycle is less than 43 s,without noise or pollution.The development of this servo drive and control system meets the requirements of the use of the monkey board manipulator,which is suitable for oilfield operation conditions and meets on-site process requirements.