抑制钻柱黏滑振动和钻头反弹的建模与控制

为了抑制钻柱黏滑振动和钻头反弹现象，分析了黏滑振动和钻头反弹的运动机理，根据牛顿第二定律及电力拖动系统运动学理论，建立了钻柱旋转系统、起升系统的动力学模型及其负载模型，设计了基于线性二次型（LQR）控制策略的钻柱旋转系统和起升系统的状态反馈控制器。仿真结果表明，LQR控制器可使钻头转速稳定在给定转盘转速附近，控制系统的响应时间小于25 s，减少了钻压、扭矩和轴向位移波动，有效抑制了钻柱黏滑振动和钻头反弹现象。

Modeling and control of restraining stick slip vibration of drill strings and bounce of drill bits

In order to restrain stick slip vibration of drill strings and bounce of drill bits, the movement mechanism of the stick slip vibration of drill strings and the bounce of drill bits was analyzed. According to Newton second law and the kinematics theory of electric drive system, the dynamic model and load model of the rotation system and lifting system of drill strings were established, and a state feedback controller for drill strings' rotation system and lifting system based on linear quadratic (LQR) control strategy was designed.The simulation results show that the LQR controller can stabilize the bit speed near the given rotary speed, and the response time of the control system is less than 25 seconds, which reduces the weight on bit, torque and fluctuation of axial displacement, and effectively restrain stick slip vibration of drill strings and bounce of drill bits.