In order to meet the functional requirements of the new type of subsea continuous pipe drilling rig for variable height racks,a rack lifting control scheme was designed.Firstly,based on the underwater drilling technology and deep-sea environment,a double-layer frame lifting scheme and operation process based on ultra long stroke plunger cylinder and electro-hydraulic proportional throttling speed regulation were designed.It has the advantages of compact structure,good stability,convenient installation of oil cylinders and high-pressure pipelines,and low development cost.Then,in order to reduce the influence of factors such as large span offset load and underwater ocean current disturbance on the synchronous motion control process,a four cylinder master-slave synchronous closed-loop control structure was adopted,and an internal model robust controller was designed based on the system theoretical model.Simulation results showed that the control system has good anti-interference ability,providing a basis for accurate and stable control in deep-sea environments.
Subsea drilling rigHydraulic synchronizationInternal model robustnessParallel control
维普
万方数据
