During the working process of coiled tubing unit,the speed control of the up/down pipe mainly depends on manual ad-justment of the injection head pump displacement and the motor pressure.In order to solve the problems of complex operation and low degree of automation,the hydraulic system of injection head of coiled tubing unit was simplified as a closed pump-controlled motor sys-tem,and the traditional manual control method was replaced by an automatic control system.The working principle of pump-controlled motor system was analyzed,and the hydraulic simulation model of pump-controlled motor system was built in AMESim.The traditional PID and fuzzy-adaptive PID control models of the pump-controlled motor system were developed using MATLAB/Simulink,thus form-ing a closed-loop control co-simulation platform of the whole system.The PID and fuzzy-adaptive PID control algorithms were used to simulate the response of the system.The results show that after adopting the fuzzy-adaptive PID control models,the response speed of the hydraulic model is faster,and there are no overshoot or hysteresis phenomena;in addition,the steady-state error is smaller,and the pump-controlled motor system has good dynamic characteristics.
fuzzy-adaptive PIDpump-controlled motor systemspeed controlco-simulation
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