When the coiled tubing cannot reach the predetermined position due to excessive friction resistance in the horizontal section or self-locking occurs,it is necessary to use a tractor to increase the limit running depth of the coiled tubing to make the coiled tubing reach the predetermined operating position.Aiming at the problem of regula-ting speed and error suppression of downhole tractor control system,a PID control strategy based on fuzzy neural net-work was designed and its fuzzy rules were adjusted.Finally,Simulink simulation experiments were carried out under step response and sinusoidal signal to verify its dynamic and static performance.The experimental analysis shows that the rise time is 1.52s under the step response,the system has no overshoot,and the adjustment time is 1.8s;The maximum lag time of sinusoidal response is about 0.3s,the maximum amplitude error is 0.05kpa,the amplitude error is small,the speed is good,and the following performance is excellent.Based on Fuzzy Neural Network PID control,the overshoot is reduced by 60% and the adjustment time is reduced by 54.5%,which can better control the tractor and make the coiled tubing more stable,accurate and fast to reach the predetermined operation position.
维普
万方数据