全电式水下阀执行器多电机协同控制策略研究
Multi-motor Collaborative Control Strategy for All-electric Subsea Valve Actuator
宋震 1何玉明 2曹佳 2王健行 2罗舒 2罗运立2
作者信息
- 1. 西南石油大学机电工程学院;石油天然气装备技术四川省科技资源共享服务平台
- 2. 西南石油大学机电工程学院
- 折叠
摘要
水下采油树全电执行器多电机协同工作时,由于误差等导致减速器发生振动.为了减少同步误差导致传动系统发生振动的情况,通过对多电机协调策略进行研究,从控制算法层面提出了一种基于改进粒子群算法优化模糊PI补偿器的多电机协同控制策略.使用Logistic混沌映射并结合中心耦合游移的策略改进粒子群算法,采用改进后的算法离线优化模糊控制器的隶属度函数.为了得到最小的同步误差,在适应度评价函数中引入同步误差项.为了验证该方案,建立了Simulink/Adams 联合仿真模型,在 Adams 中以轴套力柔性连接替换理想约束,建立了联合仿真模型和传动机构动力学模型,对传动机构的振动情况进行了仿真.研究结果表明,该方法通过减小同步误差,能有效减轻传动系统的振动情况.所得结论可为多电机协同控制提供参考.
Abstract
When multiple motors of all-electric actuator in subsea christmas tree work together,the vibration of the retarder will occur due to error and other reasons.In order to reduce the vibration of transmission system caused by synchronization errors,the multi-motor coordination strategy was studied,and a multi-motor collaborative control strategy based on improved particle swarm algorithm optimization fuzzy PI compensator was proposed from the control algorithm level.With the help of Logistic chaotic map,combined with a strategy of center coupled walk,the particle swarm algorithm was improved,which was then used to optimize the membership function of the fuzzy controller offline.In order to obtain the minimum synchronization error,a synchronization error term was in-troduced into the fitness evaluation function.Finally,a Simulink/Adams joint simulation model and a dynamic model of transmission mechanism were built by replacing the ideal constraints with flexible connections in Adams to conduct simulation on the vibration of the transmission mechanism.The results show that,by reducing synchroniza-tion error,this method can effectively reduce the vibration of the transmission system.The conclusions provide ref-erence for multi-motor collaborative control.
关键词
水下采油树/全电式水下阀执行器/永磁同步电机/多电机协同控制/同步误差/粒子群算法/轴套力柔性连接Key words
subsea christmas tree/subsea all-electric valve actuator/permanent magnet synchromotor/multi-motor collaborative control/synchronization error/particle swarm algorithm/flexible connection of shaft sleeve force引用本文复制引用
基金项目
国家油气钻井装备工程技术研究中心开放课题(nodec201)
出版年
2024
NETL
NSTL
维普
万方数据