深海钻探管柱扶持装置自动控制系统的设计与分析

Design and analysis of an automatic control system for deep sea drilling pipe support device

摘要:

深海钻探中钻井船或平台在月池进行管柱收放作业时，为避免管柱与钻台或月池机构发生磕碰，设计了一种具备双层液压缸驱动辊子机构、可在月池区有效限制约束管柱径向位移、缓冲碰撞作用力的管柱扶持装置。本文主要介绍了该装置的自动控制系统，该系统为提升管柱扶持稳定性与接箍通过性，同时为应对复杂作业工况，提出了3种管柱接箍识别方案设计；通过搭建PLC为主控设备、HMI为上位机的硬件系统，结合PLC程序主-子程序设计和HMI界面设计，实现了多种不同规格的管柱在收放过程自动扶持管体与避让接箍等功能设计。样机经厂内联调试验，成功通过了套管接箍识别与扶持避让自动控制测试，其中机器视觉与颜色识别方案识别率达到了100%，验证了系统方案可行性。同时该装置的自动控制系统具备良好的管柱规格适应性、功能扩展性、人机交互友好性等。

Abstract:

During deep-sea drilling operations， when drilling ships or platforms are conducting pipe retraction and extension operations in the moonpool， in order to avoid collisions between the pipe and the drilling platform or moonpool， this paper designed a pipe support device with a double-layer hydraulic cylinder driven roller mechanism that can effectively constrain the radial displacement of the pipe and buffer the collision force in the moonpool. This article mainly introduces the automatic control system of the support device. The system proposes three identification schemes for couplings to improve the stability of pipe support and the passability of couplings， as well as to cope with complex operating conditions. By building a hardware system with PLC as the main control device and HMI as the upper computer device， combined with PLC main-sub program design and HMI interface design， automatic support of pipes and avoidance of couplings during the retraction and extension process of various specifications of pipes have been achieved. The prototype successfully passed automatic control test of casing coupling identification and support/avoidance through the factory acceptance tests. The machine vision and color recognition solutions achieved 100% identification accuracy， validating the system’s feasibility. Furthermore， the automatic control system exhibits excellent adaptability to different pipe specifications， strong functional expandability， and user-friendly operational characteristics.