上海交通大学学报

上海交通大学学报 >

2023 , Vol. 57 >Issue 11: 1389 - 1399

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2022.235

船舶海洋与建筑工程

基于模型预测控制的深海钻井立管再入井仿真分析

  • 张晨宇 ,
  • 孟帅
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  • 上海交通大学 海洋工程国家重点实验室, 上海 200240
张晨宇(1998-),硕士生,从事海洋立管再入井控制研究.

收稿日期: 2022-06-21

  修回日期: 2022-10-06

  录用日期: 2022-10-18

  网络出版日期: 2022-12-09

基金资助

国家自然科学基金项目(51879161);国家自然科学基金项目(51509153)

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Simulation Study of Reentry Dynamics of a Deep-Water Drilling Riser System Based on Model Predictive Control

  • Chenyu ZHANG ,
  • Shuai MENG
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  • State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2022-06-21

  Revised date: 2022-10-06

  Accepted date: 2022-10-18

  Online published: 2022-12-09

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摘要

海洋立管在钻井作业时一旦遇到恶劣天气须将底端总成和防喷器断开,待天气好转需重新连接称为再入井作业.深海区钻井立管发生断开的概率大幅增加,为适应多变的海况需要快速完成再入井过程.提出基于模型预测控制(MPC)再入井控制系统;基于哈密顿原理建立悬挂立管分析模型,设计优化函数及约束项,构建非线性扰动观测器实现洋流力模型误差和洋流速度扰动补偿,与传统比例-积分-微分(PID)控制作业进行仿真比较.MPC系统作用下,母船迅速响应,立管能快速稳定完成再入井作业,较好处理洋流力模型误差,并在洋流速度扰动下具有良好鲁棒性.立管由于长径比大幅增加导致柔性显著增强,在母船及海洋环境力激励下,悬挂立管在快速再入井过程中高阶模态可能被激发.

关键词： 钻井立管; 再入井作业; 哈密顿原理; 伽辽金法; 模型预测控制

本文引用格式

张晨宇 , 孟帅 . 基于模型预测控制的深海钻井立管再入井仿真分析[J]. 上海交通大学学报, 2023 , 57(11) : 1389 -1399 . DOI: 10.16183/j.cnki.jsjtu.2022.235

Abstract

A marine drilling riser at normal operation condition is required to disconnect the lower marine riser package (LMRP) and blow-out preventer (BOP) in case of severe weather. When the weather gets fine, it must reconnect the LMRP and the BOP. This process is called riser reentry. Marine drilling operations have been driven into extreme deep-waters characterized by severe weather which inevitably leads to a much higher incidence of disconnection. In addition, it requires to accomplish the reentry in a fast way owing to the capricious ocean environment. This study tries to develop a novel reentry control system based on model predictive control (MPC). First, the transverse governing equation of the hanging-off riser system with an end-mass is established based on the modified Hamilton’s principle. The optimization function and constraints in MPC are designed by use of the riser prediction model and the target location. A nonlinear disturbance observer is established for compensation of the model uncertainties and ocean environment disturbances. Finally, simulations are conducted after introducing the dynamic position system (DPS). The riser dynamics employing MPC are compared with that when adopting proportional-integral-derivative (PID) controller. It has found that the drilling riser system based on MPC has a higher response speed, which can complete the reentry process in a faster and more stable manner. It can handle the hydrodynamic force model uncertainties well and has a good robustness for current velocity disturbances. As the flexibility of the riser system is notably enhanced with the significant increase of aspect ratio, the higher-order mode of the flexible hanging-off riser can be triggered in the fast reentry process subjected to the excitations of the mother vessel and ocean environment.

Key words： drilling riser; reentry dynamics; Hamilton principle; Galerkin method; model predictive control (MPC)

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