Research on control system of drill pipe conveying device based on fuzzy particle swarm optimization

In the tripping operation of large-diameter rescue well construction, the drill pipe conveying device used for large-diameter drilling tool transportation and drill string connection. In view of the problem that it is difficult to quickly and accurately lift the drill pipe to the angle of power head for make-up due to its easy vibration in the process of positioning, the structural characteristics and working principle of the drill pipe conveying device were analyzed at first. The kinematic model for the lifting of drill pipe was deduced with the structural relationship, obtaining the mapping relationship in the motion law of the drill pipe end joint, lifting cylinder and transport trolley. Meanwhile, the dynamic load model for the lifting of drill pipe was established using the finite element method. Thus, it was found that the vibration acceleration of the drill pipe end joint was mainly determined by the working speed of the lifting cylinder and the transport trolley, while the working speed of each component was mainly determined by the respective input flow. Besides, the comprehensive error evaluation function based on particle swarm optimization algorithm was introduced. Then, the comprehensive error and acceleration error were calculated using the weighted method with the rotation angle error and position error of the drill pipe end joint as the input signals. At the same time, the fuzzy control rules were established using the trapezoidal membership function, and thus the relationship of the comprehensive error and acceleration error with the proportional parameter, integral parameter and differential parameter was obtained, to complete the adjustment of PID control parameters, thereby realizing the active vibration suppression control of the drill pipe end joint. Finally, the numerical simulation model was built with MATLAB software. Specifically, simulation research was performed based on the measured data signal of a drill pipe conveying device during its operation. It is shown that the comprehensive error of system could attenuate the amplitude to less than 10% of the peak value within 0.9 s only at the acceleration error of 0.05 mm/s², which is verified by the field application test. According to the test results, the control method of the drill pipe conveying device could realize the active vibration suppression of drill pipe during the transportation, so that the drill pipe end joint could be stabilized in a short time during the positioning process. The average time for the loading/unloading of a single drill pipe is about 192.8 s if the fuzzy controller is used, saving about 60 s, and the overall efficiency of drill pipe loading/unloading is improved by 24%. In general, the research results could provide a theoretical basis for improving the overall construction safety and efficiency of the drill pipe conveying device.