中图分类号：TE927文献标识码：ADOI：10.12473/CPM.202405062

Joint Simulation Research on DrillingStringLifting Device Based on AMESim and ADAMS

Song Binghao1Wang Hanxiang1Zhang Heng1Liu Yanxin1Cai Wenjun²Chen Zhili² （1.Collegeof MechanicalandElectricalEngineering，China UniversityofPetroleum（EastChina）；2.Drilling Technology Research Institute，Sinopec ShengliPetroleumEngineeringCo.，Ltd.）

Abstract：As the drilling technology continues to develop，the requirements for conveying efficiency and automationlevelofdrilling tool becomes increasinglyhigh.However，there is unpredictablerollng of driling tool in theconveying process，makingitdificulttoeffctivelycontrol itsmovementtrajectoryMeanwhile，real-timeload changes cannot guaranteethe synchronization of hydraulic cylinder，and a single simulation software cannot truly reflect actual working conditions.Therefore，anew typeof clamping hydraulic lifting device fordriling string was developed and used to prevent drilling string from rollng in the conveying process.Moreover，the load-sensitive hydraulic system basedon pre-valvecompensation was adopted to ensure the synchronization of hydraulic cylinder in each mechanism，achieving steplesscontrol regardless offlow rateand load pressure.Finally，a co-simulation model built based on AMESim and ADAMS was used to simulate the real operating status of the lifting device.The simulation results show that the output value of the hydraulic actuator welltracks the target expected value well，

with a maximum error of no more than 3. 6% and a hydraulic cylinder synchronization error of no more than 2. 1%

The research results provide theoretical guidance for the development and test of string conveying device.

Keywords： drilling string;hydraulic lifting device;PID position feedback； load-sensitive hydraulic system; mechanical-hydraulicco-simulation

0 引言

随着国内外石油钻采工艺技术的不断提升，油气开采正向着深井、超深井不断迈进，同时对于石油钻机的自动化、智能化要求也越来越高[1]。动力猫道作为石油钻机的重要组成部分，主要用于地面与钻台之间钻杆、套管以及钻诞的来回输送，其输送钻具的效率与稳定性对油气开采至关重要。而液压系统作为动力猫道的核心部分，在提高钻具输送效率及节能降耗等方面发挥着重要作用[2-3]

传统将地面钻杆架上水平放置的钻具输送到钻井平台主要依靠机械猫道与气动绞车相互配合而完成，涉及到大量人工操作；随着油气开采技术的提升，通过动力猫道进行输送钻具，较大程度地减轻了劳动强度，降低了安全风险。但在各个设备交接过程中，钻具存在不可控的滚动，经常偏离安全操作路径，无法实现对其输送的全自动化[4]。

钻具输送装置是一个集机械系统、液压系统和控制系统为一体的负载系统，多学科领域之间相互交叉导致很难在单一仿真平台模拟其实际工况[5-7]。近年来，大多数学者在研究钻具输送作业装置时，为克服机械系统与电液控制系统的耦合，一般对钻具输送装置的机械系统与电液伺服系统分别进行仿真分析[8]，其中包括：孙巧雷等[9]应用达朗贝尔原理建立了动力猫道的动力学方程，分析了其在工作过程中的拉力变化；裴学良等[10]借助虚拟样机技术获得了动力猫道的载荷数据；……