阅读说明：本技术 一种水井钻机推进装置无模型自适应控制方法及系统 (Model-free self-adaptive control method and system for well drilling machine propulsion device ) 是由 姚文龙 亓冠华 池荣虎 邵巍 岳耀宾 于 2020-06-28 设计创作，主要内容包括：本发明公开了一种水井钻机推进装置无模型自适应控制方法及系统。该系统以液压油缸作为推进装置,通过位移传感器得到液压油缸活塞的位移量；建立水井钻机推进系统的状态空间方程；进行紧格式动态线性化处理,获得数据模型；计算伪偏导数估计律；设计无模型自适应控制器；将控制器的输出施加到负载敏感比例阀上,通过调节负载敏感比例阀阀口开度,进而可以调节液压油缸活塞的位移,并给钻机一个输出量推进力。本发明针对水井钻机液压系统参变量多、强耦合的特点,考虑推进系统复杂非线性动态特性,采用无模型自适应控制方法,仅利用在线和离线数据便可完成控制器的设计。该方法有较强的抗干扰性和鲁棒性,对水井钻机不确定的工况有更好的适应性。(The invention discloses a model-free self-adaptive control method and system for a well drilling rig propulsion device. The system takes a hydraulic oil cylinder as a propelling device, and obtains the displacement of a piston of the hydraulic oil cylinder through a displacement sensor; establishing a state space equation of a well drilling machine propulsion system; carrying out dynamic linearization processing of a compact format to obtain a data model; calculating a pseudo partial derivative estimation law; designing a model-free adaptive controller; the output of the controller is applied to the load sensitive proportional valve, and the displacement of the piston of the hydraulic oil cylinder can be regulated by regulating the opening degree of the valve port of the load sensitive proportional valve, so that an output propelling force is provided for the drilling machine. The invention considers the complex nonlinear dynamic characteristic of the propulsion system aiming at the characteristics of more parameters and strong coupling of the hydraulic system of the water well drilling machine, adopts a model-free self-adaptive control method, and can complete the design of the controller by only utilizing online and offline data. The method has stronger anti-interference performance and robustness, and has better adaptability to uncertain working conditions of the water well drilling machine.)

1. A model-free self-adaptive control method and a system for a well drilling machine propulsion device are characterized by comprising the following steps:

(1) signal acquisition and setting:

obtaining the displacement y of the piston of the hydraulic oil cylinder by a displacement sensor;

(2) establishing a dynamic equation of a water well drilling machine propulsion system:

wherein x is₁The piston rod of the hydraulic cylinder is displaced; x is the number of₂Hydraulic cylinder piston rod speed; x is the number of₃The acceleration of the piston of the hydraulic cylinder; u is a control signal input; y is the system output; f is load resistance; m_tConverting the total mass of the plunger to the total mass of the plunger; a. the₁Is the plunger effective area; v_tThe total volume of the cylinder cavity and the pipeline; c_tCoefficient of leakage from cylinder β_eThe equivalent volume elastic modulus of the hydraulic oil is shown, and k is the elastic stiffness coefficient of the load; k is a radical of_vThe gain of the proportional amplifier; k is a radical of_pThe proportional coefficient of the valve core displacement of the load sensitive proportional valve and the control signal; d is the viscous friction coefficient in the movement of the plunger and the load; ρ is the liquid density; c_ξIs the valve port flow coefficient of the load sensitive proportional valve; w is the load-sensitive proportional valve area gradient; p_sThe rated pressure of the system is set; p_LIs the load pressure; x is the number of_vThe valve port opening degree;

(3) carrying out dynamic linearization processing in a compact format to obtain a data model:

for the kinetic equation, when Δ u (k) ≠ 0, there is a pseudo-partial derivative θ (k) such that

Δy(k+1)＝θ(k)Δu(k)；

Wherein, | theta (k) | is less than or equal to Q, and Q is a normal number;

Δy(k+1)＝y(k+1)-y(k)，Δu(k)＝u(k)-u(k-1)；

wherein y (k) is the system output at time k, and u (k) is the system input at time k;

(4) calculating a pseudo partial derivative estimation law:

η∈ (0, 1) among them]Is a step size factor, mu > 0 is a weight factor,

(5) designing a model-free adaptive controller:

considering the following function of the control criterion,

J[u(k)]＝|y^*(k+1)-y(k+1)|²+λ|u(k)-u(k-1)|²；

let λ be a weighting factor, y^*(k +1) is the desired output signal; and (4) substituting the dynamically linearized data model in the step (3) into an input criterion function, carrying out derivation on u (k), and enabling a derivation result to be equal to zero to obtain a control algorithm:

wherein rho epsilon (0, 1) is a step factor, and lambda > 0 is a weight factor;

(6) due to the complexity of a hydraulic system, a water well drilling machine propulsion system is controlled by the positive and negative movement of a hydraulic oil cylinder, and a displacement sensor outputs the detected hydraulic oil cylinder piston rod displacement y (k-1) of the water well drilling machine at the k-1 stage as a feedback voltage signal u_fThe voltage signal delta u (k-1) is calculated by the controller to output a corresponding control signalThe control signal is applied to the proportional controller, the voltage signal is converted into a current signal which can drive the valve core of the load sensitive proportional valve to move, the load sensitive proportional valve can adjust the flow of the oil inlet and the oil return port of the hydraulic oil cylinder, and the propelling force of the output quantity of the hydraulic oil cylinder can be adjusted to control the propelling of the water well drilling machine according to the stress relation of the piston of the hydraulic oil cylinder.

2. The method of claim 1, wherein: the concrete content of the step (3) is as follows:

(31) establishing a discrete time nonlinear system:

Δy(k+1)＝f(y(k),…,y(k-m_y),u(k),…,u(k-m_u))；

wherein u (k) ∈ R, y (k) ∈ R are input and output of the k-time system, respectively, m_u，m_yAre two unknown positive integers;is a nonlinear function unknown to the system;

(32) the above system satisfies the following conditions:

the partial derivative of the system with respect to u (k) is present and continuous;

the system meets the generalized Lipschitz condition, and when | delta u (k) | is not equal to 0, the | delta y (k +1) | is less than or equal to Q | delta u (k) |;

wherein, y^*(k +1) is the system-bounded desired output signal, u^*(k) An input signal that is system-bounded; Δ y (k +1) is the output change at two adjacent moments, and Δ u (k) is the input change at two adjacent moments; therefore, Δ y (k +1) ═ y (k +1) -y (k), Δ u (k) ═ u (k) -u (k-1); q is a normal number;

(33) from the kinetic equation, the following two equations can be obtained:

ξ(k)＝f(y(k),y(k-1),y(k-2),u(k-1))-f(y(k-1),y(k-2),y(k-3),u(k-1))；

since | Δ u (k) | ≠ 0, the equation ξ (k) ═ η (k) u (k) has a solution η (k); let θ (k) be B + η (k); Δ y (k +1) ═ θ (k) Δ u (k), B is the partial derivative of f (…), | θ (k) | ≦ Q.

3. The method of claim 1, wherein: the concrete content of the step (4) is as follows:

(41) establishing a weighted pseudo partial derivative estimation criterion function:

(42) the criterion function is extremized with respect to θ (k) to obtain an estimation law of the pseudo partial derivative:

4. the well drilling rig propulsion system of claim 2, wherein: the well rig propulsion system control device comprises: the system comprises an electronic injection diesel engine, a gear pump, an overflow valve, a high-pressure oil filter, a load sensitive proportional valve, a proportional amplifier, a hydraulic oil cylinder and an oil tank; the electric injection diesel engine is directly connected with the gear pump; the gear pump is connected with the high-pressure oil filter and is connected with the same oil tank with the overflow valve; the load-sensitive proportional valve is provided with an oil supply port P, an oil return port T and output ports A and B, and the output ports A and B are respectively connected with an oil inlet and an oil return port of the hydraulic oil cylinder; the hydraulic oil cylinder is internally provided with a magnetostrictive displacement sensor and is connected with the input end of the controller; the controller is a model-free self-adaptive controller; the output end of the controller is connected with the proportional amplifier, and the control signal is converted into a current signal from a voltage signal and is used as a driving signal of the load sensitive proportional valve.

5. The well drilling rig propulsion system of claim 2, wherein: the control process of the well drilling machine propulsion system comprises the following steps: the electronic injection diesel engine drives a gear pump to serve as a power mechanism to provide power for the hydraulic oil cylinder; the high-pressure oil filter and the overflow valve can be used as a protection device to avoid equipment damage caused by overhigh oil pressure; the load sensitive proportional valve is used as a throttle valve to control the flow of hydraulic oil at an oil inlet of the hydraulic oil cylinder, and is used as a direction control valve to control a piston rod of the hydraulic oil cylinder to move left and right; in the controller part, a magnetostrictive displacement sensor converts the piston displacement of the hydraulic oil cylinder into a voltage signal, the voltage signal and a given expected voltage signal are input into the controller together, the controller calculates and outputs a corresponding control signal, the control signal is applied to a proportional amplifier, a tiny voltage signal is amplified into a current signal which can drive the valve core of a load sensitive proportional valve to displace, and then the flow of two cavities of the hydraulic oil cylinder is controlled, so that the piston rod is pushed to move, and the output propelling force is generated.

6. A model-free self-adaptive control method and system for a well drilling machine propulsion device are characterized in that: the method comprises the following steps:

the signal acquisition module is used for obtaining the displacement y of the piston rod by the displacement sensor;

the dynamic equation establishing module is used for establishing a state space equation of the well drilling machine propulsion system:

wherein x is₁The piston rod of the hydraulic cylinder is displaced; x is the number of₂Hydraulic cylinder piston rod speed; x is the number of₃The acceleration of the piston of the hydraulic cylinder; u is a control signal input; y is the system output; f is load resistance; m_tConverting the total mass of the plunger to the total mass of the plunger; a. the₁Is the plunger effective area; v_tThe total volume of the cylinder cavity and the pipeline; c_tCoefficient of leakage from cylinder β_eThe equivalent volume elastic modulus of the hydraulic oil is shown, and k is the elastic stiffness coefficient of the load; k is a radical of_vIs the gain of the proportional amplifier; k is a radical of_pThe proportional coefficient of the valve core displacement of the load sensitive proportional valve and the control signal; d is the viscous friction coefficient in the movement of the plunger and the load; ρ is the liquid density; c_ξIs the valve port flow coefficient of the load sensitive proportional valve; w is the load-sensitive proportional valve area gradient; p_sThe rated pressure of the system is set; p_LIs the load pressure; x is the number of_vThe valve port opening degree;

the data model obtaining module is used for carrying out dynamic linearization processing in a compact format to obtain a data model: for the kinetic equation, when Δ u (k) ≠ 0, there is a pseudo-partial derivative θ (k) such that:

Δy(k+1)＝θ(k)Δu(k)；

wherein Δ y (k +1) ═ y (k +1) -y (k), Δ u (k) ═ u (k) -u (k-1); the | theta (k) | is less than or equal to Q, and Q is a normal number; y (k) is the system output at time k, and u (k) is the system input at time k;

the pseudo partial derivative estimator is used for calculating a pseudo partial derivative estimation law of a water well drilling machine propulsion system:

η∈ (0, 1) among them]Is a step size factor, mu > 0 is a weight factor,

the model-free adaptive controller design module of the well drilling machine propulsion system is used for designing the model-free adaptive controller of the well drilling machine propulsion system: the method specifically comprises the following steps: u (k) a calculation unit for bringing the data model into a criterion function:

J[u(k)]＝|y^*(k+1)-y(k+1)|²+λ|u(k)-u(k-1)|²；

derivative u (k), and make the value after the derivative zero, get:

in this formula, let u_MFAC(k)＝u(k)，u_MFAC(k-1)＝u(k-1)；

Obtaining:

wherein, λ is a weight factor for controlling the variation of the input quantity; y is^*(k +1) is the desired piston rod displacement signal ρ ∈ (0, 1)]Is a step size factor;

due to the complexity of a hydraulic system, a water well drilling machine propulsion system is controlled by the positive and negative movement of a hydraulic oil cylinder, the displacement y (k-1) of a piston rod of the hydraulic oil cylinder of the water well drilling machine at the k-1 stage is detected by a displacement sensor and output as a feedback voltage signal u_fThe voltage signal delta u (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional controller, the voltage signal is converted into a current signal capable of driving the valve core of the load sensitive proportional valve to move, the load sensitive proportional valve can adjust the flow of an oil inlet and an oil return port of the hydraulic oil cylinder, and the propelling of the water well drilling machine can be controlled by adjusting the output propelling force of the hydraulic oil cylinder according to the stress relation of a piston of the hydraulic oil cylinder.

Technical Field

The invention belongs to the technical field of automatic control of engineering machinery, and particularly relates to a model-free self-adaptive control method and system for a well drilling machine propulsion device.

Background

Well drilling rigs are the primary equipment for performing well drilling construction tasks. Well drilling rigs typically include a swivel system and a propulsion system and have the functions of setting up stands, automatically conveying and discharging drill pipes, etc. The well drilling machine mainly adopts a hydraulic system as a power source, and can make clear load conditions, control objects, control contents and control requirements by analyzing the working conditions of the hydraulic system. The rotary system realizes the rotary cutting of the rock stratum through a valve control hydraulic motor system. The propulsion system provides axial propulsion for the well drilling machine through the hydraulic oil cylinder, and drives the power head of the well drilling machine to impact. The function of the propulsion system is to regulate the impact force of the rotary power head, which is equivalent to regulating the pressure at the bottom of the hole, and the characteristics are that when the propulsion force of the propulsion mechanism is a given value, the drilling speed is changed timely along with the change of the drillability of the rock stratum. During the drilling process of a water well drilling machine, due to the complex conditions inside the surrounding rock, it is crucial to set the correct propulsion. When the propelling force is too small, the drill bit cannot be in close contact with the rock at the bottom of the hole, and the drilling speed is reduced. When the propelling force is too large, the drill bit can be seriously abraded, and even the drill rod can be broken.

At present, the drilling control of a water well drilling machine is mainly realized by manual control, which depends on the working experience of operators. Improper propulsion and rotation speed can cause the faults of rod fixing, rod breaking and even shutdown of the well drill rod, and the construction efficiency is greatly influenced. In recent years, scholars at home and abroad propose a water well drilling machine drilling control performance improved by adopting a PI control method. However, in a drilling system of a water well drilling machine, because the working condition of the well bottom is complex, especially when the system is controlled under an unknown condition, the traditional PI control method needs an operator to continuously adjust parameters to control the speed of the drilling machine, which affects the performance of the system and can also generate phenomena such as overshoot and the like. In addition, a water well drilling machine is a typical complex nonlinear system, and a drilling machine control system can be influenced by the complexity, nonlinearity, modeling error, structural aging and abrasion of the drilling machine system and adverse factors of an actual working environment in an actual control system. Due to the effects of these factors, it is difficult to establish a precise mathematical model, and the robustness is poor. Therefore, model-based control approaches are challenged in solving such problems.

Aiming at the interference factors such as model uncertainty, unmodeled dynamic state, external silt and the like existing in a well drilling machine propulsion system, a robust model-free self-adaptive control strategy based on data driving is provided. The control method is used for realizing the motion control of the well drilling machine propulsion system. For Model Free Adaptive Control (MFAC) and literature (Hou faing, Jinshangtai), the design and analysis of a controller are directly carried out by using input and output data of a controlled system, and the parameter adaptive control and the structure adaptive control of an unknown nonlinear controlled system are realized. The model-free self-adaptive control method has good portability, only needs the controlled system to provide input and output data, and does not depend on the accuracy of the data model. The model-free adaptive control is applied to a propulsion system of a water well drilling machine, and a new research idea and method are provided for complex and multi-interference water well drilling tasks.

Disclosure of Invention

The invention provides a model-free self-adaptive control method and system for a well drilling machine propulsion device aiming at interference factors such as model uncertainty, unmodeled dynamic state, external silt and the like in a well drilling machine propulsion system, solves the problem of poor robustness in the prior art, realizes optimal control of the drilling machine propulsion system in complex working conditions, and improves drilling efficiency.

In order to solve the technical problems, the invention adopts the following technical scheme:

a model-free self-adaptive control method and a system for a well drilling machine propelling device are disclosed, wherein the method comprises the following steps:

(1) signal acquisition and setting:

obtaining the displacement y of the piston of the hydraulic oil cylinder by a displacement sensor;

(2) establishing a dynamic equation of a water well drilling machine propulsion system:

wherein x is₁The piston rod of the hydraulic cylinder is displaced; x is the number of₂Hydraulic cylinder piston rod speed; x is the number of₃The acceleration of the piston of the hydraulic cylinder; u is a control signal input; y is the system output; f is load resistance; m_tConverting the total mass of the plunger to the total mass of the plunger; a. the₁Is the plunger effective area; v_tThe total volume of the cylinder cavity and the pipeline; c_tCoefficient of leakage from cylinder β_eThe equivalent volume elastic modulus of the hydraulic oil is shown, and k is the elastic stiffness coefficient of the load; k is a radical of_vIs the gain of the proportional amplifier; k is a radical of_pThe proportional coefficient of the valve core displacement of the load sensitive proportional valve and the control signal; d is the viscous friction coefficient in the movement of the plunger and the load; ρ is the liquid density; c_ξIs the valve port flow coefficient of the load sensitive proportional valve; w is the load-sensitive proportional valve area gradient; p_sThe rated pressure of the system is set; p_LIs the load pressure; x is the number of_vSign (x) for valve port opening_v) Is a sign function;

(3) carrying out dynamic linearization processing in a compact format to obtain a data model:

for the kinetic equation, when Δ u (k) ≠ 0, there is a pseudo-partial derivative θ (k) such that

Δy(k+1)＝θ(k)Δu(k)；

Wherein, | theta (k) | is less than or equal to Q, and Q is a normal number;

Δy(k+1)＝y(k+1)-y(k)，Δu(k)＝u(k)-u(k-1)；

wherein y (k) is the system output at time k, and u (k) is the system input at time k;

(4) calculating a pseudo partial derivative estimation law:

η∈ (0, 1) among them]Is a step size factor, mu > 0 is a weight factor,is a pseudo partial derivative estimate of theta (k),

a pseudo partial derivative estimate of θ (k-1);

(5) designing a model-free adaptive controller:

considering the following function of the control criterion,

J[u(k)]＝|y^*(k+1)-y(k+1)|²+λ|u(k)-u(k-1)|²；

let λ be a weighting factor, y^*(k +1) is the desired output signal; and (4) substituting the dynamically linearized data model in the step (3) into an input criterion function, carrying out derivation on u (k), and enabling a derivation result to be equal to zero to obtain a control algorithm:

wherein rho epsilon (0, 1) is a step factor, and lambda > 0 is a weight factor;

(6) due to the complexity of a hydraulic system, a water well drilling machine propulsion system is controlled by the positive and negative movement of a hydraulic oil cylinder, the displacement y (k-1) of a piston rod of the hydraulic oil cylinder of the water well drilling machine at the k-1 stage is detected by a displacement sensor and output as a feedback voltage signal u_fThe voltage signal delta u (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional controller, the voltage signal is converted into a current signal which can drive the valve core of the load-sensitive proportional valve to displace, and the load is sensitiveThe proportion sensing valve can adjust the flow of an oil inlet and an oil return port of the hydraulic oil cylinder, and the propelling force of the output quantity of the hydraulic oil cylinder can be adjusted to control the propelling of the water well drilling machine according to the stress relation of a piston of the hydraulic oil cylinder;

further, the specific content of the step (3) is as follows:

(31) establishing a discrete time nonlinear system:

Δy(k+1)＝f(y(k),…,y(k-m_y),u(k),…,u(k-m_u))；

wherein u (k) ∈ R, y (k) ∈ R are input and output of the k-time system, respectively, m_u，m_yAre two unknown positive integers;is a nonlinear function unknown to the system;

(32) the above system satisfies the following conditions:

the partial derivative of the system with respect to u (k) is present and continuous;

the system meets the generalized Lipschitz condition, and when | delta u (k) | is not equal to 0, the | delta y (k +1) | is less than or equal to Q | delta u (k) |;

wherein, y^*(k +1) is the system-bounded desired output signal, u^*(k) An input signal that is system-bounded; Δ y (k +1) is the output change at two adjacent moments, and Δ u (k) is the input change at two adjacent moments; therefore, Δ y (k +1) ═ y (k +1) -y (k), Δ u (k) ═ u (k) -u (k-1); q is a normal number;

(33) from the state space equation, the following two equations can be obtained:

Δy(k+1)＝f(y(k),y(k-1),y(k-2),u(k))-f(y(k),y(k-1),y(k-2),u(k-1))+f(y(k),y(k-1),y(k-2),u(k-1))-f(y(k-1),y(k-2),y(k-3),u(k-1))；

＝BΔu(k)+ξ(k)

ξ(k)＝f(y(k),y(k-1),y(k-2),u(k-1))-f(y(k-1),y(k-2),y(k-3),u(k-1))；

since | Δ u (k) | ≠ 0, the equation ξ (k) ═ η (k) u (k) has a solution η (k); let θ (k) be B + η (k); Δ y (k +1) ═ θ (k) Δ u (k), B is the partial derivative of f (…), | θ (k) | ≦ Q;

further, the specific content of step (4) is:

(41) establishing a weighted pseudo partial derivative estimation criterion function:

(42) the criterion function is extremized with respect to θ (k) to obtain an estimation law of the pseudo partial derivative:

further, the well drilling machine propulsion system control device comprises: the system comprises an electronic injection diesel engine, a gear pump, an overflow valve, a high-pressure oil filter, a load sensitive proportional valve, a proportional amplifier, a hydraulic oil cylinder and an oil tank; the electric injection diesel engine is directly connected with the gear pump; the gear pump is connected with the high-pressure oil filter and is connected with the same oil tank with the overflow valve; the load-sensitive proportional valve is provided with an oil supply port P, an oil return port T and output ports A and B, and the output ports A and B are respectively connected with an oil inlet and an oil return port of the hydraulic oil cylinder; the hydraulic oil cylinder is internally provided with a magnetostrictive displacement sensor and is connected with the input end of the controller; the controller is a model-free self-adaptive controller; the output end of the controller is connected with a proportional amplifier, and a control signal is converted into a current signal from a voltage signal and is used as a driving signal of the load sensitive proportional valve;

further, the control process of the well drilling machine propulsion system comprises the following steps: the electronic injection diesel engine drives a gear pump to serve as a power mechanism to provide power for the hydraulic oil cylinder; the high-pressure oil filter and the overflow valve can be used as a protection device to avoid equipment damage caused by overhigh oil pressure; the load sensitive proportional valve is used as a throttle valve to control the flow of hydraulic oil at an oil inlet of the hydraulic oil cylinder, and is used as a direction control valve to control a piston rod of the hydraulic oil cylinder to move left and right; in the controller part, a magnetostrictive displacement sensor converts the piston displacement of the hydraulic oil cylinder into a voltage signal, the voltage signal and a given initial voltage signal are used as input quantity of the controller, the controller calculates and outputs a corresponding control signal, the control signal is applied to a proportional amplifier, the proportional amplifier amplifies a tiny voltage signal into a current signal capable of driving a valve core of a load sensitive proportional valve to displace, and then flow of two cavities of the hydraulic oil cylinder is controlled, so that a piston rod is pushed to move, and output quantity propelling force is generated;

a model-free self-adaptive control method and system for a well drilling machine propulsion device are characterized in that: the method comprises the following steps:

the signal acquisition module is used for acquiring the movement speed y of the piston rod by the displacement sensor;

the dynamic equation establishing module is used for establishing a state space equation of the well drilling machine propulsion system:

wherein x is₁The piston rod of the hydraulic cylinder is displaced; x is the number of₂Hydraulic cylinder piston rod speed; x is the number of₃The acceleration of the piston of the hydraulic cylinder; u is a control signal input; y is the system output; f is load resistance; m_tConverting the total mass of the plunger to the total mass of the plunger; a. the₁Is the plunger effective area; v_tThe total volume of the cylinder cavity and the pipeline; c_tCoefficient of leakage from cylinder β_eThe equivalent volume elastic modulus of the hydraulic oil is shown, and k is the elastic stiffness coefficient of the load; k is a radical of_vIs the gain of the proportional amplifier; k is a radical of_pThe proportional coefficient of the valve core displacement of the load sensitive proportional valve and the control signal; d is the viscous friction coefficient in the movement of the plunger and the load; ρ is the liquid density; c_ξIs the valve port flow coefficient of the load sensitive proportional valve; w is the load-sensitive proportional valve area gradient; p_sThe rated pressure of the system is set; p_LIs the load pressure; x is the number of_vSign (x) for valve port opening_v) Is a sign function;

the data model obtaining module is used for carrying out dynamic linearization processing in a compact format to obtain a data model: for the kinetic equation, when Δ u (k) ≠ 0, there is a pseudo-partial derivative θ (k) such that: Δ y (k +1) ═ θ (k) Δ u (k); the | theta (k) | is less than or equal to Q, and Q is a normal number; wherein Δ y (k +1) ═ y (k +1) -y (k), Δ u (k) ═ u (k) -u (k-1); y (k) is the system output at time k, and u (k) is the system input at time k;

the pseudo partial derivative estimator is used for calculating a pseudo partial derivative estimation law of a water well drilling machine propulsion system:

η∈ (0, 1) among them]Is a step size factor, mu > 0 is a weight factor,

is a pseudo partial derivative estimate of theta (k),a pseudo partial derivative estimate of θ (k-1);

the model-free adaptive controller design module of the well drilling machine propulsion system is used for designing the model-free adaptive controller of the well drilling machine propulsion system: the method specifically comprises the following steps: u (k) a calculation unit for bringing the data model into a criterion function:

J[u(k)]＝|y^*(k+1)-y(k+1)|²+λ|u(k)-u(k-1)|²；

derivative u (k), and make the value after the derivative zero, get:

in this formula, let u_MFAC(k)＝u(k)，u_MFAC(k-1)＝u(k-1)；

Obtaining:

wherein λ isIs a weight factor for controlling the variation of the input quantity; y is^*(k +1) is the desired piston displacement signal ρ ∈ (0, 1)]Is a step size factor;

due to the complexity of a hydraulic system, a water well drilling machine propulsion system is controlled by the positive and negative movement of a hydraulic oil cylinder, the displacement y (k-1) of a piston rod of the hydraulic oil cylinder of the water well drilling machine at the k-1 stage is detected by a displacement sensor and output as a feedback voltage signal u_fThe voltage signal delta u (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional controller, the voltage signal is converted into a current signal capable of driving the valve core of the load sensitive proportional valve to move, the load sensitive proportional valve can adjust the flow of an oil inlet and an oil return port of the hydraulic oil cylinder, and the thrust of the water well drilling machine can be controlled by adjusting the output thrust of the hydraulic oil cylinder according to the stress relation of a piston of the hydraulic oil cylinder;

compared with the prior art, the invention has the advantages and positive effects that: the invention relates to a model-free self-adaptive control method and a model-free self-adaptive control system for a well drilling machine propulsion device.A displacement sensor is used for acquiring the movement displacement y of a piston of a hydraulic oil cylinder of the well drilling machine propulsion system; establishing a dynamic equation of a well drilling machine propulsion system; a data model of the well drilling machine propulsion system is obtained by adopting a compact format dynamic linearization method; calculating a pseudo partial derivative estimation law of a well drilling machine propulsion system; designing a model-free self-adaptive controller of a well drilling machine propulsion system; due to the complexity of a hydraulic system, a water well drilling machine propulsion system is controlled by the positive and negative movement of a hydraulic oil cylinder, the displacement y (k-1) of a piston rod of the hydraulic oil cylinder of the water well drilling machine at the k-1 stage is detected by a displacement sensor and output as a feedback voltage signal u_fThe voltage signal delta u (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional controller, the voltage signal is converted into a current signal capable of driving the valve core of the load sensitive proportional valve to move, the load sensitive proportional valve can adjust the flow of an oil inlet and an oil return port of the hydraulic oil cylinder, and the propelling of the water well drilling machine can be controlled by adjusting the output propelling force of the hydraulic oil cylinder according to the stress relation of a piston of the hydraulic oil cylinder. The model-free adaptive controller has good portability and only needs the control system to provide inputOutput quantity, and good adaptability to systems with complex systems and difficult modeling. Therefore, the control method and the control system of the embodiment inhibit oscillation caused by uncertain factors in the drilling process of the well drilling machine through the model-free self-adaptive controller of the propulsion system of the well drilling machine, have stronger anti-interference performance and robustness, and better accord with the actual working condition of the well drilling machine.

Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.

Drawings

FIG. 1 is a flow diagram of one embodiment of a model-free adaptive control method for a well drilling rig propulsion system;

FIG. 2 is a structural block diagram of a model-free self-adaptive control method of a well drilling machine propulsion system, which is provided by the invention;

FIG. 3 is a block diagram of a PI vector control system in the prior art;

FIG. 4 is a simulation diagram of a control device of a well drilling rig propulsion system;

FIG. 5 is a curve of the opening of the valve port of the load-sensitive proportional valve under MFAC control when the load is constant;

FIG. 6 is a graph of MFAC controlled cylinder speed under constant load;

FIG. 7 is a curve of opening of the valve port of the load-sensitive proportional valve under PI control when the load is constant;

FIG. 8 is a speed curve of a hydraulic cylinder under PI control when a load is constant;

FIG. 9 is a comparative plot of MFAC versus PI controlled propulsion for the same surrounding rock;

FIG. 10 is a comparative plot of MFAC versus PI controlled propulsion for different surrounding rocks;

the reference numerals in fig. 4 mean:

1-an electronic injection diesel engine main body module, 2-an engine controller module, 3-an electronic injection diesel engine speed setting module, 4-an electronic injection diesel engine temperature setting module, 5-a temperature conversion module, 6-a speed change gear box module, 7-a gear pump module, 8-a high-pressure oil filter module, 9-an oil tank module, 10-an overflow valve module, 11-a load sensitive proportional valve module, 12-an electronic injection diesel engine starting signal module, 13-a hydraulic oil cylinder module, 14-a load analog conversion unit, 15-a load sensitive proportional valve controller, 16-a displacement sensor module, 17-a load moment conversion module, 18-a rotation speed sensor module, 19-a proportional amplifier, 20-a load moment setting module and 21-an electronic injection diesel engine waste gas discharge module, 22-speed reduction gear box speed setting module, 23-expected voltage setting signal module and 24-cylinder number setting module of an electronic injection diesel engine.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments.

The invention provides a model-free self-adaptive control method and system for a well drilling machine propulsion device, aiming at interference factors such as uncertain models, unmodeled dynamics and external silt existing in a well drilling machine propulsion system. A hydraulic oil cylinder is used as a propulsion device in a propulsion system of a water well drilling machine, and a model-free self-adaptive control method and a model-free self-adaptive control system of the propulsion system of the water well drilling machine are explained in detail.

Referring to fig. 1, the model-free adaptive control method for the well drilling rig propulsion system of the embodiment specifically comprises the following steps:

step S1: signal acquisition and setting:

obtaining the piston rod displacement y of a hydraulic oil cylinder of a propulsion system of the water well drilling machine by a displacement sensor;

step S2: establishing a mathematical model by a dynamic equation of a water well drilling machine propulsion system:

(S21) recording Q₁、Q₂Respectively the flow of an oil inlet and an oil return port of the hydraulic oil cylinder C_ξIs the valve port flow coefficient of the load-sensitive proportional valve, w is the area gradient of the load-sensitive proportional valve, x_vThe opening degree of a valve port of the load-sensitive proportional valve at the moment of k, P₁、P₂Pressure, P, of the oil inlet chamber and the oil return chamber, respectively_sFor rated pressure of the system, P₀The flow equation is as follows:

(S22) recording the piston rod displacement x₁，C_tIs the coefficient of leakage of the hydraulic cylinder, C_ipIs the leakage coefficient, V, in the hydraulic cylinder₁、V₂β for the volumes of the oil inlet chamber and the oil return chamber of the hydraulic cylinder_eIs the equivalent bulk modulus of hydraulic oil, A₁、A₂The effective areas of a rodless cavity and a rod cavity of the hydraulic cylinder are respectively, and the hydraulic cylinder continuous equation is as follows:

(S23) note M_tConverting the total mass of the plunger piston and the load into a total mass of the plunger piston, wherein k is a load elastic stiffness coefficient, D is a viscous friction coefficient in the plunger piston and the load, F is a load moment, and the force balance equation of the piston is as follows:

(S24) obtaining the state space equation of the propulsion system of the water well drilling machine by the formulas (1), (2), (3), (4) and (5):

wherein x is₁Is a hydraulic cylinderThe piston rod is displaced; x is the number of₂Hydraulic cylinder piston rod speed; x is the number of₃The acceleration of the piston of the hydraulic cylinder; u is a control signal input; y is the system output; f is load resistance; m_tConverting the total mass of the plunger to the total mass of the plunger; a. the₁Is the plunger effective area; v_tThe total volume of the cylinder cavity and the pipeline; c_tCoefficient of leakage from cylinder β_eThe equivalent volume elastic modulus of the hydraulic oil is shown, and k is the elastic stiffness coefficient of the load; k is a radical of_vIs the gain of the proportional amplifier; k is a radical of_pThe proportional coefficient of the valve core displacement of the load sensitive proportional valve and the control signal; d is the viscous friction coefficient in the movement of the plunger and the load; ρ is the liquid density; c_ξIs the valve port flow coefficient of the load sensitive proportional valve; w is the load-sensitive proportional valve area gradient; p_sThe rated pressure of the system is set; p_LIs the load pressure; x is the number of_vSign (x) for valve port opening_v) Is a sign function;

step S3: carrying out dynamic linearization processing in a compact format to obtain a data model:

(S31) establishing a discrete-time nonlinear system:

Δy(k+1)＝f(y(k),…,y(k-m_y),u(k),…,u(k-m_u)) (7)

wherein u (k) ∈ R, y (k) ∈ R are input and output of the k-time system, respectively, m_u，m_yAre two unknown positive integers;

a nonlinear function unknown to the system;

(S32) the discrete-time nonlinear system satisfies the following conditions:

the partial derivative of the system with respect to u (k) is present and continuous;

the system meets the generalized Lipschitz condition, and when | delta u (k) | is not equal to 0, the | delta y (k +1) | is less than or equal to Q | delta u (k) |;

wherein, y^*(k +1) is the system-bounded desired output signal, u^*(k) A desired input signal that is system bounded; Δ y (k +1) is the output change at two adjacent time instants, Δ u (k) is the input change at two adjacent time instants,therefore, Δ y (k +1) ═ y (k +1) -y (k), Δ u (k) ═ u (k) -u (k-1); q is a normal number;

(S33) from the kinetic equation, the following two equations can be obtained:

Δy(k+1)＝f(y(k),y(k-1),y(k-2),u(k))-f(y(k),y(k-1),y(k-2),u(k-1))+f(y(k),y(k-1),y(k-2),u(k-1))-f(y(k-1),y(k-2),y(k-3),u(k-1))

＝BΔu(k)+ξ(k)(8)

ξ(k)＝f(y(k),y(k-1),y(k-2),u(k-1))-f(y(k-1),y(k-2),y(k-3),u(k-1)) (9)

since | Δ u (k) | ≠ 0, the equation ξ (k) ═ η (k) u (k) has a solution η (k);

let θ (k) be B + η (k); it is possible to obtain:

Δy(k+1)＝θ(k)Δu(k) (10)

wherein, | theta (k) | is less than or equal to Q, and Q is a normal number; b is the partial derivative of f (…);

step S4: calculating a pseudo partial derivative estimation law:

(S41) establishing a weighted pseudo partial derivative estimation criterion function:

(S42) extremizing the criterion function with respect to θ (k) to obtain an estimate law of the pseudo partial derivative:

η∈ (0, 1) among them]Is a step size factor, mu > 0 is a weight factor,is a pseudo partial derivative estimate of theta (k),a pseudo partial derivative estimate of θ (k-1);

step S5: designing a model-free adaptive controller:

considering the following function of the control criterion,

J[u(k)]＝|y^*(k+1)-y(k+1)|²+λ|u(k)-u(k-1)|²(13)

wherein λ is a weighting factor, y^*(k +1) is the desired output signal;

substituting the formula (10) in step S3 into the input criteria function, deriving u (k), and making it equal to zero, a control algorithm is obtained

In this formula, let u_MFAC(k)＝u(k)，u_MFAC(k-1) ═ u (k-1), yielding:

wherein, λ is a weight factor for controlling the variation of the input quantity; y is^*(k +1) is the desired output quantity signal rho ∈ (0, 1)]Is a step size factor;

step S6: the well drilling machine propulsion system is controlled by the positive and negative movement of a hydraulic oil cylinder due to the complexity of a hydraulic system, the displacement sensor detects the displacement y (k-1) of a piston rod of the hydraulic oil cylinder of the well drilling machine at the k-1 stage, and the displacement y is output as a feedback voltage signal u_fThe voltage signal delta u (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional controller, the voltage signal is converted into a current signal capable of driving the valve core of the load sensitive proportional valve to move, the load sensitive proportional valve can adjust the flow of an oil inlet and an oil return port of the hydraulic oil cylinder, and the propelling of the water well drilling machine can be controlled by adjusting the output propelling force of the hydraulic oil cylinder according to the stress relation of a piston of the hydraulic oil cylinder.

The model-free self-adaptive control method and system for the well drilling machine propulsion device comprises the steps of collecting the piston speed y of a hydraulic oil cylinder of the well drilling machine propulsion system; establishing a dynamic equation of a well drilling machine propulsion system; a data model of the well drilling machine propulsion system is obtained by adopting a compact format dynamic linearization method; calculating well drilling machine propulsion systemA pseudo partial derivative estimation law; designing a model-free self-adaptive controller of a well drilling machine propulsion system; outputting a hydraulic oil cylinder piston rod displacement y (k-1) of the water well drilling machine at the k-1 stage, which is detected by a displacement sensor, as a feedback voltage signal u_fThe voltage signal delta u (k-1) is calculated by the controller to output a corresponding control signal, the control signal is applied to the proportional controller, the voltage signal is converted into a current signal capable of driving the valve core of the load sensitive proportional valve to move, the load sensitive proportional valve can adjust the flow of an oil inlet and an oil return port of the hydraulic oil cylinder, and the thrust of the water well drilling machine can be controlled by adjusting the output thrust of the hydraulic oil cylinder according to the stress relation of a piston of the hydraulic oil cylinder; therefore, the control method and the control system of the embodiment inhibit oscillation caused by uncertain factors in the drilling process of the water well drilling machine through the model-free self-adaptive controller of the hydraulic oil cylinder, have stronger anti-interference performance and robustness, and better accord with the actual working condition of the water well drilling machine.

The control method of the embodiment is a control method of the well drilling machine propulsion system based on a model-free self-adaptive control algorithm, can effectively solve the control problem of the well drilling machine propulsion system, has good solving effect on the output error and overshoot problems caused by uncertain models, unmodeled dynamic states, external silt and other interference factors of the well drilling machine propulsion system, can improve the control precision of the well drilling machine under complex working conditions, and meets the requirements of the well drilling machine propulsion system on robustness and interference resistance. In addition, the model-free adaptive control has good portability due to the characteristic that the model-free adaptive control does not depend on the model, and good control output can be obtained as long as the input and output quantity of the system is provided.

Referring to fig. 4, a control device diagram of the propulsion system of the water well drilling machine of the embodiment is shown. The control device drives a gear pump as a power device to provide power for the hydraulic cylinder through an electronic injection diesel engine; the load sensitive proportional valve can be used as a direction control device to control the forward and reverse movement of the hydraulic oil cylinder and can also be used as a throttle valve to control the flow of an oil inlet and an oil outlet of the hydraulic oil cylinder; the hydraulic oil cylinder is used as an actuating mechanism to provide axial propelling force for the well drilling machine.

Referring to fig. 4, the structure of the control device of the well drilling machine propulsion system is as follows: for example, the electronic injection diesel engine comprises an electronic injection diesel engine main body module (1), an engine controller module (2), an electronic injection diesel engine speed setting module (3), an electronic injection diesel engine temperature setting module (4), a temperature conversion module (5), a speed change gear box module (6), an electronic injection diesel engine starting signal module (12), a rotating speed sensor module (18), an electronic injection diesel engine waste gas discharge module (21), a speed reduction gear box torque setting module (22) and an electronic injection diesel engine cylinder number setting module (24). The engine controller module (2) receives signals from an electronic injection diesel engine starting signal module (12), an electronic injection diesel engine cylinder number setting module (24) and an electronic injection diesel engine speed setting module (3) to control the starting and stopping of the diesel engine; the main body module (1) of the electronic injection diesel engine enables the diesel engine to be closer to the operation of the actual working condition by reasonably setting the parameters of a controller of the diesel engine, and mainly comprises an external load demand signal, a pressure signal, a rotating speed signal, a combustion efficiency signal, a combustion mode signal, an acceleration control signal and a temperature control signal of the diesel engine in the working process; the speed change gear box module (6) inputs a torque signal and a rotating speed signal from the speed reduction gear box torque setting module (22) and the electronic injection diesel engine main body module (1); the speed change gear box module (6) is connected with the rotating speed sensor module (18); the gear pump module (7) is connected with the rotating speed sensor module (18); the gear pump module (7) is directly connected with the high-pressure oil filter module (8); the overflow valve module (10) and the gear pump module (7) are connected with the same oil tank; the load-sensitive proportional valve module (11) is connected with the high-pressure oil filter module (8) and the oil tank at the same time, and is connected with a proportional amplifier (19) to receive a control signal from a load-sensitive proportional valve controller (15); the load sensitive proportional valve (11) is in bidirectional connection with the hydraulic oil cylinder module (13); the hydraulic cylinder module (13) is connected with a load analog conversion unit (14), and the load analog conversion unit (14) is connected with a linear displacement sensor module (16); the linear sensor module (16) is connected with the load moment conversion module (17), and the load moment setting module (20) provides load moment in the propelling process of the drilling machine for simulation experiment.

Referring to fig. 4, the movement process of the well drilling machine propulsion system control device is as follows: the electronic injection diesel engine carries out oil absorption and oil discharge by driving the gear pump module (7) to be meshed, and the flow of hydraulic oil is controlled by the rotating speed of the gear pump module (7); the high-pressure oil filter module (8) and the overflow valve module (10) can consume redundant oil pressure under the set pressure of the overflow valve, and can be used as a protection device to avoid equipment damage caused by overhigh oil pressure; the load sensitive proportional valve module (11) can be used as a throttle valve to control the flow of hydraulic oil at an oil inlet of the hydraulic oil cylinder module (13), and can be used as a direction control valve to control a piston rod of the hydraulic oil cylinder module (13) to move left and right; when a drilling tool of a water well drilling machine is pushed, a piston of a hydraulic oil cylinder moves rightwards, an oil supply port P of a load sensitive proportional valve module (11) is connected with an output port A, an oil return port T is connected with an output port B, and a valve core moves rightwards; when the well drilling machine lifts the drilling tool, the piston of the hydraulic oil cylinder moves leftwards, the oil inlet P is connected with the output port B, the oil return port T is connected with the output port A, and the valve core moves leftwards; when the valve core is positioned at the middle position, all the oil ports are cut off, and the piston of the hydraulic oil cylinder is not moved; in the controller part, a displacement sensor module (16) converts the piston displacement of the hydraulic oil cylinder into a voltage signal which is used as the input quantity of the controller and is applied to the controller, the controller calculates a corresponding control signal, the control signal is applied to a proportional amplifier (21), a tiny voltage signal is amplified into a current signal which can drive the valve core of the load sensitive proportional valve to displace, and then the flow and the pressure of two cavities of the hydraulic oil cylinder are controlled, so that a piston rod is pushed to move, and the output quantity propelling force is generated.

In an actual system, a built-in magnetostrictive displacement sensor suitable for a hydraulic system can be used as a feedback system, the magnetostrictive displacement sensor outputs the measured piston displacement in the form of voltage, the feedback voltage and the given voltage are used as input quantity of a controller, the controller calculates and outputs a corresponding control signal, the control signal of the voltage is converted into a current signal capable of driving a valve core of a load sensitive proportional valve to displace through a proportional amplifier, the opening degree of a valve port of the load sensitive proportional valve is controlled, and further the flow and the pressure of a hydraulic oil cylinder are controlled, so that a piston rod is pushed to move to generate displacement, and a propelling force is given to a controlled mechanism.

In this embodiment, the core parameters of the equipment in the well drilling system take values as shown in table 1.

Parameter [ unit ]]	Numerical value	Parameter [ unit ]]	Numerical value
				βe/(Pa)	6.5×108	D/(N·s/m)	106
Cξ	0.61	Vt/(m3)	10-3
				ρ/(kg/m3)	850	A1/(m2)	10-2
Mt/(kg)	100	F/(N)	1.4×105
				k/(A·V-1)	0.001	Ct/(m5(N·s))	5×10-16
w(m)	0.0025	kp	0.01

Table 1 equipment core parameters of a control device in a propulsion system of a water well drilling rig.

The working process of the specific control system has already been described in detail in the above control method, and is not described herein again. The following is an analysis of the PI vector control system in the prior art and the model-free adaptive control well drilling rig propulsion system of the present embodiment.

A model-free adaptive controller of a water well drilling machine propulsion system is established in an MATLAB/Simulink simulation environment, equipment parameters in the drilling machine propulsion system are shown in a table 1, values η, mu, rho, lambda and β of parameters of the model-free adaptive controller are designed according to the debugging condition of an actual system, and a parameter K controlled by an MFAC control group PI is properly selected_P、K_i。

FIGS. 5 and 6 are a valve port opening curve and a hydraulic cylinder speed curve of a load-sensitive proportional valve of a propulsion system of a model-free adaptive control sewer well drilling machine when a load is unchanged, the valve port opening is reduced to zero when a speed error is reduced to zero in simulation, and in FIG. 5, the load-sensitive proportional valve immediately responds but an overshoot of 0.0005m exists; initial speed v of hydraulic oil cylinder piston operation in simulation₀At 0.1m/s, the system can reach a balanced state at 0.05s, and the load-sensitive proportional valve can respond immediately.

In the comparative experimental PI control, the load-sensitive proportional valve in fig. 7 requires a response time of 0.125s, and there is an overshoot of 0.005 m; in fig. 8, the initial speed of the cylinder piston operation under the conventional PI control is 0.1m/s, the system can reach the equilibrium state at 0.1s, and the load-sensitive proportional valve needs 0.125s of response time. The MFAC control significantly improves the response speed of the control system and can ensure that no overshoot occurs in the response process.

And comparing the propelling force of different control modes under the same surrounding rock character. As shown in fig. 9, comparing the model-free adaptive controller with the PI controller, when the well drilling machine works in loess, the optimal propelling force 270N can be achieved when the MFAC is controlled to be 0.01s, the propelling force for drilling into the argillaceous sandstone cannot be achieved before the PI is controlled to be 0.25s, and the propelling force of 270N can be achieved after 0.25 s.

And comparing the propelling force of different control modes when the surrounding rock conditions are suddenly changed. When the properties of surrounding rocks are suddenly changed in the drilling process of the water well drilling machine, the outlet pressure of the load sensitive proportional valve is continuously adjusted, so that the propelling force of the drilling machine meets the optimal performance requirement. As shown in fig. 10, MFAC control can be stabilized at 0.1s before 0.5s, PI control has 100N overshoot as the load increases, and is stabilized at 0.2 s; the working condition of the drilling machine changes suddenly at 0.5s, the surrounding rock property is changed from argillaceous sandstone to medium sandstone, the PI control propulsion also changes suddenly at the time, the MFAC control can stably reach the optimal propulsion 1150N, and the sudden change can not occur, so that the drilling machine has better control performance under the complex working condition of drilling and certain protection on drilling equipment.

The invention provides a model-free self-adaptive control method and system for a well drilling machine propulsion device, aiming at interference factors such as uncertain models, unmodeled dynamics and external silt existing in a well drilling machine propulsion system. In the well drilling machine propulsion system, a hydraulic oil cylinder is used as a propulsion device, and a model-free self-adaptive control method and a model-free self-adaptive control system for the well drilling machine propulsion system are explained in detail. The proposed well drilling machine propulsion system controller is essentially a data-driven control method, which considers the problem of complex modeling such as uncertain structure and parameters of the well drilling machine propulsion system and approaches the nonlinear uncertainty in the model on line based on input and output data; under the dynamic linearization technology, a model-free self-adaptive control method facing the complex nonlinear system is provided; compensating for errors due to model uncertainty by replacing the discrete nonlinear system with a series of dynamic linearized models near the current operating point trajectory by the propulsion system while estimating the pseudo-partial derivatives in the dynamic linearized models on-line using only the I/O data of the dynamic positioning system; and finally, based on the complex working condition of the well drilling machine propulsion system, different propulsion forces are obtained according to different conditions.

The embodiment provides a model-free self-adaptive control method and system for a well drilling machine propulsion device, and the consistency and the boundedness of the tracking error of the well drilling machine propulsion system are ensured by adjusting the pseudo-partial derivative on line. Through simulation experiments, the control performance of a PI vector control system and a model-free self-adaptive well drilling machine propulsion system in the prior art is compared, and the result shows that the model-free self-adaptive control well drilling machine propulsion system can achieve stability more quickly when the load is unchanged, and the anti-interference performance is stronger; when the load is suddenly increased, compared with PI control, model-free adaptive control can more stably reach the set propelling force, and equipment damage caused by sudden change of the propelling force is avoided. The model-free adaptive control has the characteristic of independent model, has good portability, and can obtain good control output as long as the input and output quantity of the system is provided. The model-free self-adaptive control method of the well drilling machine propulsion system has strong robustness on uncertainty of model parameters of the propulsion system and disturbance of unknown working conditions, has higher controllability and stability of an algorithm, and can realize tracking control of the well drilling machine propulsion system under the unknown working conditions.

The above examples are intended only to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the embodiments and modifications can be made, and equivalents can be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.