Research on the Control Strategy of Oil Drilling Push-assisted Robotic Arm Discharging Pipe Considering Riser Deformation

Pipe column mechanical arm control system is the core equipment in the modular drilling rig, and the push-support mechanical arm has the problem of generating the offset amount of the endpoint of the stub due to the change of the stub offset angle in the discharge pipe operation, which requires the whole intervention of the manual work to cooperate and can not satisfy the requirements of automation and one-button type. Taking this problem as the main research line of the thesis, it is proposed to use finite element simulation software to establish the finite element model of different states of the stubs to obtain the stub endpoint offset; for the process error during the mechanical production process and the aging and wear and tear of the equipment in the actual operation may lead to the error of the results, it is proposed to establish a prediction model for the input of the robotic arm through machine learning in response to the on-site error; for the operation of the robotic arm under hydraulic drive, it is proposed to use data-driven fuzzy model for the stability problem. For the stability problem of hydraulic drive, data-driven fuzzy PID control is proposed; a reference of control process is provided for automatic emission.