Application of feedforward PID control in deep-sea drill string motion compensation system

ZHANG Wen-fan1， LIAO Hui2
（1. Department of Mechatronics Engineering， Guangzhou Institute of Technology， Guangzhou 510075， China；
              2. Mechanical and Electrical Engineering Faculty， Guangdong University of Petrolchemical Technology，
 Maoming 525000， China）

Abstract： Aiming at the problem that load of drill string motion compensation system is very heavy in deep-sea， which will take a long response time of system， and the process of compensation movement occurred delaying and oscillating， the feedward PID controller of drill string motion compensation system was put forward， on the basis of the forecast output of the trend of load， a feed forward compensation control method was used to reduce the effects of the changement of the load， improve the respons time of system. Meanwhile， a PID feed back control method was used to reduce the errors which caused by others reason， improve the control accuration of the system. The research results show that this method has some guidance and practical value to the design of controller of high inertia loads of motion compensation device in deep-sea.
Key words： valve controlling cylinder system；load flow；calibration link；flow characteristics