导向钻井工具冗余姿态测量与系统重构方法
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摘要
为实现调制式导向钻井工具井眼轨迹的精确可靠控制,导向钻井工具井下姿态的实时测量至关重要。针对恶劣工况下测量系统可靠性差的问题,提出了一种非正交四轴重力加速度计的姿态测量方法,给出了对应的姿态参数求解和信号有效性判定公式。针对小井斜状态下姿态参数测不准问题,提出了四轴重力加速度计初始倾斜安装的非正交测量方法,显著提高了测量精度。针对井下恶劣工况中加速度计易损易失效问题,提出了双冗余非正交四轴重力加速度计测量方法,给出了双冗余重力加速度计关联信号的相互转换公式,讨论了依据信号特征判定重力加速度计故障的方法及故障诊断流程,并据此建立了系统重构方案。水力驱动测试实验表明,工具姿态测量准确,控制平台角度位置稳定。
Real-time downhole posture measurement of steering drilling tool is vital to realize exact reliable control on the well trajectory of modulated steering drilling tool.Aiming at the poor reliability of measurement system under atrocious working environment,this study proposes a posture measurement method based on nonorthogonal quadri-axle gravity accelerometers,and the corresponding posture parameter solution and signal effectiveness judgment formulas are also given.As for inaccurate posture parameter under the status of small borehole deviation,a nonorthogonal measurement method is proposed,which depends on the quadri-axle gravity accelerometers installed with an initial tilt,so as to improve the measurement accuracy.To cope with problems that the accelerometer tends to fail or be destroyed in atrocious downhole environment,a measurement method is presented based on dual redundant nonorthogonal quadri-axle gravity accelerometers.Then the mutual conversion formula between relative signals of dual redundant gravity accelerometer is given.Moreover,this study discusses the judgment method and diagnosis process of gravity accelerometer fault based on signal characteristics,based on which a system reconfiguration scheme is established accordingly.The hydraulic driving test results indicate that tool posture measurement is accurate,and the stable control of platform angle is achieved.
Real-time downhole posture measurement of steering drilling tool is vital to realize exact reliable control on the well trajectory of modulated steering drilling tool.Aiming at the poor reliability of measurement system under atrocious working environment,this study proposes a posture measurement method based on nonorthogonal quadri-axle gravity accelerometers,and the corresponding posture parameter solution and signal effectiveness judgment formulas are also given.As for inaccurate posture parameter under the status of small borehole deviation,a nonorthogonal measurement method is proposed,which depends on the quadri-axle gravity accelerometers installed with an initial tilt,so as to improve the measurement accuracy.To cope with problems that the accelerometer tends to fail or be destroyed in atrocious downhole environment,a measurement method is presented based on dual redundant nonorthogonal quadri-axle gravity accelerometers.Then the mutual conversion formula between relative signals of dual redundant gravity accelerometer is given.Moreover,this study discusses the judgment method and diagnosis process of gravity accelerometer fault based on signal characteristics,based on which a system reconfiguration scheme is established accordingly.The hydraulic driving test results indicate that tool posture measurement is accurate,and the stable control of platform angle is achieved.
引文
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[8]任春华,李兵,赵幸子,等.全姿态光纤陀螺井眼轨迹连续测量仪研究[J].仪器仪表学报,2012,33(12):2703-2708.Ren Chunhua,Li Bing,Zhao Xingzi,et al.Study on all-attitude fiber optic gyro well-hole trajectory continuous measuring instrument[J].Chinese Journal of Scientific Instrument,2012,33(12):2703-2708.
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[10]汪跃龙,吕锦省,霍爱清,等.井下涡轮电机参数精密检测系统设计[J].微特电机,2010(11):24-26.Wang Yuelong,Lv Jinsheng,Huo Aiqing,et al.Accurate measurement system for downhole turbine electrical machines[J].Small&Special Electrical Machines,2010(11):24-26.
[11]Fedder G K,Blanton S,Carley L R.Integrated micro electro mechanical system(MEMS)inertial measurement unit(IMIMU)[C]∥Proceedings of the 14th IEEE International Conference on Micro Electro Mechanical Systems.Interlaken:IEEE,2001:80-94.
[12]汪跃龙,费汪浩,霍爱清,等.旋转导向钻井工具涡轮电机电磁转矩前馈控制[J].石油学报,2014,35(1):141-145.Wang Yuelong,Fei Wanghao,Huo Aiqing,et al.Electromagnetic torque feed-forward control of the turbine alternator for rotary steering drilling tools[J].Acta Petrolei Sinica,2014,35(1):141-145.
[13]刘白雁,苏义脑,陈新元,等.自动垂直钻井中井斜动态测量理论与实验研究[J].石油学报,2006,27(4):105-109.Liu Baiyan,Su Yinao,Chen Xinyuan,et al.Theoretical and experimental investigation on dynamic measurements of hole inclination in automatic vertical drilling process[J].Acta Petrolei Sinica,2006,27(4):105-109.
[14]汤楠,霍爱清,汪跃龙,等.旋转导向钻井工具稳定平台控制功能试验研究[J].石油学报,2008,29(2):284-287.Tang Nan,Huo Aiqing,Wang Yuelong,et al.Experimental study on control function of stabilized Platform for rotary steering drilling tool[J].Act Petrolei Sinica,2008,29(2):284-287.
[15]Wang Yuelong,Liu Zili,Cheng Weibin,et al.Study on fault-tolerant technique of downhole steering system for rotary steering drilling[C]∥Proceedings of 2012 International Conference on Measurement,Information and Control.Harbin:IEEE,2013:896-899.
[16]刘瑞文,郭学增.钻井过程中的在线故障检测与诊断[J].石油钻探技术,2004,32(4):84-86.Liu Ruiwen,Guo Xuezeng.On-line fault detection and diagnosis in drilling process[J].Petroleum Drilling Techniques,2004,32(4):84-86.
[17]王骏,陈欣,杨浩.基于神经网络与自适应控制的系统重构方法[J].航天控制,2006,24(2):9-13.Wang Jun,Chen Xin,Yang Hao.A method of system reconfiguration based on neural network and adaptive control[J].Aerospace Control,2006,24(2):9-13.
[18]Lowdon R,Bowler A,Sugiura J.Novel survey method using a rotary steerable system significantly improves the dynamic inclination an azimuth measurement[R].SPE166563,2013.
[19]Sugiura J,Bowler A,Hawkins R,et al.Downhole steering automation and new survey measurement method significantly improves high-dogleg rotary steerable system performance[R].SPE166165,2013.
[20]廖明燕.基于神经网络和证据理论集成的钻井过程状态监测与故障诊断[J].中国石油大学学报:自然科学版,2007,31(5):136-140.Liao Mingyan.Drilling state monitoring and fault diagnosis based on integrating neural network and evidence theory[J].Journal of China University of Petroleum:Edition of Natural Science,2007,31(5):136-140.
[21]周云凤,程为彬,陈世琳.随钻测量中工具面角的模拟解算[J].中国测试,2010,36(3):15-18.Zhou Yunfeng,Cheng Weibin,Chen Shilin.Analog solving of tool-face angle for measurement while drilling[J].China Measurement&Test,2010,36(3):15-18.
[22]刘白雁,王新宇,杜勇刚,等.井斜实时测量方法研究[J].中国测试技术,2007,33(4):5-8.Liu Baiyan,Wang Xinyu,Du Yonggang,et al.Study on real-time well inclination measurement[J].China Measurement Technology,2007,33(4):5-8.
[23]汪跃龙,王海皎,康思民,等.导向钻井稳定控制平台的反馈线性化控制[J].石油学报,2014,35(5):952-957.Wang Yuelong,Wang Haijiao,Kang Simin,et al.Output feedback linearization of servo platform for rotary steering drilling system[J].Acta Petrolei Sinica,2014,35(5):952-957.
[2]汤楠,霍爱清,汪跃龙,等.旋转导向钻井稳定平台控制对象动态特性研究[J].石油学报,2009,30(4):598-602.Tang Nan,Huo Aiqing,Wang Yuelong,et al.Study on dynamic characteristics of controlled objects in stabilized platform of rotary steerable drilling system[J].Acta Petrolei Sinica,2009,30(4):598-602.
[3]汪跃龙,张璐,汤楠,等.旋转导向钻井惯导平台动力学分析与运动研究[J].机械工程学报,2012,48(17):65-69.Wang Yuelong,Zhang Lu,Tang Nan,et al.Dynamics and rotational movement analysis of servo platform for rotary steerable drilling system[J].Journal of Mechanical Engineering,2012,48(17):65-69.
[4]Huang Leilei,Sun Feng,Wang Ruihe,et al.Dynamic soltion approach to the inclination and amizuth of bottom rotating drillstring[R].SPE165378,2013.
[5]杨全进,徐宝昌,左信,等.旋转导向钻具姿态的无迹卡尔曼滤波方法[J].石油学报,2013,34(6):1168-1175.Yang Quanjin,Xu Baochang,Zuo Xin,et al.An unscented Kalman filter method for attitude measurement of rotary steerable drilling assembly[J].Acta Petrolei Sinica,2013,34(6):1168-1175.
[6]Woloson S E,Jones D A.Apparatus for measuring downhole drilling efficiency parameters:US,6216533[P].2001-10-31.
[7]曹正林,袁剑英,黄成刚,等.高温高压碎屑岩储层中石膏溶解对方解石沉淀的影响[J].石油学报,2014,35(3):450-454.Cao Zhenglin,Yuan Jianying,Huang Chenggang,et al.Influence of plaster dissolution on calcite precipitation in clastic reservoirs under high-temperature and high-pressure conditions[J].Acta Petrolei Sinica,2014,35(3):450-454.
[8]任春华,李兵,赵幸子,等.全姿态光纤陀螺井眼轨迹连续测量仪研究[J].仪器仪表学报,2012,33(12):2703-2708.Ren Chunhua,Li Bing,Zhao Xingzi,et al.Study on all-attitude fiber optic gyro well-hole trajectory continuous measuring instrument[J].Chinese Journal of Scientific Instrument,2012,33(12):2703-2708.
[9]Weston J L,Titterton D H.Modern inertial navigation technology and its application[J].Electronics&Communication Engineering Journal,2000,12(2):49-64.
[10]汪跃龙,吕锦省,霍爱清,等.井下涡轮电机参数精密检测系统设计[J].微特电机,2010(11):24-26.Wang Yuelong,Lv Jinsheng,Huo Aiqing,et al.Accurate measurement system for downhole turbine electrical machines[J].Small&Special Electrical Machines,2010(11):24-26.
[11]Fedder G K,Blanton S,Carley L R.Integrated micro electro mechanical system(MEMS)inertial measurement unit(IMIMU)[C]∥Proceedings of the 14th IEEE International Conference on Micro Electro Mechanical Systems.Interlaken:IEEE,2001:80-94.
[12]汪跃龙,费汪浩,霍爱清,等.旋转导向钻井工具涡轮电机电磁转矩前馈控制[J].石油学报,2014,35(1):141-145.Wang Yuelong,Fei Wanghao,Huo Aiqing,et al.Electromagnetic torque feed-forward control of the turbine alternator for rotary steering drilling tools[J].Acta Petrolei Sinica,2014,35(1):141-145.
[13]刘白雁,苏义脑,陈新元,等.自动垂直钻井中井斜动态测量理论与实验研究[J].石油学报,2006,27(4):105-109.Liu Baiyan,Su Yinao,Chen Xinyuan,et al.Theoretical and experimental investigation on dynamic measurements of hole inclination in automatic vertical drilling process[J].Acta Petrolei Sinica,2006,27(4):105-109.
[14]汤楠,霍爱清,汪跃龙,等.旋转导向钻井工具稳定平台控制功能试验研究[J].石油学报,2008,29(2):284-287.Tang Nan,Huo Aiqing,Wang Yuelong,et al.Experimental study on control function of stabilized Platform for rotary steering drilling tool[J].Act Petrolei Sinica,2008,29(2):284-287.
[15]Wang Yuelong,Liu Zili,Cheng Weibin,et al.Study on fault-tolerant technique of downhole steering system for rotary steering drilling[C]∥Proceedings of 2012 International Conference on Measurement,Information and Control.Harbin:IEEE,2013:896-899.
[16]刘瑞文,郭学增.钻井过程中的在线故障检测与诊断[J].石油钻探技术,2004,32(4):84-86.Liu Ruiwen,Guo Xuezeng.On-line fault detection and diagnosis in drilling process[J].Petroleum Drilling Techniques,2004,32(4):84-86.
[17]王骏,陈欣,杨浩.基于神经网络与自适应控制的系统重构方法[J].航天控制,2006,24(2):9-13.Wang Jun,Chen Xin,Yang Hao.A method of system reconfiguration based on neural network and adaptive control[J].Aerospace Control,2006,24(2):9-13.
[18]Lowdon R,Bowler A,Sugiura J.Novel survey method using a rotary steerable system significantly improves the dynamic inclination an azimuth measurement[R].SPE166563,2013.
[19]Sugiura J,Bowler A,Hawkins R,et al.Downhole steering automation and new survey measurement method significantly improves high-dogleg rotary steerable system performance[R].SPE166165,2013.
[20]廖明燕.基于神经网络和证据理论集成的钻井过程状态监测与故障诊断[J].中国石油大学学报:自然科学版,2007,31(5):136-140.Liao Mingyan.Drilling state monitoring and fault diagnosis based on integrating neural network and evidence theory[J].Journal of China University of Petroleum:Edition of Natural Science,2007,31(5):136-140.
[21]周云凤,程为彬,陈世琳.随钻测量中工具面角的模拟解算[J].中国测试,2010,36(3):15-18.Zhou Yunfeng,Cheng Weibin,Chen Shilin.Analog solving of tool-face angle for measurement while drilling[J].China Measurement&Test,2010,36(3):15-18.
[22]刘白雁,王新宇,杜勇刚,等.井斜实时测量方法研究[J].中国测试技术,2007,33(4):5-8.Liu Baiyan,Wang Xinyu,Du Yonggang,et al.Study on real-time well inclination measurement[J].China Measurement Technology,2007,33(4):5-8.
[23]汪跃龙,王海皎,康思民,等.导向钻井稳定控制平台的反馈线性化控制[J].石油学报,2014,35(5):952-957.Wang Yuelong,Wang Haijiao,Kang Simin,et al.Output feedback linearization of servo platform for rotary steering drilling system[J].Acta Petrolei Sinica,2014,35(5):952-957.