动态指向式旋转导向钻井工具测控系统设计与性能分析
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摘要
为了开发高性能的旋转导向钻井工具系统,进行了动态指向式旋转导向钻井工具测控系统设计与性能分析。在自行设计的动态指向式旋转导向钻井工具原理样机的基础上,设计了测控系统,分析了其关键技术;通过模拟实际钻井工况,测试分析了测控方案的可行性,检验了测量信号处理与控制算法的有效性。测试结果表明,应用互补滤波算法,能够将工具面角动态测量波动降低84%;采用永磁同步电机电流环、电机转速环、稳定平台对地转速环和稳定平台位置环的四环控制系统,除满足导向钻井的性能指标外,在粘滑度为200%工况下,还可以将系统工具面角波动控制在±5°范围内。研究结果表明,互补滤波算法能够有效提高工具面角的动态测量精度,四环控制系统能够实现工具面角的快速稳定控制,测控性能指标能够满足钻井工程技术要求。
With the goal of developing a high-performance rotary steerable drilling tool system,the design and performances analysis of the measurement and control system of Dynamic Point-the-Bit Rotary Steerable Drilling Tool(DPRSDT)were conducted. Based on a self-designed prototype of DPRSDT,the measurement and control system was designed,and its key technologies and properties were analyzed and validated by simulating the actual drilling conditions,which included the feasibility of the measurement and control scheme,the validity of the measuring signal processing and the control algorithm.Simulation results showed that the dynamic measurement error of tool face angle has been reduced by 84% by using a complementary filtering algorithm.Moreover,a four-closed-loop control system based on permanent magnet synchronous motor current loop,motor speed loop,stabilized platform to ground speed loop and stabilized platform position loop was proposed.In addition to satisfying the performance index of steerable drilling,the proposed control scheme could restrict the error of tool face angle within 5 degrees under the working condition of the stick-slip grade of 200%.It was shown that the dynamic measurement accuracy of tool face angle could be effectively improved by a complementary filtering algorithm,and the quick and stable control of the tool face angle could be accomplished by the four-closed-loop control system.The measurement and control performance indexes of the prototype satisfied the technical requirements of actual drilling engineering.
With the goal of developing a high-performance rotary steerable drilling tool system,the design and performances analysis of the measurement and control system of Dynamic Point-the-Bit Rotary Steerable Drilling Tool(DPRSDT)were conducted. Based on a self-designed prototype of DPRSDT,the measurement and control system was designed,and its key technologies and properties were analyzed and validated by simulating the actual drilling conditions,which included the feasibility of the measurement and control scheme,the validity of the measuring signal processing and the control algorithm.Simulation results showed that the dynamic measurement error of tool face angle has been reduced by 84% by using a complementary filtering algorithm.Moreover,a four-closed-loop control system based on permanent magnet synchronous motor current loop,motor speed loop,stabilized platform to ground speed loop and stabilized platform position loop was proposed.In addition to satisfying the performance index of steerable drilling,the proposed control scheme could restrict the error of tool face angle within 5 degrees under the working condition of the stick-slip grade of 200%.It was shown that the dynamic measurement accuracy of tool face angle could be effectively improved by a complementary filtering algorithm,and the quick and stable control of the tool face angle could be accomplished by the four-closed-loop control system.The measurement and control performance indexes of the prototype satisfied the technical requirements of actual drilling engineering.
引文
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[2] 薛凤龙.定向钻探技术应用现状分析及发展趋势[J].技术与市场,2016,23(5):158-159.XUE Fenglong.Application status analysis and development trend of directional drilling technology[J].Technology and Market,2016,23(5):158-159.
[3] 薛启龙,丁青山,黄蕾蕾.旋转导向钻井技术最新进展及发展趋势[J].石油机械,2013,41(7):1-6.XUE Qilong,DING Qingshan,HUANG Leilei.The latest progress and development trend of rotary steering drilling technology[J].China Petroleum Machinery,2013,41(7):1-6.
[4] 王伟亮,耿艳峰,李聪冉,等.动态指向式旋转导向钻井工具稳定平台的控制[J].石油机械,2017,45(8):7-12.WANG Weiliang,GENG Yanfeng,LI Congran,et al.Stabilized platform control for the dynamic point-the-bit rotary steerable drilling tool[J].China Petroleum Machinery,2017,45(8):7-12.
[5] YAN Zhidan,GENG Yanfeng,WANG Zifang,et al.Design of offsetting steerable mechanism for rotary steerable drilling tool based on double eccentric rings[J].Applied Mechanics & Materials,2013,288:13-18.
[6] 王凯,王伟亮,佀洁茹,等.动态指向式旋转导向钻井工具的测控系统研究[J].石油机械,2018,46(2):35-38,67.WANG Kai,WANG Weiliang,SI Jieru,et al.Research on the measurement and control system of dynamic of dynamic point-the-bit rotary steerable drilling tools[J].China Pettoleum Machinery.2018,46(2):35-38,67.
[7] 边群星,陈锟,陈郑洲.基于互补滤波器的两轮平衡车姿态角度测量[J].电子设计工程,2014,22(18):55-58.BIAN Qunxing,CHEN Kun,CHEN Zhengzhou.Attitude angle measurement of two-wheeled balance vehicle based on complementary filter[J].Electronic Design Engineering,2014(18):55-58.
[8] PODDAR S,NARKHEDE P,KUMAR V,et al.Author correction to:PSO aided adaptive complementary filter for attitude estimation[J].Journal of Intelligent & Robotic Systems,2017,87(3/4):531-543.
[9] 孙峰.捷联式自动垂直钻井系统稳定平台技术研究[D].青岛:中国石油大学(华东),2012.SUN Feng.Research on stabilizing platform for strapdown automatic vertical drilling system technology[D].Qingdao:China University of Petroleum(Huadong),2012.
[10] YOO T S,HONG S K,YOON H M,et al.Gain-scheduled complementary filter design for a MEMS based attitude and heading reference system[J].Sensors,2011,11(4):3816-3830.
[11] DUFEYTE M P,HENNEUSE H.Detection and monitoring of the slip-stick motion:field experiments[R].SPE 21945,1991.
[12] SUGIURA J.The use of the near-bit vibration sensor while drilling lead to optimized rotary-steerable drilling in push and point-the-bit configurations[R].SPE 115572,2008.
[13] 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 Petroleum Sinica,2014,35(5):952-957.