垂直导向钻井工具姿态测量方法研究
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摘要
自动垂直导向钻井工具是复杂结构井的钻井新工具,它通过自动控制作用在井壁的推靠力以控制钻进方向,实现纠斜稳直的目的。因此,导向钻井工具姿态测量方法研究是实现自动垂直导向钻井的重要基础。基于对垂直导向钻井工具姿态测量原理的分析,研究了近垂直条件下采用重力加速度计测量工具姿态时不可测和测不准的问题,为解决以上问题,提出了重力加速度计的非正交测量方法,并对典型姿态角度进行理论分析与计算推导。解算结果表明,与常规方法相比,非正交测量方法的姿态测量误差大幅减小,改进效果显著,满足了垂直导向钻井工具的测量精度要求。通过水力驱动测试试验,验证了重力加速度计非正交测量方法的有效性。
Automatic vertical steering drilling tool is a new drilling tool for wells with complex structure,it controls the drilling direction by the pushing force of automatic control function against the bore wall to achieve the purposes of stable deviation and straightness.Therefore,the posture measurement while steering drilling tool is an important basis for realizing automatic vertical drilling.Based on the analysis on the principle of the vertical drilling tool posture measurement,the authors studied the uncertainty and unpredictable problems when using gravity accelerometer to measure the posture of the tool under condition of near-vertical.In order to solve the above problems,the paper put forward the non-orthogonal measuring method of gravity accelerometer.and theoretical analysis and calculation of derivation for the typical angle were conducted.Solver results showed that compared with the conventional method,the errors of non-orthogonal posture measurement method were greatly reduced,the improving effect was significant meeting the requirements of the vertical drilling tool accuracy.By hydraulic drive test,the effectiveness of non-orthogonal gravity accelerometer measurement method was verified.
Automatic vertical steering drilling tool is a new drilling tool for wells with complex structure,it controls the drilling direction by the pushing force of automatic control function against the bore wall to achieve the purposes of stable deviation and straightness.Therefore,the posture measurement while steering drilling tool is an important basis for realizing automatic vertical drilling.Based on the analysis on the principle of the vertical drilling tool posture measurement,the authors studied the uncertainty and unpredictable problems when using gravity accelerometer to measure the posture of the tool under condition of near-vertical.In order to solve the above problems,the paper put forward the non-orthogonal measuring method of gravity accelerometer.and theoretical analysis and calculation of derivation for the typical angle were conducted.Solver results showed that compared with the conventional method,the errors of non-orthogonal posture measurement method were greatly reduced,the improving effect was significant meeting the requirements of the vertical drilling tool accuracy.By hydraulic drive test,the effectiveness of non-orthogonal gravity accelerometer measurement method was verified.
引文
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[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.
[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.
[4]Huang Leilei,Sun Feng,Wang Ruihe,et al.Dynamic soltion approach to the inclination and amizuth of bottom rotating drill string[J].Journal of Shangqiu Normal University,2013,34(5):1099-1105.
[5]刘自理,康思民,刘自慎,等.导向钻井工具冗余姿态测量与系统重构方法[J].石油学报,2015,36(11):1433-1440.
[6]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):5-7.