基于虚拟仪器自动垂直钻井工具纠斜控制理论与实验研究
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摘要
自动垂直钻井工具包含测量机构、控制机构、动力机构和纠偏机构,下井前对自动垂直钻井工具各个组成机构进行仿真,检验设计功能能否实现,并且模拟实钻环境进行可靠性实验等等都是必不可少的步骤,应当进行深入的实验分析与研究,找出存在的问题,优化测控方案与工具结构。
论文详细地论述了目前国内外在自动垂直钻井技术及其工具研制方面的现状和进展,利用所研制的自动垂直钻井工具原理样机,开展了井斜自动控制的实验研究。通过分析基于重力加速度计的井斜测量原理和采用数字信号处理技术,结合所研制样机纠斜机构的工作原理,探讨了重力加速度传感器安装、校调方法及对井斜测控的影响,提出了对自动垂直钻具上的各纠斜机构的工作区域进行合理划分的控制策略,并根据该方法以及借助虚拟仪器技术实现了在原理样机上的井斜实时控制系统的开发。
所设计的基于虚拟仪器自动垂直钻井工具纠斜控制系统最后在室内进行了实验验证。实验结果表明,自动垂直钻井工具纠斜实验台可以满足除有泥浆情况外的大部分实钻环境模拟,所研制的纠斜控制系统在该实验台上能够对最小至0.15°的“井斜”进行有效控制。
Automatic vertical drilling tool contained measure mechanism, control mechanism, power mechanism and anti-deviation mechanism. Before going down the hole, every mechanism of the automatic vertical drilling tool should be simulated, and the simulations were essential. The simulations were to knowe if the designed function could be realized or not, and simulating the real-time drilling environment to do reliability experiments. An in-depth analysis and study should be made. The problems in the simulations should be found out. The measurement control project and the tool structure should be optimized.
The paper had discussed the existing status and progress in terms of automatic vertical drilling technologies and tool development both at home and abroad in detail. The experimental investigation of the well inclination automatic control was carriered out with the automatic vertical drilling tool principle prototype. The principle of inclination measurement based on gravity accelerometer was analysed and introduced the digital signal processing technology. Combining the work principle of anti-deviation mechanism of the prototype, the setting and adjusting method of the gravity accelerometer and the effects to well inclination survey and control were discussed. The control method which was correctly dividing the work region of each anti-deviation mechanism of automatic vertical drilling tool was put forward, and the well inclination real-time control system was developed according to the method by using virtual instruments technology.
The designed automatic vertical drilling tool anti-deviation control system had be verified in the laboratory finally. The experiment result showed that automatic vertical drilling tool anti-deviation experimental equipment could simulate the most of the real-time drilling environment except mud fluid environment, and the well inclination control precision had reached no less than 0.15°by the developed anti-deviation control system.
论文详细地论述了目前国内外在自动垂直钻井技术及其工具研制方面的现状和进展,利用所研制的自动垂直钻井工具原理样机,开展了井斜自动控制的实验研究。通过分析基于重力加速度计的井斜测量原理和采用数字信号处理技术,结合所研制样机纠斜机构的工作原理,探讨了重力加速度传感器安装、校调方法及对井斜测控的影响,提出了对自动垂直钻具上的各纠斜机构的工作区域进行合理划分的控制策略,并根据该方法以及借助虚拟仪器技术实现了在原理样机上的井斜实时控制系统的开发。
所设计的基于虚拟仪器自动垂直钻井工具纠斜控制系统最后在室内进行了实验验证。实验结果表明,自动垂直钻井工具纠斜实验台可以满足除有泥浆情况外的大部分实钻环境模拟,所研制的纠斜控制系统在该实验台上能够对最小至0.15°的“井斜”进行有效控制。
Automatic vertical drilling tool contained measure mechanism, control mechanism, power mechanism and anti-deviation mechanism. Before going down the hole, every mechanism of the automatic vertical drilling tool should be simulated, and the simulations were essential. The simulations were to knowe if the designed function could be realized or not, and simulating the real-time drilling environment to do reliability experiments. An in-depth analysis and study should be made. The problems in the simulations should be found out. The measurement control project and the tool structure should be optimized.
The paper had discussed the existing status and progress in terms of automatic vertical drilling technologies and tool development both at home and abroad in detail. The experimental investigation of the well inclination automatic control was carriered out with the automatic vertical drilling tool principle prototype. The principle of inclination measurement based on gravity accelerometer was analysed and introduced the digital signal processing technology. Combining the work principle of anti-deviation mechanism of the prototype, the setting and adjusting method of the gravity accelerometer and the effects to well inclination survey and control were discussed. The control method which was correctly dividing the work region of each anti-deviation mechanism of automatic vertical drilling tool was put forward, and the well inclination real-time control system was developed according to the method by using virtual instruments technology.
The designed automatic vertical drilling tool anti-deviation control system had be verified in the laboratory finally. The experiment result showed that automatic vertical drilling tool anti-deviation experimental equipment could simulate the most of the real-time drilling environment except mud fluid environment, and the well inclination control precision had reached no less than 0.15°by the developed anti-deviation control system.
引文
[1]张抗.中国的石油资源和发展战略[J].自然杂志,2008,30(3):164-166.
[2]苏义脑.油气直井防斜打快技术——理论与实践[M].北京:石油工业出版社,2003.
[3]苏义脑.井下控制工程学研究进展[M].北京:石油工业出版社,2003.
[4]苏义脑,李松林.自动垂直钻井工具的设计及自动控制方法[J].石油学报,2001,22(4):87-91.
[5]李松林,苏义脑.自动垂直钻井系统VDS的形成与发展[J].国外石油机械,1999,10(5):10-14.
[6]张进双,胡金燕.现代井下钻井工具及旋转导向闭环钻井系统[J].石油大学学报(自然科学版),2001,25(6):47-50.
[7]赵金海,唐代绪等.国外典型的旋转导向钻井系统[J].国外油田工程,2002,18(11):33-36.
[8] DC PATER C J.Mark D Zoback, et al. Complications with Stress Tests Insights from a fracture experiment in the ultra deep KTB borehole[J].SPE 36437,1996.
[9] Sandro Poli, Franco Donat, Joachim Oppelt, et al. Advanced Tools for Advanced Wells: Rotary Closed Loop Drilling System. SPE 36884.
[10] Franco Donat, Joachim Oppelt, Detlef Rognitz, et al. Innovative Rotary Closed Loop System.SPE39328.
[11] Andereassen E, Blikra H, Hjelle A, et al. RCLS Improves Reservoir Drilling Efficiency and Well bore Placement. SPE 39329.
[12] Ligrone A, Oppelt J, Calderoni A, et al. The Fat Test Way to the Bottom: Straighthole Drilling Device-Drilling Concept, Design Considerations, and Field Experience[R]. SPE 36826, 1996: 115-126.
[13] Patton Bob J. Automatical Directional Drilling Shows Promise. Petroleum Engineer International.1992.4.
[14] Steve Bell. Innovative Methods Lower Drilling Costs. Petroleum Engineer International.1993.2.
[15] Geoff Downton, Trond Skei Klausen, et al. New Directions in Rotary Steerable Drilling. Oilfield Review, 12,No.1(Spring2000):18-29.
[16] BarrJD, ClaggJM, RussellMK. Steerable Rotary Drilling With Experimental System. SPE 29382.
[17] Brusco G, Lewis P, Williams M. Drilling Straight Down[J]. Oilfield Review, 2004, 16(3): 14-17.
[18]苏义脑.地质导向钻井技术概况及其在我国的研究进展[J].石油勘探与开发,2005,32(1):92-95.
[19]傅华明,阮静洁,罗大鹏.一种垂钻过程检测与控制器的设计及室内试验[J].石油仪器,2004,18(1):13-15.
[20] Tetsuo Yonezawa, Edward J Cargill, Tom M Gaynor,etal. Robotic Controlled Drilling: aNew Rotary Steerable Drilling System for the Oil and Gas Industry.IADC/SPE 74458,2002:1-15.
[21]刘白雁,苏义脑,陈新元等.石油深井垂直钻进系统研究[J].机器人技术与应用,2006增刊:75-78.
[22]刘白雁,王新宇.井斜实时测量方法研究.中国测试技术,2007,33(4):5-8.
[23] Alan V.Oppenheim(著),刘树棠(译).信号与系统[M].西安:西安交通大学出版社,1998.
[24] (美)A.V.奥本海姆,(美)R.W.谢弗(著),刘树棠(译).离散时间信号处理[M].北京:科学出版社,1998.
[25] (美) B.P.拉兹(著),刘树棠(译).线性系统与信号[M].西安:西安交通大学出版社,2006.
[26]张立材,王民.数字信号处理[M].北京:人民邮电出版社,2008.
[27]郑南宁,程洪.数字信号处理[M].北京:清华大学出版社,2007.
[28]丁玉美,高西全.数字信号处理(第二版)[M].西安:西安电子科技大学出版社,2000.
[29]王艳芬,王刚,张晓光,刘卫东.数字信号处理原理及实现[M].北京:清华大学出版社,2008.
[30]李秋敏,刘白雁,陈新元,谢剑刚,曾良才.自动垂直钻具井下流场特性仿真分析[J].石油矿场机械,2008,37( 8):10-13.
[31]郑登科,刘白雁,王新宇等.基于PIC单片机自动垂直钻井工具控制器的研究[J].机械研究与应用,2007,20(3):88-90.
[32]陈锡辉,张银鸿.LabVIEW8.20程序设计从入门到精通[M].北京:清华大学出版社,2007.
[33]周杏鹏,仇国富,王寿荣,操家顺.现代检测技术[M].北京:高等教育出版社,2004.
[34]高春甫,艾学忠.微机测控技术[M].北京:科学出版社,2005.
[35]秦红磊,路辉,郎荣玲.自动测试系统[M].北京:高等教育出版社,2007.
[36]秦树人.虚拟仪器[M].北京:中国计量出版社,2004.
[37]陆绮荣.基于虚拟仪器技术个人实验室的构建[M].北京:电子工业出版社,2006.
[38]尹爱军,王见,周传德.秦氏模型——基于智能虚拟控件的仪器[M].北京:科学出版社,2007.
[39]张重雄.虚拟仪器技术分析与设计[M].北京:电子工业出版社,2007.
[40]林君,谢宣松等.虚拟仪器原理及应用[M].北京:科学出版社,2006.
[41]余成波,冯丽辉,潘盛辉.虚拟仪器技术与设计[M].重庆:重庆大学出版社,2006.
[42]赵会兵.虚拟仪器技术规范与系统集成[M].北京:清华大学出版社,2003.
[43] Rick Bitter, Taqi Mohiuddin, Matt Nawrocki. LabVIEW Advanced Programming Techniques[M]. Taylor & Francis Group:CRC Press.
[44] Cory L. Clark. LabVIEW Digital Signal Processing and Digital Communications[M]. New York:McGraw-Hill, c2005.
[45] Peter A.Blume. The LabVIEW Style Book[M]. USA: Pearson Education.
[46]王磊,陶梅.精通LabVIEW 8.0 [M].北京:电子工业出版社,2007.
[47]史君成,张淑伟,律淑珍.LabWindows虚拟仪器设计[M].北京:国防工业出版社,2007.
[48]王建新,杨世凤,隋美丽.LabWindows/CVI测试技术及工程应用[M].北京:化学工业出版社,2006.
[49]申炎华,王汝杰,雷振山. LabVIEW入门与提高范例教程[M].北京:中国铁道出版社,2007.
[50]周林,殷侠.数据采集与分析技术[M].西安:西安电子科技大学出版社,2005.
[51]周振安.数据采集系统的设计与实践[M].北京:地震出版社,2005.
[52]肖忠祥.数据采集原理[M].西安:西北工业大学出版社,2001.
[53]李志忠.数据采集和监控中的微机应用[M].北京:清华大学出版社,1988.
[2]苏义脑.油气直井防斜打快技术——理论与实践[M].北京:石油工业出版社,2003.
[3]苏义脑.井下控制工程学研究进展[M].北京:石油工业出版社,2003.
[4]苏义脑,李松林.自动垂直钻井工具的设计及自动控制方法[J].石油学报,2001,22(4):87-91.
[5]李松林,苏义脑.自动垂直钻井系统VDS的形成与发展[J].国外石油机械,1999,10(5):10-14.
[6]张进双,胡金燕.现代井下钻井工具及旋转导向闭环钻井系统[J].石油大学学报(自然科学版),2001,25(6):47-50.
[7]赵金海,唐代绪等.国外典型的旋转导向钻井系统[J].国外油田工程,2002,18(11):33-36.
[8] DC PATER C J.Mark D Zoback, et al. Complications with Stress Tests Insights from a fracture experiment in the ultra deep KTB borehole[J].SPE 36437,1996.
[9] Sandro Poli, Franco Donat, Joachim Oppelt, et al. Advanced Tools for Advanced Wells: Rotary Closed Loop Drilling System. SPE 36884.
[10] Franco Donat, Joachim Oppelt, Detlef Rognitz, et al. Innovative Rotary Closed Loop System.SPE39328.
[11] Andereassen E, Blikra H, Hjelle A, et al. RCLS Improves Reservoir Drilling Efficiency and Well bore Placement. SPE 39329.
[12] Ligrone A, Oppelt J, Calderoni A, et al. The Fat Test Way to the Bottom: Straighthole Drilling Device-Drilling Concept, Design Considerations, and Field Experience[R]. SPE 36826, 1996: 115-126.
[13] Patton Bob J. Automatical Directional Drilling Shows Promise. Petroleum Engineer International.1992.4.
[14] Steve Bell. Innovative Methods Lower Drilling Costs. Petroleum Engineer International.1993.2.
[15] Geoff Downton, Trond Skei Klausen, et al. New Directions in Rotary Steerable Drilling. Oilfield Review, 12,No.1(Spring2000):18-29.
[16] BarrJD, ClaggJM, RussellMK. Steerable Rotary Drilling With Experimental System. SPE 29382.
[17] Brusco G, Lewis P, Williams M. Drilling Straight Down[J]. Oilfield Review, 2004, 16(3): 14-17.
[18]苏义脑.地质导向钻井技术概况及其在我国的研究进展[J].石油勘探与开发,2005,32(1):92-95.
[19]傅华明,阮静洁,罗大鹏.一种垂钻过程检测与控制器的设计及室内试验[J].石油仪器,2004,18(1):13-15.
[20] Tetsuo Yonezawa, Edward J Cargill, Tom M Gaynor,etal. Robotic Controlled Drilling: aNew Rotary Steerable Drilling System for the Oil and Gas Industry.IADC/SPE 74458,2002:1-15.
[21]刘白雁,苏义脑,陈新元等.石油深井垂直钻进系统研究[J].机器人技术与应用,2006增刊:75-78.
[22]刘白雁,王新宇.井斜实时测量方法研究.中国测试技术,2007,33(4):5-8.
[23] Alan V.Oppenheim(著),刘树棠(译).信号与系统[M].西安:西安交通大学出版社,1998.
[24] (美)A.V.奥本海姆,(美)R.W.谢弗(著),刘树棠(译).离散时间信号处理[M].北京:科学出版社,1998.
[25] (美) B.P.拉兹(著),刘树棠(译).线性系统与信号[M].西安:西安交通大学出版社,2006.
[26]张立材,王民.数字信号处理[M].北京:人民邮电出版社,2008.
[27]郑南宁,程洪.数字信号处理[M].北京:清华大学出版社,2007.
[28]丁玉美,高西全.数字信号处理(第二版)[M].西安:西安电子科技大学出版社,2000.
[29]王艳芬,王刚,张晓光,刘卫东.数字信号处理原理及实现[M].北京:清华大学出版社,2008.
[30]李秋敏,刘白雁,陈新元,谢剑刚,曾良才.自动垂直钻具井下流场特性仿真分析[J].石油矿场机械,2008,37( 8):10-13.
[31]郑登科,刘白雁,王新宇等.基于PIC单片机自动垂直钻井工具控制器的研究[J].机械研究与应用,2007,20(3):88-90.
[32]陈锡辉,张银鸿.LabVIEW8.20程序设计从入门到精通[M].北京:清华大学出版社,2007.
[33]周杏鹏,仇国富,王寿荣,操家顺.现代检测技术[M].北京:高等教育出版社,2004.
[34]高春甫,艾学忠.微机测控技术[M].北京:科学出版社,2005.
[35]秦红磊,路辉,郎荣玲.自动测试系统[M].北京:高等教育出版社,2007.
[36]秦树人.虚拟仪器[M].北京:中国计量出版社,2004.
[37]陆绮荣.基于虚拟仪器技术个人实验室的构建[M].北京:电子工业出版社,2006.
[38]尹爱军,王见,周传德.秦氏模型——基于智能虚拟控件的仪器[M].北京:科学出版社,2007.
[39]张重雄.虚拟仪器技术分析与设计[M].北京:电子工业出版社,2007.
[40]林君,谢宣松等.虚拟仪器原理及应用[M].北京:科学出版社,2006.
[41]余成波,冯丽辉,潘盛辉.虚拟仪器技术与设计[M].重庆:重庆大学出版社,2006.
[42]赵会兵.虚拟仪器技术规范与系统集成[M].北京:清华大学出版社,2003.
[43] Rick Bitter, Taqi Mohiuddin, Matt Nawrocki. LabVIEW Advanced Programming Techniques[M]. Taylor & Francis Group:CRC Press.
[44] Cory L. Clark. LabVIEW Digital Signal Processing and Digital Communications[M]. New York:McGraw-Hill, c2005.
[45] Peter A.Blume. The LabVIEW Style Book[M]. USA: Pearson Education.
[46]王磊,陶梅.精通LabVIEW 8.0 [M].北京:电子工业出版社,2007.
[47]史君成,张淑伟,律淑珍.LabWindows虚拟仪器设计[M].北京:国防工业出版社,2007.
[48]王建新,杨世凤,隋美丽.LabWindows/CVI测试技术及工程应用[M].北京:化学工业出版社,2006.
[49]申炎华,王汝杰,雷振山. LabVIEW入门与提高范例教程[M].北京:中国铁道出版社,2007.
[50]周林,殷侠.数据采集与分析技术[M].西安:西安电子科技大学出版社,2005.
[51]周振安.数据采集系统的设计与实践[M].北京:地震出版社,2005.
[52]肖忠祥.数据采集原理[M].西安:西北工业大学出版社,2001.
[53]李志忠.数据采集和监控中的微机应用[M].北京:清华大学出版社,1988.