钻井虚拟仿真系统的研究与实现
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摘要
随着计算机仿真技术的发展，其应用领域越来越广泛。利用计算机仿真技术开发仿真系统，对工作人员进行技术培训，成为计算机仿真技术应用在石油行业中的主要方向。应用在石油工业中的仿真技术主要有数字计算仿真技术和视景仿真技术两类。其中，数字计算仿真主要用于数学模型的建立以及精确数值的求解，以实现对石油开采过程中的数据进行监控或对设备进行定量分析后进行机械制造，侧重于精确的数值计算，得到的是精确的数据；视景仿真是生成一个逼真的虚拟环境，用户可与系统进行交互。在石油行业中主要是构造油田设备的三维模型、再现真实的环境并模拟石油钻井工艺的过程，达到非常逼真的仿真效果，侧重于画面的真实感。
本文利用计算机仿真技术，研究构建一个参数化的石油钻井虚拟仿真系统，对虚拟设备进行参数化的运动控制，逼真地模拟钻井工艺过程。提出了基于数字计算仿真和视景仿真混合技术的虚拟仿真系统架构；分析并建立了钻机子系统运动的数学模型，利用数学模型并根据钻井工艺脚本控制虚拟钻井设备运动；通过对柔体变形运动的研究，结合石油钻井中钢丝绳运动变化特点改进了算法，实现了对缠绕在滑轮组上钢丝绳的实时变形运动控制；研究了角色动画，并实现了对系统中虚拟人运动的控制。最后，能够初始化系统参数、实时显示钻井工艺过程中运动数据的变化，实现系统的交互性。
本文实现的钻井虚拟仿真系统在逼真地模拟石油钻井工艺过程的三维可视化动画的同时，虚拟钻井设备的运动符合一定的数值关系。这种参数化的油田钻井虚拟仿真系统应用于技术人员的培训中，不仅能够使技术人员对钻井过程有很直观的认识，同时观察由于系统参数不同引起的设备运动参数的变化。
With the development of computer simulation technology, its application is more andmore extensive. Developing simulation system by computer simulation technology to trainworkers has become the focused research field in the oil industry. The simulation technologyapplied in the oilfield mainly includes numerical simulation technology and visual simulationtechnology. The numerical calculation simulation is mainly for establishing the mathematicalmodel and accurate numerical solution, monitoring oil mining data or quantitatively analysethe equipments and then having the machinery manufactured. It focuses on the accuratenumerical calculation to get accurate data. The visual simulation is generating a realisticvirtual environment, with which users can have interactions. In the oilfield, it is mainly aimedat structuring the three-dimensional models of oilfield equipments, simulating the realenvironment as well as the oil drilling technology process. It is focused on the sense of realityin pictures.
Based on computer simulation technology, parametric oilfield drilling virtual simulationsystem is created. The motion of virtual equipments is controlled by parameters to simulatethe drilling processes realistically. The development framework of virtual simulation system,which is based on the technologies of numerical simulation and visual one, is proposed. Themathematical models of drilling rig subsystems are analyzed and formed, by which andaccording to the drilling technology script, the motion of virtual equipments is controlled.Furthermore, an algorithm is presented for the real-time simulation of a rope passing throughseveral pulleys using inverse kinematics. We have researched character animation andrealized the control of virtual human’s motions in system. Finally, the interaction of thesystem, initializing of the system parameters, displaying and controlling of the drillingprocess, and the realization of parameters in real-time, are achieved.
The drilling virtual simulation system this paper described can simulate thethree-dimensional visualization animation of oil drilling processes with the accuratemovement data. This parametric oilfield drilling virtual simulation system used in thetraining for technicians, can not only help them get an intuitive understanding, but alsopresent the technicians the difference of equipment motion parameters caused by the differentparameters of the system.
本文利用计算机仿真技术，研究构建一个参数化的石油钻井虚拟仿真系统，对虚拟设备进行参数化的运动控制，逼真地模拟钻井工艺过程。提出了基于数字计算仿真和视景仿真混合技术的虚拟仿真系统架构；分析并建立了钻机子系统运动的数学模型，利用数学模型并根据钻井工艺脚本控制虚拟钻井设备运动；通过对柔体变形运动的研究，结合石油钻井中钢丝绳运动变化特点改进了算法，实现了对缠绕在滑轮组上钢丝绳的实时变形运动控制；研究了角色动画，并实现了对系统中虚拟人运动的控制。最后，能够初始化系统参数、实时显示钻井工艺过程中运动数据的变化，实现系统的交互性。
本文实现的钻井虚拟仿真系统在逼真地模拟石油钻井工艺过程的三维可视化动画的同时，虚拟钻井设备的运动符合一定的数值关系。这种参数化的油田钻井虚拟仿真系统应用于技术人员的培训中，不仅能够使技术人员对钻井过程有很直观的认识，同时观察由于系统参数不同引起的设备运动参数的变化。
With the development of computer simulation technology, its application is more andmore extensive. Developing simulation system by computer simulation technology to trainworkers has become the focused research field in the oil industry. The simulation technologyapplied in the oilfield mainly includes numerical simulation technology and visual simulationtechnology. The numerical calculation simulation is mainly for establishing the mathematicalmodel and accurate numerical solution, monitoring oil mining data or quantitatively analysethe equipments and then having the machinery manufactured. It focuses on the accuratenumerical calculation to get accurate data. The visual simulation is generating a realisticvirtual environment, with which users can have interactions. In the oilfield, it is mainly aimedat structuring the three-dimensional models of oilfield equipments, simulating the realenvironment as well as the oil drilling technology process. It is focused on the sense of realityin pictures.
Based on computer simulation technology, parametric oilfield drilling virtual simulationsystem is created. The motion of virtual equipments is controlled by parameters to simulatethe drilling processes realistically. The development framework of virtual simulation system,which is based on the technologies of numerical simulation and visual one, is proposed. Themathematical models of drilling rig subsystems are analyzed and formed, by which andaccording to the drilling technology script, the motion of virtual equipments is controlled.Furthermore, an algorithm is presented for the real-time simulation of a rope passing throughseveral pulleys using inverse kinematics. We have researched character animation andrealized the control of virtual human’s motions in system. Finally, the interaction of thesystem, initializing of the system parameters, displaying and controlling of the drillingprocess, and the realization of parameters in real-time, are achieved.
The drilling virtual simulation system this paper described can simulate thethree-dimensional visualization animation of oil drilling processes with the accuratemovement data. This parametric oilfield drilling virtual simulation system used in thetraining for technicians, can not only help them get an intuitive understanding, but alsopresent the technicians the difference of equipment motion parameters caused by the differentparameters of the system.
引文
[1]伞冶,刘俊强,刘翠玲,孙顺民.油田深井井下环境仿真系统设计[J].系统仿真学报,2001,13(1):43-46.
[2]李静.仿真技术在电子商务教学中的应用[J].商场现代化,2007.6(505):97.
[3]申蔚,夏立文.虚拟现实技术[M].北京:希望电子出版社,2002,1-9.
[4]王子才.仿真技术发展及应用[J].中国工程科学,2003,5(5):2.
[5]韩津豫.基于面向对象技术的战斗机对地攻击仿真系统设计[D].西北工业大学,2004.
[6]李晓维等译.visualC++2使用指南[M].北京:清华大学出版社,1995,9.
[7]蒋庆全.国外VR技术发展综述[J].飞航导弹,2002(1):27-34.
[8]姜学智,李忠华.国内外虚拟现实技术的研究现状[J].辽宁工程技术大学学报,2004,23(2):238-240.
[9]傅晨,彭群生.一个桌面型虚拟建筑环境实时漫游系统的设计与实现[J].计算机学报,1998,21(9):793-799.
[10]陈彦菲.校园内场景的虚拟漫游技术研究[D].大连理工大学,2008.
[11]张雄,叶榛,朱纪洪等.基于虚拟现实的无人驾驶飞机仿真训练系统[J].系统仿真学报,2002,14(8):1022-1025.
[12]高文,陈熙霖,晏洁等.虚拟人面部行为的合成[J].计算机学报,1998,21(8):694-703.
[13]黄心渊,李畅.体视动态模拟中的图像生成与合成[J].计算机仿真,1999,16(3):26-28.
[14]何超.计算机动画技术及其在钻井井控模拟中的应用[D].西南石油学院,2003.5.
[15]OpenGL2.0WhitePapers.Http://www.3Dlabs.com.
[16]阮秋琦.数字图像处理学[M].北京:电子工业出版社,2001.
[17]赵俊平.油气钻井工程项目风险分析与管理研究[D].大庆石油学院,2007.
[18]李欣妍.钻机安全监控系统应用研究[D].西安石油大学,2009.
[19]郭君琳.井下泥浆动态旋流器的设计研究[D].中国石油大学(华东),2008.
[20]刘圆.油气钻井起升系统作业安全分析与安全综合评价方法研究[D].重庆大学,2006.
[21]徐李甲.石油钻井过程故障仿真及控制技术研究[D].西安石油大学,2010.
[22]李峰.基于KBE的石油钻机设计PDM系统开发研究[D].西安石油大学,2008.
[23]冯彦伟.ZJ50/3150JD型钻机的研制与应用[J].石油矿场机械,2010(6):58-60.
[24]陈燕.基于结构方程模型的油气钻井工程安全评价研究[D].成都理工大学,2011.
[25]曾兴昌.游车-天车-绞车系统运动及动力学特性探讨[J].石油矿场机械,2009,38(3):54-57.
[26]韩春杰.对钻柱在反转情况下横向振动规律的研究[J].钻采工艺,2007,30(1):80-81,83.
[27] Gregory Juker. Pro OGRE3D Programming[M]. Apress,2006.
[28] Dai, F. Lebendige virtuelle Welten[J]. Springer-Verlag,1997.
[29] Gleicher, M. Retargetting Motion toNew Characters[J]. Siggraph,1998.
[30]苏金钊.虚拟人技术研究[D].郑州大学,2007.
[31]刘晓梅.虚拟角色交互运动控制研究[D].东南大学,2007.
[32]李刚,吴政等.基于微型传感器驱动的三维实时运动人体模型[J].计算机应用,2009,29(12):3336-3339.
[33]方颖.虚拟人动画自动生成算法研究[D].北京交通大学,2009.
[34]王瑢瑢.基于运动库的三维角色动画生成方法研究与实现[J].中国科学院计算技术研究所,2006.
[35] N.I.Badler and C.B.Phillips.Simulating Humans:Computer Graghics,Animation andControl[J].Oxford University Press,1992.
[36] M.Girard.Constrained optimization of articulated animalmovement in computeranimation, Making them move[J]. Morgan Kaufmann Pulishers,1990.
[37] Korein,J.U., Bedler, N.I.. Techniques for generating the goal-directed motion ofartieulated structures[J].IEEE Computer Graphics&Applications1982,3(2),71-81.
[38] Roberto, Maioechiand, Barbarapemiei. Directing and animated seen with autonomousactors[J].TheVisualComPuter,1990,6:359-371.
[39]蔡霞.三维地形中的虚拟人体行走动画[D].山东大学,2009.
[40] Wirkin A., Kass M..Spacetime constranints[J].Computer Graphics,1988.22(4):159-168.
[41] Luo ZX, Zhuang YT. Liu F, Pan YH. Space-Time constraints based motion editing andmotion retargeting[J]. Journal of Computer-Aided Design&Computer Craphics,2002,14(12):1146-1151.
[42] Raibert MH, Hodgins JK.Animation of dynamic legged locomotion[J]. ComputerGraphics and Interactive Techniques. New York: ACM Press,1991,18,349-358.
[43] Magnenat-ThalmannN,ThalmannD.The Direction of Synthetic Actors in the FilmRendez-vous a Montreal[J].IEEE Computer Graphics and Applications,1987:9-l9.
[44] MohrA,Tokheim L,Gleieher M.Direct manipulation of interactive character skins[J].Inieractive3D graphics,2003:27-30.
[45] MohrA,Gleicher M.Building Efficient Accurate Character Skins fromExamples[J].Proceedings SIGGRAPH2003,2003:165~172.
[46] Thalmann D,Shen J,Chauvineau E.Fast realistic human body deformations foranimation and VR applications[J].Computer Graphics International’96,1996:166-174.
[47] Anguelov D,Srinivasan P,Koller D,Thrun S,Rodgers J,Davis J.SCAPE:shapecompletion and animation of People[J]. SIGGRAPH2005,2005,24(3):408-416.
[48]刘贤梅,郝爱民.油田安全作业虚拟仿真训练系统研究[J].系统仿真学报,2006,18(11):3082-3087.
[49]李晓燕.基于OGRE的起重机选型与站位仿真研究[D].大连理工大学,2009.
[50]王径迤. OGRE在变电站仿真系统中的应用[D].天津大学,2009.
[51]黄野.基于Internet的三维可视化技术研究[D].中国人民解放军信息工程大学,2001.
[52]彭晓军.3DS模型在虚拟现实几何建模中的应用[J].计算机仿真,2003(3):52-55.
[53]杜志荣.基于OGRE的格斗游戏制作方法的研究与实践[D].西安建筑科技大学,2009.
[2]李静.仿真技术在电子商务教学中的应用[J].商场现代化,2007.6(505):97.
[3]申蔚,夏立文.虚拟现实技术[M].北京:希望电子出版社,2002,1-9.
[4]王子才.仿真技术发展及应用[J].中国工程科学,2003,5(5):2.
[5]韩津豫.基于面向对象技术的战斗机对地攻击仿真系统设计[D].西北工业大学,2004.
[6]李晓维等译.visualC++2使用指南[M].北京:清华大学出版社,1995,9.
[7]蒋庆全.国外VR技术发展综述[J].飞航导弹,2002(1):27-34.
[8]姜学智,李忠华.国内外虚拟现实技术的研究现状[J].辽宁工程技术大学学报,2004,23(2):238-240.
[9]傅晨,彭群生.一个桌面型虚拟建筑环境实时漫游系统的设计与实现[J].计算机学报,1998,21(9):793-799.
[10]陈彦菲.校园内场景的虚拟漫游技术研究[D].大连理工大学,2008.
[11]张雄,叶榛,朱纪洪等.基于虚拟现实的无人驾驶飞机仿真训练系统[J].系统仿真学报,2002,14(8):1022-1025.
[12]高文,陈熙霖,晏洁等.虚拟人面部行为的合成[J].计算机学报,1998,21(8):694-703.
[13]黄心渊,李畅.体视动态模拟中的图像生成与合成[J].计算机仿真,1999,16(3):26-28.
[14]何超.计算机动画技术及其在钻井井控模拟中的应用[D].西南石油学院,2003.5.
[15]OpenGL2.0WhitePapers.Http://www.3Dlabs.com.
[16]阮秋琦.数字图像处理学[M].北京:电子工业出版社,2001.
[17]赵俊平.油气钻井工程项目风险分析与管理研究[D].大庆石油学院,2007.
[18]李欣妍.钻机安全监控系统应用研究[D].西安石油大学,2009.
[19]郭君琳.井下泥浆动态旋流器的设计研究[D].中国石油大学(华东),2008.
[20]刘圆.油气钻井起升系统作业安全分析与安全综合评价方法研究[D].重庆大学,2006.
[21]徐李甲.石油钻井过程故障仿真及控制技术研究[D].西安石油大学,2010.
[22]李峰.基于KBE的石油钻机设计PDM系统开发研究[D].西安石油大学,2008.
[23]冯彦伟.ZJ50/3150JD型钻机的研制与应用[J].石油矿场机械,2010(6):58-60.
[24]陈燕.基于结构方程模型的油气钻井工程安全评价研究[D].成都理工大学,2011.
[25]曾兴昌.游车-天车-绞车系统运动及动力学特性探讨[J].石油矿场机械,2009,38(3):54-57.
[26]韩春杰.对钻柱在反转情况下横向振动规律的研究[J].钻采工艺,2007,30(1):80-81,83.
[27] Gregory Juker. Pro OGRE3D Programming[M]. Apress,2006.
[28] Dai, F. Lebendige virtuelle Welten[J]. Springer-Verlag,1997.
[29] Gleicher, M. Retargetting Motion toNew Characters[J]. Siggraph,1998.
[30]苏金钊.虚拟人技术研究[D].郑州大学,2007.
[31]刘晓梅.虚拟角色交互运动控制研究[D].东南大学,2007.
[32]李刚,吴政等.基于微型传感器驱动的三维实时运动人体模型[J].计算机应用,2009,29(12):3336-3339.
[33]方颖.虚拟人动画自动生成算法研究[D].北京交通大学,2009.
[34]王瑢瑢.基于运动库的三维角色动画生成方法研究与实现[J].中国科学院计算技术研究所,2006.
[35] N.I.Badler and C.B.Phillips.Simulating Humans:Computer Graghics,Animation andControl[J].Oxford University Press,1992.
[36] M.Girard.Constrained optimization of articulated animalmovement in computeranimation, Making them move[J]. Morgan Kaufmann Pulishers,1990.
[37] Korein,J.U., Bedler, N.I.. Techniques for generating the goal-directed motion ofartieulated structures[J].IEEE Computer Graphics&Applications1982,3(2),71-81.
[38] Roberto, Maioechiand, Barbarapemiei. Directing and animated seen with autonomousactors[J].TheVisualComPuter,1990,6:359-371.
[39]蔡霞.三维地形中的虚拟人体行走动画[D].山东大学,2009.
[40] Wirkin A., Kass M..Spacetime constranints[J].Computer Graphics,1988.22(4):159-168.
[41] Luo ZX, Zhuang YT. Liu F, Pan YH. Space-Time constraints based motion editing andmotion retargeting[J]. Journal of Computer-Aided Design&Computer Craphics,2002,14(12):1146-1151.
[42] Raibert MH, Hodgins JK.Animation of dynamic legged locomotion[J]. ComputerGraphics and Interactive Techniques. New York: ACM Press,1991,18,349-358.
[43] Magnenat-ThalmannN,ThalmannD.The Direction of Synthetic Actors in the FilmRendez-vous a Montreal[J].IEEE Computer Graphics and Applications,1987:9-l9.
[44] MohrA,Tokheim L,Gleieher M.Direct manipulation of interactive character skins[J].Inieractive3D graphics,2003:27-30.
[45] MohrA,Gleicher M.Building Efficient Accurate Character Skins fromExamples[J].Proceedings SIGGRAPH2003,2003:165~172.
[46] Thalmann D,Shen J,Chauvineau E.Fast realistic human body deformations foranimation and VR applications[J].Computer Graphics International’96,1996:166-174.
[47] Anguelov D,Srinivasan P,Koller D,Thrun S,Rodgers J,Davis J.SCAPE:shapecompletion and animation of People[J]. SIGGRAPH2005,2005,24(3):408-416.
[48]刘贤梅,郝爱民.油田安全作业虚拟仿真训练系统研究[J].系统仿真学报,2006,18(11):3082-3087.
[49]李晓燕.基于OGRE的起重机选型与站位仿真研究[D].大连理工大学,2009.
[50]王径迤. OGRE在变电站仿真系统中的应用[D].天津大学,2009.
[51]黄野.基于Internet的三维可视化技术研究[D].中国人民解放军信息工程大学,2001.
[52]彭晓军.3DS模型在虚拟现实几何建模中的应用[J].计算机仿真,2003(3):52-55.
[53]杜志荣.基于OGRE的格斗游戏制作方法的研究与实践[D].西安建筑科技大学,2009.