矿用随钻轨迹测量系统的研究

发布时间：2018-06-12 19:03

本文选题：本安电路 + 惯性器件　；参考：《成都理工大学》2015年硕士论文

【摘要】：随着我国煤矿综合机械化采煤技术的发展,矿井安全生产对井下勘探孔、放水孔、瓦斯抽放孔等施工装备和技术的要求也不断提高,不但要求钻孔施工装备具有较高的钻进效率,同时要能够实现对钻孔轨迹的准确控制,高精度轨迹测量是钻孔轨迹准确控制的前提,则需要研发一种高精度矿用随钻轨迹测量系统显得尤为重要。随钻轨迹测量系统最初应用在石油钻井领域,时至今日随钻轨迹测量系统在石油钻井领域的应用技术已经比较成熟；而随钻轨迹测量系统在煤矿井下的相关技术尚处于起步阶段,目前主要存在煤矿钻孔空间狭小、通信传输方式受限、钻柱振动、电磁干扰和变化的温度场给轨迹测量带来的干扰等应用问题,与此同时存在存储点数少、实时性较差和无法全姿态测量、精度不高、人机界面功能少以及操作步骤繁琐等技术问题。针对目前矿用随钻轨迹测量系统所面临的一些问题,与此同时由于随着微惯性传感技术的发展,其很好地满足工况对钻进姿态测量系统小型化、低成本、低功耗、高精度和空间全姿态测量的要求。为此本文采用基于MEMS惯性传感器内置三轴加速度计以及三轴陀螺仪并分别采用小波算法和小波以及Kalman的双重算法滤波,并用辅助惯性测量器件三轴磁强计与以上滤波数据采用基于四元数的互补滤波器进行数据融合算法实现矿用随钻轨迹测量系统全姿态动态高精度实时测量钻孔轨迹。本课题采用AD公司的MEMS六轴惯性器件ADS16445和Honey well公司的三轴磁阻式数字罗盘HMC5883L作为采集传感器,前端采集数据经基于ARMv7架构的STM32的数字解算平台并经由RS485总线传输至装有虚拟监控软件的井口仪器上,并在井口仪器上进行姿态角、轨迹图表显示以及操控孔内仪器。通过本课题的研究,基本实现了矿用随钻轨迹测量系统的雏形,其具有良好的人机界面并具有较高的测量精度。
[Abstract]:With the development of comprehensive mechanized coal mining technology in China, the requirements of mine safety production for underground exploration holes, drainage holes, gas drainage holes and other construction equipment and technology are also increasing. Drilling equipment is required not only to have high drilling efficiency, but also to realize the accurate control of the borehole trajectory, which is the premise of the accurate control of the borehole trajectory. Therefore, it is very important to develop a kind of high-precision measurement system of mine track while drilling. The track measurement system while drilling was initially applied in the field of oil drilling, but the application technology of track while drilling system in the field of oil drilling has been relatively mature up to now. However, the relevant technology of the track measurement system while drilling is still in its infancy in the coal mine. At present, the main problems are the narrow borehole space, the limited communication transmission mode, the vibration of drill string. Electromagnetic interference (EMI) and the interference brought by changing temperature field to trajectory measurement have some problems, such as less storage points, poor real-time performance and low precision. The man-machine interface function is few and the operation step is tedious and so on technical question. Aiming at some problems faced by mine while drilling trajectory measurement system, at the same time, due to the development of micro inertial sensing technology, it can well meet the requirements of miniaturization, low cost and low power consumption of drilling attitude measurement system. The requirement of high precision and full attitude measurement in space. In this paper, a three-axis accelerometer and a three-axis gyroscope are adopted based on MEMS inertial sensors, and wavelet algorithm, wavelet algorithm and Kalman algorithm are used to filter them, respectively. The three-axis magnetometer of auxiliary inertial measurement device and the above filtering data are used for data fusion algorithm based on quaternion complementary filter to realize dynamic and high-precision real-time measurement of borehole trajectory in mine while drilling trajectory measurement system. ADS16445, a MEMS six-axis inertial device, and HMC5883L, a three-axis magnetoresistive digital compass made by Honey well, are used as acquisition sensors. The data collected from the front end are transmitted to the wellhead instrument equipped with virtual monitoring software via the digital solution platform of STM32 based on ARMv7 architecture and transmitted to the wellhead instrument via RS485 bus. The attitude angle, trajectory chart display and control of the instrument in the hole are carried out on the wellhead instrument. Through the research of this subject, the prototype of mine track measurement system while drilling is basically realized, which has good man-machine interface and high measuring precision.
【学位授予单位】：成都理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD41;TD178

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