导向钻井井下涡轮力矩电机的电压前馈控制
发布时间：2018-08-14 16:52
【摘要】：旋转导向钻井是一种在钻柱旋转状态下用近钻头处的自动控制装置控制钻头钻进方向的钻井技术。稳定平台是导向工具的核心,起着导向控制的关键作用。如何实现稳定平台在钻井液流量大范围变化条件下在任意角度位置的稳定控制,是困扰调制式旋转导向钻井技术研究的关键问题之一。论文针对稳定平台涡轮电机力矩的控制问题,从电机的作用、结构入手,逐一分析了电机电磁转矩、控制信号、钻井液流量、平台转速之间的关系,建立符合实际情况的涡轮电机的动力学模型。针对钻井液流量大范围变化影响平台控制性能的问题,采用仿真的方法,分析了钻井液流量与涡轮电机作用力矩的关系,提出了钻井液流量前馈补偿方法;针对流量前馈补偿实现困难的问题,进一步提出了涡轮电机电压前馈补偿方法,并按照电压前馈—角度反馈控制方法原理,构建了实现该控制的数字—模拟混合系统结构,设计了实现电压前馈控制的信号运算电路。对该电路的测试表明,其信号运算精度满足控制要求,其温度特性满足井下工作环境要求。水力驱动实验表明,采用数字—模拟实现方法,平台的角度稳定控制性能优于纯数字实现方法,实现了平台角度在四个象限的长时间稳定控制。所完成的研究工作对调制式旋转导向钻井工具的研究具有理论意义和实际应用价值。
[Abstract]:Rotary steering drilling is a drilling technique in which the drilling direction is controlled by an automatic control device near the bit under the condition of string rotation. The stable platform is the core of the guidance tool and plays a key role in the guidance control. How to realize the stable control of the stable platform at any angle under the condition of large range of drilling fluid flow is one of the key problems in the research of the adjustable rotary steering drilling technology. Aiming at the torque control problem of stable platform turbine motor, starting with the function and structure of the motor, this paper analyzes the relationship among the electromagnetic torque, control signal, drilling fluid flow rate and platform speed one by one. The dynamic model of turbine motor is established in accordance with the actual situation. Aiming at the problem that the large range of drilling fluid flow affects the control performance of the platform, the relationship between drilling fluid flow and turbine motor acting torque is analyzed by simulation method, and the feedforward compensation method of drilling fluid flow is put forward. Aiming at the difficulty of realizing flow feedforward compensation, a voltage feedforward compensation method for turbine motor is proposed. According to the principle of voltage feed-forward and angle feedback control method, a digital-analog hybrid system structure is constructed to realize the control. The signal operation circuit of voltage feedforward control is designed. The test of the circuit shows that the signal operation accuracy meets the control requirements and the temperature characteristics meet the requirements of the underground working environment. The hydraulic driving experiment shows that the performance of the platform angle stability control is better than that of the pure digital control method by using the digital-analog method, and the long-time stable control of the platform angle in the four quadrants is realized. The research work is of theoretical significance and practical application value to the research of adjustable rotary steering drilling tool.
【学位授予单位】：西安石油大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TE24
本文编号：2183504
[Abstract]:Rotary steering drilling is a drilling technique in which the drilling direction is controlled by an automatic control device near the bit under the condition of string rotation. The stable platform is the core of the guidance tool and plays a key role in the guidance control. How to realize the stable control of the stable platform at any angle under the condition of large range of drilling fluid flow is one of the key problems in the research of the adjustable rotary steering drilling technology. Aiming at the torque control problem of stable platform turbine motor, starting with the function and structure of the motor, this paper analyzes the relationship among the electromagnetic torque, control signal, drilling fluid flow rate and platform speed one by one. The dynamic model of turbine motor is established in accordance with the actual situation. Aiming at the problem that the large range of drilling fluid flow affects the control performance of the platform, the relationship between drilling fluid flow and turbine motor acting torque is analyzed by simulation method, and the feedforward compensation method of drilling fluid flow is put forward. Aiming at the difficulty of realizing flow feedforward compensation, a voltage feedforward compensation method for turbine motor is proposed. According to the principle of voltage feed-forward and angle feedback control method, a digital-analog hybrid system structure is constructed to realize the control. The signal operation circuit of voltage feedforward control is designed. The test of the circuit shows that the signal operation accuracy meets the control requirements and the temperature characteristics meet the requirements of the underground working environment. The hydraulic driving experiment shows that the performance of the platform angle stability control is better than that of the pure digital control method by using the digital-analog method, and the long-time stable control of the platform angle in the four quadrants is realized. The research work is of theoretical significance and practical application value to the research of adjustable rotary steering drilling tool.
【学位授予单位】：西安石油大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TE24
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