基于MEMS技术的井下工具姿态测量与校正

发布时间：2017-12-31 12:12

本文关键词：基于MEMS技术的井下工具姿态测量与校正　出处：《西安石油大学》2017年硕士论文　论文类型：学位论文

【摘要】：目前我国石油对外依存度过高,石油安全形势异常严峻,而我国待开发油气资源主要集中在低渗透、深层、海洋、非常规油气藏等区域。导向钻井技术是当今石油钻井技术的最高水平,正带领着钻井技术走向全球第四次石油技术革命,更改变着世界能源格局,因此发展我国导向钻井技术迫在眉睫。本文研究的旋转导向钻井工具稳定平台控制系统中,采用了惯性加速度计来实现石油井下钻井工具姿态参数的测量。采用正交坐标系时,制造、加工、安装和二次集成等形成了正交性(位置)误差,导致传感器三轴输出信号存在非线性误差,降低了测量精度。因此,实现井下全角度导向钻井的重点就在于精确测量井下姿态参数(即井斜角I、工具面角T、方位角A)。本文对旋转导向钻井工具稳定平台控制系统和国内外姿态测量技术两个方面进行了简要介绍,采用了3个轴向安装、相互垂直的惯性加速度计作为姿态测量传感器,实现石油井下钻井工具姿态参数的测量。同时重点对由于轴不正交、不同轴、安装、加工等产生的位置误差进行理论分析,基于各轴独立的概念,构造3个虚拟的正交坐标系,并推导了非正交性位置误差的模型。研究了常规位置误差校正方法,分析了误差补偿时校正矩阵的精度影响以及常规校正方法的补偿矩阵的数值精度,提出均衡补偿概念,对均衡补偿与常规补偿两种方法进行对比,并在TX-3S测斜仪上进行了测量验证。结果表明,ADXL206双轴加速度计作为测量井下工具姿态参数的传感器,其精度达到要求。在对非正交性误差补偿矩阵的选取方面,均衡补偿消除了常规补偿的周期性系统误差,精度较常规补偿也显著提高。
[Abstract]:At present, the degree of dependence on foreign oil in China is too high, and the oil security situation is extremely severe, while the oil and gas resources in our country are mainly concentrated in low permeability, deep layer and ocean. Guided drilling technology is the highest level of oil drilling technology, which is leading drilling technology to the 4th global oil technology revolution, but also changing the world energy pattern. Therefore, it is urgent to develop the steering drilling technology in China. The inertial accelerometer is used to measure the attitude parameters of oil drilling tools. When the orthogonal coordinate system is used, the orthogonality (position) error is formed by manufacturing, machining, installation and secondary integration. As a result, there is nonlinear error in the output signal of the sensor, which reduces the measurement accuracy. Therefore, the key to realize the downhole full angle steering drilling is to accurately measure the downhole attitude parameters (I. e., well angle I, tool surface angle T). In this paper, the control system of stabilized platform for rotary steering drilling tools and attitude measurement technology at home and abroad are briefly introduced, and three axial installations are adopted. The vertical inertial accelerometer is used as the attitude sensor to measure the attitude parameters of the drilling tools in the oil well. At the same time, due to the non-orthogonal axis, different axes are installed. Based on the concept of independence of each axis, three virtual orthogonal coordinate systems are constructed, and the models of non-orthogonal position errors are derived, and the correction methods of conventional position errors are studied. The influence of correction matrix on error compensation and the numerical accuracy of compensation matrix of conventional correction method are analyzed. The concept of equalization compensation is put forward and the comparison between equalization compensation and conventional compensation is made. The results show that ADXL206 dual axis accelerometer is used as a sensor for measuring the attitude parameters of downhole tools. In the selection of non-orthogonality error compensation matrix, the periodic system error of conventional compensation is eliminated by equalization compensation, and the accuracy is obviously improved compared with conventional compensation.
【学位授予单位】：西安石油大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TE921.2

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