指向式导向钻井工具控制轴的姿态测量方法研究

发布时间：2018-04-19 07:08

本文选题：姿态测量 + 转速补偿　；参考：《西安石油大学》2017年硕士论文

【摘要】：在导向钻井过程中,导向控制所需要的井下工具姿态参数主要有工具的旋转速度、工具倾角、工具方位角等,对这些参数的准确、实时测量是导向钻井工具实现导向控制的前提条件,也是井下控制系统进行反馈控制、确保造成所期望的井眼轨迹的关键。论文针对一种新型指向式导向钻井工具的地面模拟测试实验的测量要求,研究了导向轴的姿态测量问题,研制了一套导向轴姿态测量装置,主要研究成果如下:1.分析了旋转、摇摆运动中的导向轴姿态测量要求,设计了基于重力加速度计和速率陀螺仪的导向轴姿态测量方案,研究了旋转运动对重力加速度传感器输出信号的影响规律,提出了消除(削弱)工具旋转影响的姿态测量误差校正方法,建立了导向轴姿态解算方法;2.根据指向式导向钻井工具地面模拟测试实验对导向轴姿态解算的测量要求,基于dsPIC30F4011单片机,设计了能安装在旋转的导向轴(筒)内部的导向轴姿态采集子系统,完成了系统的软硬件设计和调试;经过布局优化和器件优选,使整个子系统能封装在直径为58mm、长度为120mm的导向轴电子仓(筒)内;实验测试了该子系统的功能和性能;3.设计了安装在地面模拟实验控制台内的导向轴姿态解算子系统,完成了姿态解算、D/A变换、信号输出等硬件电路和功能软件的设计与调试,并测试实验了该子系统的性能;针对地面模拟实验时需要将旋转的导向轴姿态测量信息传输至静止的实验控制台的要求,设计了无线传输的软硬件;4.分别采用CS-3LAS加速度计和ADXL337加速度计,测试了导向轴姿态测量系统的性能。测试表明,前者由于传感器失效导致系统性能不能满足设计要求;后者的无线通讯功能稳定、导向轴倾角测量误差不超过0.4°,相对方位角测量误差不超过4°,满足地面模拟实验对导向轴姿态测量的误差要求。本文的研究成果对该指向式导向钻井工具的研究具有实际应用价值,并已被该工具的地面模拟测试实验所使用。
[Abstract]:In the process of steering drilling, the downhole tool attitude parameters needed for steering control mainly include tool rotation speed, tool inclination angle, tool azimuth angle, etc.Real-time measurement is the prerequisite for guiding control of guided drilling tools, and is also the key to the feedback control of downhole control system to ensure the expected wellbore trajectory.Aiming at the measurement requirement of a new type of directional steering drilling tool, this paper studies the attitude measurement of the guide shaft, and develops a set of guide shaft attitude measurement device. The main research results are as follows: 1.In this paper, the requirements of attitude measurement of steering axis in rotation and rocking motion are analyzed. Based on gravity accelerometer and speed gyroscope, the orientation axis attitude measurement scheme is designed, and the influence of rotation motion on the output signal of gravity acceleration sensor is studied.An error correction method for attitude measurement is proposed to eliminate (weaken) the influence of tool rotation, and a guide axis attitude calculation method is established.According to the requirements of the ground simulation test of the directional steering drilling tool for the determination of the attitude of the guide shaft, based on the dsPIC30F4011 single chip computer, the attitude acquisition subsystem of the guide shaft can be installed inside the rotating guide shaft (cylinder).The software and hardware of the system are designed and debugged, the whole subsystem can be encapsulated in the electronic bin (tube) with a diameter of 58mm and length of 120mm, and the function and performance of the subsystem are tested by experiments.A guidance axis attitude resolution operator system installed in the ground simulation experiment console is designed. The design and debugging of the hardware circuit and the function software such as D- A transform and signal output are completed, and the performance of the subsystem is tested.In order to meet the requirement of transmitting the attitude measurement information of rotating steering shaft to the static experimental console during the ground simulation experiment, the hardware and software of wireless transmission are designed.CS-3LAS accelerometer and ADXL337 accelerometer are used to test the performance of the steering shaft attitude measurement system.The test results show that the system performance of the former can not meet the design requirements due to sensor failure, and the wireless communication function of the latter is stable.The measuring error of inclination angle of guide shaft is not more than 0.4 掳, and that of relative azimuth angle is less than 4 掳, which meets the requirements of ground simulation experiment for attitude measurement of guide shaft.The research results in this paper have practical application value for the research of the directional steering drilling tool, and have been used in the ground simulation test of the 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】：2017
【分类号】：TE921.2

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