关键词: 连续油管, 测井机, 协同控制, 二次调节, 系统辨识

Abstract:

The development of a coiled tubing logging truck (CTLT) provided an effective technical means for logging of horizontal wells and complicated inclined wells,in which the coordinate control between the injector and reel that meets the requirement of low speed stability is one of the key techniques.To improve the CTLT performance,the present paper proposed a coordinate control scheme based on the identification of the secondary regulation system,and described its dynamic characteristics in accordance with compositions and principles of the secondary regulation system by setting up a nonlinear model for this system to simplify it into a second-order linear system.Based on the theory of the least squares algorithm,the secondary regulation system was systematically identified using the least squares algorithm with forgetting factor and a systematic model for determining parameters was obtained.Moreover,experiments with a PID controller were carried out on the secondary regulation system based on this identification model,which laid a good basis for the future theoretical analysis and real-time control of the coiled tubing logging truck.The result showed that the substitution of the secondary regulation system for the traditional hydraulic motor could effectively solve the problem of the coordinate control on the injector and reel.

Key words: coiled tubing, logging truck, coordinate control, secondary regulation, system identification