导向钻井工具冗余姿态测量与系统重构方法

doi:10.7623/syxb201511013

石油学报 ›› 2015, Vol. 36 ›› Issue (11): 1433-1440.DOI: 10.7623/syxb201511013

导向钻井工具冗余姿态测量与系统重构方法

刘自理¹, 严卫生¹, 康思民², 刘自慎³, 汪跃龙², 张守旭¹

1. 西北工业大学航海学院陕西西安 710072;
2. 西安石油大学陕西省钻机控制技术重点实验室陕西西安 710065;
3. 中国石油辽阳石化公司辽宁辽阳 111003

收稿日期:2015-04-05 修回日期:2015-08-22 出版日期:2015-11-25 发布日期:2015-12-05
通讯作者: 刘自理,男,1986年9月生,2010年获西北工业大学学士学位,2013年获西安石油大学硕士学位,现为西北工业大学博士研究生,主要从事旋转导向钻井与多智能体信息一致性研究。Email:lzllizhi@126.com
作者简介:刘自理,男,1986年9月生,2010年获西北工业大学学士学位,2013年获西安石油大学硕士学位,现为西北工业大学博士研究生,主要从事旋转导向钻井与多智能体信息一致性研究。Email:lzllizhi@126.com
基金资助:
陕西省工业攻关项目"全电动智能井关键技术研究"(2014K06-35)和国家自然科学基金项目"载体空间姿态的非正交测量和模拟解算关键技术研究"(No.61174191)资助。

Redundant posture measurement and system reconfiguration method of steering drilling tool

Liu Zili¹, Yan Weisheng¹, Kang Simin², Liu Zishen³, Wang Yuelong², Zhang Shouxu¹

1. College of Marine Engineering, Northwestern Polytechnical University, Shaanxi Xi'an 710072, China;
2. Shaanxi Key Laboratory of Oil-Drilling Rigs Controlling Technique, Xi'an Petroleum University, Shaanxi Xi'an 710065, China;
3. PetroChina Liaoyang Petrochemical Company, Liaoning Liaoyang 111003, China

Received:2015-04-05 Revised:2015-08-22 Online:2015-11-25 Published:2015-12-05

摘要/Abstract

摘要：

为实现调制式导向钻井工具井眼轨迹的精确可靠控制,导向钻井工具井下姿态的实时测量至关重要。针对恶劣工况下测量系统可靠性差的问题,提出了一种非正交四轴重力加速度计的姿态测量方法,给出了对应的姿态参数求解和信号有效性判定公式。针对小井斜状态下姿态参数测不准问题,提出了四轴重力加速度计初始倾斜安装的非正交测量方法,显著提高了测量精度。针对井下恶劣工况中加速度计易损易失效问题,提出了双冗余非正交四轴重力加速度计测量方法,给出了双冗余重力加速度计关联信号的相互转换公式,讨论了依据信号特征判定重力加速度计故障的方法及故障诊断流程,并据此建立了系统重构方案。水力驱动测试实验表明,工具姿态测量准确,控制平台角度位置稳定。

关键词: 姿态测量, 冗余, 系统重构, 非正交, 导向钻井

Abstract:

Real-time downhole posture measurement of steering drilling tool is vital to realize exact reliable control on the well trajectory of modulated steering drilling tool. Aiming at the poor reliability of measurement system under atrocious working environment, this study proposes a posture measurement method based on nonorthogonal quadri-axle gravity accelerometers, and the corresponding posture parameter solution and signal effectiveness judgment formulas are also given. As for inaccurate posture parameter under the status of small borehole deviation, a nonorthogonal measurement method is proposed, which depends on the quadri-axle gravity accelerometers installed with an initial tilt, so as to improve the measurement accuracy. To cope with problems that the accelerometer tends to fail or be destroyed in atrocious downhole environment, a measurement method is presented based on dual redundant nonorthogonal quadri-axle gravity accelerometers. Then the mutual conversion formula between relative signals of dual redundant gravity accelerometer is given. Moreover, this study discusses the judgment method and diagnosis process of gravity accelerometer fault based on signal characteristics, based on which a system reconfiguration scheme is established accordingly. The hydraulic driving test results indicate that tool posture measurement is accurate, and the stable control of platform angle is achieved.

Key words: posture measurement, redundant, system reconfiguration, nonorthogonal, steering drilling

中图分类号:

TE242

刘自理, 严卫生, 康思民, 刘自慎, 汪跃龙, 张守旭. 导向钻井工具冗余姿态测量与系统重构方法[J]. 石油学报, 2015, 36(11): 1433-1440.

Liu Zili, Yan Weisheng, Kang Simin, Liu Zishen, Wang Yuelong, Zhang Shouxu. Redundant posture measurement and system reconfiguration method of steering drilling tool[J]. Acta Petrolei Sinica, 2015, 36(11): 1433-1440.

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导向钻井工具冗余姿态测量与系统重构方法

Redundant posture measurement and system reconfiguration method of steering drilling tool

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