垂直姿态位置误差的虚拟正交建模与均衡补偿

doi:10.7623/syxb201707011

石油学报 ›› 2017, Vol. 38 ›› Issue (7): 840-845.DOI: 10.7623/syxb201707011

垂直姿态位置误差的虚拟正交建模与均衡补偿

程贤箬¹, 程为彬^1,2, 高怡^1,2, 甘源滢¹, 刘峰^1,2, 汪跃龙^1,2

1. 陕西省油气井测控技术重点实验室陕西西安 710065;
2. 光电油气测井与检测教育部重点实验室陕西西安 710065

收稿日期:2016-11-19 修回日期:2017-05-29 出版日期:2017-07-25 发布日期:2017-08-10
通讯作者: 程为彬,男,1970年3月生,1991年获江汉石油学院学士学位,2007年获西安理工大学博士学位,现为西安石油大学电子工程学院教授,主要从事油气井下智能测控技术研究。Email:wbcheng@xsyu.edu.cn
作者简介:程贤箬,女,1991年10月生,2014年获西北工业大学明德学院学士学位,现为西安石油大学电子工程学院硕士研究生,主要从事井下工具姿态测量研究。Email:ccandjae@163.com
基金资助:
国家自然科学基金项目（No.61174191，No.51604226）和中国石油天然气股份有限公司科技创新基金项目（2015D-5006-0307）资助。

Virtual orthogonal modeling of vertical-posture position error and isostatic compensation

Cheng Xianruo¹, Cheng Weibin^1,2, Gao Yi^1,2, Gan Yuanying¹, Liu Feng^1,2, Wang Yuelong^1,2

1. Shaanxi Key Laboratory of Measurement and Control Technology for Oil and Gas Wells, Shaanxi Xi'an 710065, China;
2. Key Laboratory of Photoelectric Gas/Oil Logging and Detecting, Ministry of Education, Shaanxi Xi'an 710065, China

Received:2016-11-19 Revised:2017-05-29 Online:2017-07-25 Published:2017-08-10

摘要/Abstract

摘要：

垂直钻井工具的姿态测量系统中，轴不正交、不同轴、安装和加工等产生的非线性位置误差显著降低了测量精度。基于各实轴独立的概念，分别以各实轴为中心构造3个虚拟正交仪器坐标系，综合推导出包含9个位置误差参数的姿态测量输出方程。分析补偿校正矩阵的精度影响以及常规校正方法的补偿矩阵数值精度，提出一种校正取值均衡方法，并进行补偿测试。测试结果表明：与常规最大值补偿相比，均衡补偿方法使得垂直姿态的测量精度提高5倍以上，并可消除周期性系统误差。

关键词: 垂直钻井, 姿态测量, 位置误差, 误差补偿, 均衡补偿

Abstract:

In the posture measurement system for vertical drilling tools, the nonlinear position errors originated from non-orthogonal axis, axis misalignment, installing and machining lead to a significant reduction in measurement accuracy. Based on the independence of each real axis, three virtual orthogonal coordinate systems were constructed with each real axis as the center respectively, so as to comprehensively derive the posture measurement output equation including 9 position error parameters. The accuracy impact of compensation correction matrix was analyzed, as well as the numerical accuracy of compensation matrix with conventional correction method. Then an isostatic method was put forward for value correction and compensation test was also performed. The test results show that compared with conventional maximum compensation, isostatic compensation is able to increase the vertical posture measurement accuracy by more than 5 times and eliminate the periodic system error.

Key words: vertical drilling, posture measurement, position error, error compensation, isostatic compensation

中图分类号:

TE937

程贤箬, 程为彬, 高怡, 甘源滢, 刘峰, 汪跃龙. 垂直姿态位置误差的虚拟正交建模与均衡补偿[J]. 石油学报, 2017, 38(7): 840-845.

Cheng Xianruo, Cheng Weibin, Gao Yi, Gan Yuanying, Liu Feng, Wang Yuelong. Virtual orthogonal modeling of vertical-posture position error and isostatic compensation[J]. Acta Petrolei Sinica, 2017, 38(7): 840-845.

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垂直姿态位置误差的虚拟正交建模与均衡补偿

Virtual orthogonal modeling of vertical-posture position error and isostatic compensation

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