垂直钻井工具二轴重力加速度计安装误差标定

doi:10.7623/syxb201610011

石油学报 ›› 2016, Vol. 37 ›› Issue (10): 1302-1308.DOI: 10.7623/syxb201610011

垂直钻井工具二轴重力加速度计安装误差标定

邓江洪, 陈新元, 刘白雁, 曾良才, 卢云丹

武汉科技大学机械自动化学院湖北武汉 430081

收稿日期:2015-12-28 修回日期:2016-07-28 出版日期:2016-10-25 发布日期:2016-11-09
通讯作者: 陈新元,男,1972年9月生,1996年获武汉科技大学学士学位,2010年获武汉科技大学博士学位,现为武汉科技大学教授,主要从事流体传动与控制的研究。Email:chenxinyuan@wust.edu.cn
作者简介:邓江洪,男,1986年8月生,2009年获武汉科技大学学士学位,现为武汉科技大学博士研究生,主要从事井下控制工程的研究。Email:dengjianghong325@163.com
基金资助:
国家自然科学基金项目（No.51175386、No.50574070）资助。

Installation error calibration of gravity accelerometer with two axes for vertical drilling tool

Deng Jianghong, Chen Xinyuan, Liu Baiyan, Zeng Liangcai, Lu Yundan

College of Mechanical Automation, Wuhan University of Science and Technology, Hubei Wuhan 430081, China

Received:2015-12-28 Revised:2016-07-28 Online:2016-10-25 Published:2016-11-09

摘要/Abstract

摘要：

提出一种用于井斜测量的自动垂直钻井工具二轴重力加速度计安装误差便捷标定方法，根据空间坐标系转换原理，推导二轴重力加速度计与钻具坐标系数学关系模型，构建安装误差标定矩阵。标定前，保证钻具轴线不变，旋转浮动导向套，测试加速度计输出电压，经处理后作为多元线性回归样本，并利用标定矩阵元素间的数值关系，解算矩阵；标定时，将已解算的标定矩阵和重力加速度在加速度计敏感轴上的分量代入两坐标系数学模型，计算重力加速度在钻具坐标系三轴的分量，从而实现井斜角和工具面角精确测量。该方法不需要借助高精度辅助测量仪器或调校基准平台，也不需将钻具摆放到特定状态，具有测试过程简单、测试精度高的特点，便于在井场对二轴加速度计进行下井前最后校正。实验表明，标定后井斜角误差在2.5%以内。

关键词: 自动垂直钻井, 井斜测量, 重力加速度计, 安装误差, 误差标定

Abstract:

A convenient calibration method is proposed for installation error of biaxial gravity accelerometer, which is an automatic vertical drilling tool used in directional survey. Based on the transformation principles of space coordinate system, the mathematical model is established for the relation between the biaxial gravity accelerometer and the coordinate system of drilling tool, and the error calibration matrix is constructed as well. Before calibration, the axis of drilling tool is ensured to be invariant, then the floating guide sleeve is rotated, and next the output voltage of accelerometer is measured and used as the multiple linear regression sample after being processed. Afterwards, the calibration matrix is solved using the numerical relations between the elements of the matrix. During calibration, the solved calibration matrix and the component of gravitational acceleration on the sensitive axis of gravity accelerometer are substituted into the mathematical models of two coordinate systems to calculate the component of gravitational acceleration on the three axes of drilling tool coordinate system, thus the deviation angle and tool face angle can be precisely measured. This method does not require any high precision auxiliary measuring instrument or calibration reference platform, and there is also no need to set the drilling tool to a specific state. It is characterized by simple operation and high test accuracy, and is particularly convenient for the last error calibration of the biaxial gravity accelerometer at the drilling site. Experiments indicate that the error of the deviation angle is within 2.5% after calibration.

Key words: automatic vertical drilling tool, deviation survey, gravity accelerometer, installation error, error calibration

中图分类号:

TE921

邓江洪, 陈新元, 刘白雁, 曾良才, 卢云丹. 垂直钻井工具二轴重力加速度计安装误差标定[J]. 石油学报, 2016, 37(10): 1302-1308.

Deng Jianghong, Chen Xinyuan, Liu Baiyan, Zeng Liangcai, Lu Yundan. Installation error calibration of gravity accelerometer with two axes for vertical drilling tool[J]. Acta Petrolei Sinica, 2016, 37(10): 1302-1308.

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垂直钻井工具二轴重力加速度计安装误差标定

Installation error calibration of gravity accelerometer with two axes for vertical drilling tool

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[1]	邵　佩　刘白雁　苏义脑　张　磊. 垂直钻井工具测斜仪精确校正理论与实验[J]. 石油学报, 2012, 33(4): 692-696.
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[3]	刘白雁, 苏义脑, 陈新元, 谢剑刚, 曾良才. 自动垂直钻井中井斜动态测量理论与实验研究[J]. 石油学报, 2006, 27(4): 105-109.